Code covered by the MathWorks Limited License

Highlights from
MATLAB Support Package for Arduino (aka ArduinoIO Package)

image thumbnail
from MATLAB Support Package for Arduino (aka ArduinoIO Package) by MathWorks Classroom Resources Team
MATLAB class and Simulink blocks for communicating with an Arduino microcontroller board

arduinoCleanup(customData,arduinoVar) 
% arduinoCleanup(customData)
% Performs cleanup for the Arduino object (corresponding to Arduino IO Block,
% specified by ioBlockHandle) This is called from the Terminate function
% in msfun_arduino_io_setup
%
% The first argument is the customData taken from the stetup block's handle
% the second is the type of arduino var (temporary or existing), in the
% first case the temporary variable must be deleted in the second, the
% variable is left alone after making sure the motors are released and the
% servos are detached.
%
% Note: This function should be used for ALL Arduino-related cleanup. I.e.,
% don't use the Terminate functions of the individual blocks. The reason: we
% cannot guarantee that the Terminate functions for individual blocks will be
% called BEFORE the Terminate function for msfun_arduino_io, so to have a
% coherent teardown, we need to do it all in one place.

%   Copyright 2011 The MathWorks, Inc.

function arduinoCleanup(customData,arduinoVar)

assert(isa(customData,'containers.Map') && customData.isKey('arduinoHandle'));

arduinoObj = customData('arduinoHandle');
if ~isvalid(arduinoObj)
    warning('arduinoCleanup:InvalidObject', 'Arduino object is not valid');
    return;
end

% reinstate checks
arduinoObj.chkp=1;

% disconnect servos
for pinNum = 2:69;
    servoVar = sprintf('servo%d', pinNum);
    if customData.isKey(servoVar)
        arduinoObj.servoDetach(pinNum);
        customData.remove(servoVar);
    end
end

% disconnect encoders
for encNum = 0:2;
    encVar = sprintf('enc%d', encNum);
    if customData.isKey(encVar)
        arduinoObj.encoderDetach(encNum);
        customData.remove(encVar);
    end
end

% release steppers
for stepperNum = 1:2
    arduinoObj.stepperStep(stepperNum,'release');
end

% release motors
for motorNum = 1:4
    arduinoObj.motorRun(motorNum,'release');
end

% delete the object if it's temporary otherwise just flush serial buffer
if ~isempty(strfind(arduinoVar,'Existing')),
    arduinoObj.flush;
else
    delete(arduinoObj);
    fprintf('Connection to ''%s'' successfully closed\n', arduinoVar(end-7:end));
end

Contact us