MATLAB/Octave - Accelerometer Bricklet¶

Simple (MATLAB)¶

Download (matlab_example_simple.m)

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function matlab_example_simple()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletAccelerometer;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Accelerometer Bricklet

    ipcon = IPConnection(); % Create IP connection
    a = handle(BrickletAccelerometer(UID, ipcon), 'CallbackProperties'); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Get current acceleration
    acceleration = a.getAcceleration();

    fprintf('Acceleration [X]: %g g\n', acceleration.x/1000.0);
    fprintf('Acceleration [Y]: %g g\n', acceleration.y/1000.0);
    fprintf('Acceleration [Z]: %g g\n', acceleration.z/1000.0);

    input('Press key to exit\n', 's');
    ipcon.disconnect();
end

Callback (MATLAB)¶

Download (matlab_example_callback.m)

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function matlab_example_callback()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletAccelerometer;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Accelerometer Bricklet

    ipcon = IPConnection(); % Create IP connection
    a = handle(BrickletAccelerometer(UID, ipcon), 'CallbackProperties'); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Register acceleration callback to function cb_acceleration
    set(a, 'AccelerationCallback', @(h, e) cb_acceleration(e));

    % Set period for acceleration callback to 1s (1000ms)
    % Note: The acceleration callback is only called every second
    %       if the acceleration has changed since the last call!
    a.setAccelerationCallbackPeriod(1000);

    input('Press key to exit\n', 's');
    ipcon.disconnect();
end

% Callback function for acceleration callback
function cb_acceleration(e)
    fprintf('Acceleration [X]: %g g\n', e.x/1000.0);
    fprintf('Acceleration [Y]: %g g\n', e.y/1000.0);
    fprintf('Acceleration [Z]: %g g\n', e.z/1000.0);
    fprintf('\n');
end

Threshold (MATLAB)¶

Download (matlab_example_threshold.m)

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function matlab_example_threshold()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletAccelerometer;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Accelerometer Bricklet

    ipcon = IPConnection(); % Create IP connection
    a = handle(BrickletAccelerometer(UID, ipcon), 'CallbackProperties'); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Get threshold callbacks with a debounce time of 10 seconds (10000ms)
    a.setDebouncePeriod(10000);

    % Register acceleration reached callback to function cb_acceleration_reached
    set(a, 'AccelerationReachedCallback', @(h, e) cb_acceleration_reached(e));

    % Configure threshold for acceleration "greater than 2 g, 2 g, 2 g"
    a.setAccelerationCallbackThreshold('>', 2*1000, 0, 2*1000, 0, 2*1000, 0);

    input('Press key to exit\n', 's');
    ipcon.disconnect();
end

% Callback function for acceleration reached callback
function cb_acceleration_reached(e)
    fprintf('Acceleration [X]: %g g\n', e.x/1000.0);
    fprintf('Acceleration [Y]: %g g\n', e.y/1000.0);
    fprintf('Acceleration [Z]: %g g\n', e.z/1000.0);
    fprintf('\n');
end

Simple (Octave)¶

Download (octave_example_simple.m)

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function octave_example_simple()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Accelerometer Bricklet

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    a = javaObject("com.tinkerforge.BrickletAccelerometer", UID, ipcon); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Get current acceleration
    acceleration = a.getAcceleration();

    fprintf("Acceleration [X]: %g g\n", java2int(acceleration.x)/1000.0);
    fprintf("Acceleration [Y]: %g g\n", java2int(acceleration.y)/1000.0);
    fprintf("Acceleration [Z]: %g g\n", java2int(acceleration.z)/1000.0);

    input("Press key to exit\n", "s");
    ipcon.disconnect();
end

function int = java2int(value)
    if compare_versions(version(), "3.8", "<=")
        int = value.intValue();
    else
        int = value;
    end
end

Callback (Octave)¶

Download (octave_example_callback.m)

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function octave_example_callback()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Accelerometer Bricklet

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    a = javaObject("com.tinkerforge.BrickletAccelerometer", UID, ipcon); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Register acceleration callback to function cb_acceleration
    a.addAccelerationCallback(@cb_acceleration);

    % Set period for acceleration callback to 1s (1000ms)
    % Note: The acceleration callback is only called every second
    %       if the acceleration has changed since the last call!
    a.setAccelerationCallbackPeriod(1000);

    input("Press key to exit\n", "s");
    ipcon.disconnect();
end

% Callback function for acceleration callback
function cb_acceleration(e)
    fprintf("Acceleration [X]: %g g\n", java2int(e.x)/1000.0);
    fprintf("Acceleration [Y]: %g g\n", java2int(e.y)/1000.0);
    fprintf("Acceleration [Z]: %g g\n", java2int(e.z)/1000.0);
    fprintf("\n");
end

function int = java2int(value)
    if compare_versions(version(), "3.8", "<=")
        int = value.intValue();
    else
        int = value;
    end
end

Threshold (Octave)¶

Download (octave_example_threshold.m)

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function octave_example_threshold()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Accelerometer Bricklet

