Uploaded main files

+arduinoioaddons/+Pololu/Pololu_VL53L0X.m

@@ -0,0 +1,105 @@
+%   Matlab implementation of Pololu arduino library for 
+%   VL53L0X Time-of-Flight distance sensor.
+%  
+%   This code is part of the AutomationShield hardware and software
+%   ecosystem. Visit http://www.automationshield.com for more
+%   details. This code is licensed under a Creative Commons
+%   Attribution-NonCommercial 4.0 International License.
+% 
+%   Created by Peter Chmurciak. 
+%   Last update: 6.9.2019.
+
+% Sensor class definition, inheriting LibraryBase class properties
+classdef Pololu_VL53L0X < matlabshared.addon.LibraryBase          
+
+    % Define command IDs for commandHandler method
+    properties(Access = private, Constant = true)
+        Pololu_VL53L0X_CREATE  =  hex2dec('00')
+        Pololu_VL53L0X_BEGIN   =  hex2dec('01')
+        Pololu_VL53L0X_READ    =  hex2dec('02')
+        Pololu_VL53L0X_DELETE  =  hex2dec('03')
+    end
+
+    % Define the required names and pathways to used source files
+    properties(Access = protected, Constant = true)
+        LibraryName = 'Pololu/Pololu_VL53L0X'
+        DependentLibraries = {}
+        LibraryHeaderFiles = {}        
+        CppHeaderFile = fullfile(arduinoio.FilePath(mfilename('fullpath')), 'src', 'Pololu_VL53L0X.h')
+        CppClassName = 'Pololu_VL53L0X'
+        ResourceOwner = 'Pololu/Pololu_VL53L0X'
+        Pins = {'A4', 'A5'}
+    end
+
+    % Hidden methods (not meant to be used directly by the user) with unrestricted access
+    methods(Hidden, Access = public)
+
+        % Constructor
+        function obj = Pololu_VL53L0X(parentObj)
+            obj.Parent = parentObj;            
+            count = getResourceCount(obj.Parent, obj.ResourceOwner);            
+            if count > 0
+                error('You can use only one VL53L0X sensor!');
+            end
+            incrementResourceCount(obj.Parent, obj.ResourceOwner);
+            createPololu_VL53L0X(obj);
+        end
+
+        % Function for sensor object creation
+        function createPololu_VL53L0X(obj)
+            try                
+                cmdID = obj.Pololu_VL53L0X_CREATE;                
+                configurePinResource(obj.Parent, 'A4', obj.ResourceOwner, 'I2C');
+                configurePinResource(obj.Parent, 'A5', obj.ResourceOwner, 'I2C');                
+                sendCommand(obj, obj.LibraryName, cmdID, []);                
+            catch e
+                throwAsCaller(e);
+            end
+        end
+    end
+
+    % Protected methods (not meant to be used directly by the user)
+    methods(Access = protected)
+
+        % Function for sensor object removal
+        function delete(obj)
+            try
+                parentObj = obj.Parent;                
+                for iLoop = obj.Pins
+                    configurePinResource(parentObj, iLoop{:}, obj.ResourceOwner, 'Unset');
+                end                
+                decrementResourceCount(parentObj, obj.ResourceOwner);
+                cmdID = obj.Pololu_VL53L0X_DELETE;
+                sendCommand(obj, obj.LibraryName, cmdID, []);
+            catch               
+            end
+        end
+    end
+
+    % Public methods - meant to be used directly by the user
+    methods(Access = public)
+
+        % Function for sensor initialisation
+        function beginSensor(obj)            
+            cmdID = obj.Pololu_VL53L0X_BEGIN;
+            success = sendCommand(obj, obj.LibraryName, cmdID, []);
+            if ~success            
+                error('Error initialising VL53L0X sensor!');
+            end            
+        end
+
+        % Function for reading data from sensor
+        function out = readSensor(obj)
+            cmdID = obj.Pololu_VL53L0X_READ;
+            out = sendCommand(obj, obj.LibraryName, cmdID, []);
+            out = 256 * out(1) + out(2);
+        end
+
+        % Function for sensor object removal
+        function removeSensor(obj)
+            delete(obj);            
+        end
+
+    end
+
+end

+arduinoioaddons/+Pololu/src/Pololu_VL53L0X.h

@@ -0,0 +1,78 @@
+/*
+    Matlab implementation of Pololu arduino library for
+    VL53L0X Time-of-Flight distance sensor.
+
+    This code is part of the AutomationShield hardware and software
+    ecosystem. Visit http://www.automationshield.com for more
+    details. This code is licensed under a Creative Commons
+    Attribution-NonCommercial 4.0 International License.
+
+    Created by Peter Chmurciak.
+    Last update: 4.7.2019.
+*/
+
+// Include necessary libraries
+#include "LibraryBase.h"
+#include "Wire.h"
+#include "VL53L0X.h"
+
+// Define command IDs for commandHandler method
+#define Pololu_VL53L0X_CREATE      0x00
+#define Pololu_VL53L0X_BEGIN       0x01
+#define Pololu_VL53L0X_READ        0x02
+#define Pololu_VL53L0X_DELETE      0x03
+
+// Sensor class definition, inheriting LibraryBase class properties
+class Pololu_VL53L0X : public LibraryBase {
+
+public:
+    // Sensor object pointer
+    VL53L0X *distanceSensor; 
+
+    // Constructor
+    Pololu_VL53L0X(MWArduinoClass& a) {
+        libName = "Pololu/Pololu_VL53L0X";
+        a.registerLibrary(this);
+    }
+
+    // Override the commandHandler method, assigning each command ID to appropriate method
+    void commandHandler(byte cmdID, byte* dataIn, unsigned int payloadSize) {
+        // Decide based on received command ID
+        switch(cmdID) {            
+        // Create sensor object
+        case Pololu_VL53L0X_CREATE: {
+            distanceSensor = new VL53L0X();
+            sendResponseMsg(cmdID, 0, 0);
+            break;
+        }
+
+        // Initialise sensor and return 1 or 0 on success or failure
+        case Pololu_VL53L0X_BEGIN: {
+            Wire.begin();
+            byte success[1] = {distanceSensor->init()};
+            distanceSensor->setMeasurementTimingBudget(20000);
+            distanceSensor->startContinuous();
+            sendResponseMsg(cmdID, success, 1);
+            break;
+        }
+
+        // Get measurement from sensor in milimetres and return the information as two bytes
+        case Pololu_VL53L0X_READ: {
+            uint16_t milliMeter = distanceSensor->readRangeContinuousMillimeters();
+            byte high = highByte(milliMeter);
+            byte low = lowByte(milliMeter);
+            byte mm[2] = {high,low};
+            sendResponseMsg(cmdID, mm, 2);
+            break;
+        }
+
+        // Delete sensor object
+        case Pololu_VL53L0X_DELETE: {
+            delete distanceSensor;
+            sendResponseMsg(cmdID, 0, 0);
+            break;
+        }     
+
+        }    // end of switch statement 
+    }        // end of commandHandler method definition
+};           // end of class definition