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    a = javaObject("com.tinkerforge.BrickletAccelerometer", UID, ipcon); % Create device object

    ipcon.connect(HOST, PORT); % Connect to brickd
    % Don't use device before ipcon is connected

    % Get threshold callbacks with a debounce time of 10 seconds (10000ms)
    a.setDebouncePeriod(10000);

    % Register acceleration reached callback to function cb_acceleration_reached
    a.addAccelerationReachedCallback(@cb_acceleration_reached);

    % Configure threshold for acceleration "greater than 2 g, 2 g, 2 g"
    a.setAccelerationCallbackThreshold(">", 2*1000, 0, 2*1000, 0, 2*1000, 0);

    input("Press key to exit\n", "s");
    ipcon.disconnect();
end

% Callback function for acceleration reached callback
function cb_acceleration_reached(e)
    fprintf("Acceleration [X]: %g g\n", java2int(e.x)/1000.0);
    fprintf("Acceleration [Y]: %g g\n", java2int(e.y)/1000.0);
    fprintf("Acceleration [Z]: %g g\n", java2int(e.z)/1000.0);
    fprintf("\n");
end

function int = java2int(value)
    if compare_versions(version(), "3.8", "<=")
        int = value.intValue();
    else
        int = value;
    end
end

Basic Functions¶

class BrickletAccelerometer(String uid, IPConnection ipcon)¶

Parameters:	uid – Type: String ipcon – Type: IPConnection
Returns:	accelerometer – Type: BrickletAccelerometer

Creates an object with the unique device ID uid.

In MATLAB:

import com.tinkerforge.BrickletAccelerometer;

accelerometer = BrickletAccelerometer('YOUR_DEVICE_UID', ipcon);

In Octave:

accelerometer = java_new("com.tinkerforge.BrickletAccelerometer", "YOUR_DEVICE_UID", ipcon);

This object can then be used after the IP Connection is connected.

BrickletAccelerometer.Acceleration BrickletAccelerometer.getAcceleration()¶

Return Object:	x – Type: short, Unit: 1/1000 gₙ, Range: ? y – Type: short, Unit: 1/1000 gₙ, Range: ? z – Type: short, Unit: 1/1000 gₙ, Range: ?

Returns the acceleration in x, y and z direction. The values are given in gₙ/1000 (1gₙ = 9.80665m/s²). The range is configured with setConfiguration().

If you want to get the acceleration periodically, it is recommended to use the AccelerationCallback callback and set the period with setAccelerationCallbackPeriod().

short BrickletAccelerometer.getTemperature()¶

Returns:	temperature – Type: short, Unit: 1 °C, Range: [-103 to 152]

Returns the temperature of the accelerometer.

void BrickletAccelerometer.ledOn()¶

Enables the LED on the Bricklet.

void BrickletAccelerometer.ledOff()¶

Disables the LED on the Bricklet.

boolean BrickletAccelerometer.isLEDOn()¶

Returns:	on – Type: boolean, Default: false

Returns true if the LED is enabled, false otherwise.

Advanced Functions¶

void BrickletAccelerometer.setConfiguration(short dataRate, short fullScale, short filterBandwidth)¶

Parameters:	dataRate – Type: short, Range: See constants, Default: 6 fullScale – Type: short, Range: See constants, Default: 1 filterBandwidth – Type: short, Range: See constants, Default: 2

Configures the data rate, full scale range and filter bandwidth. Possible values are:

• Data rate of 0Hz to 1600Hz.
• Full scale range of ±2gₙ up to ±16gₙ.
• Filter bandwidth between 50Hz and 800Hz.

Decreasing data rate or full scale range will also decrease the noise on the data.

The following constants are available for this function:

For dataRate:

• BrickletAccelerometer.DATA_RATE_OFF = 0
• BrickletAccelerometer.DATA_RATE_3HZ = 1
• BrickletAccelerometer.DATA_RATE_6HZ = 2
• BrickletAccelerometer.DATA_RATE_12HZ = 3
• BrickletAccelerometer.DATA_RATE_25HZ = 4
• BrickletAccelerometer.DATA_RATE_50HZ = 5
• BrickletAccelerometer.DATA_RATE_100HZ = 6
• BrickletAccelerometer.DATA_RATE_400HZ = 7
• BrickletAccelerometer.DATA_RATE_800HZ = 8
• BrickletAccelerometer.DATA_RATE_1600HZ = 9

For fullScale:

• BrickletAccelerometer.FULL_SCALE_2G = 0
• BrickletAccelerometer.FULL_SCALE_4G = 1
• BrickletAccelerometer.FULL_SCALE_6G = 2
• BrickletAccelerometer.FULL_SCALE_8G = 3
• BrickletAccelerometer.FULL_SCALE_16G = 4

For filterBandwidth:

• BrickletAccelerometer.FILTER_BANDWIDTH_800HZ = 0
• BrickletAccelerometer.FILTER_BANDWIDTH_400HZ = 1
• BrickletAccelerometer.FILTER_BANDWIDTH_200HZ = 2
• BrickletAccelerometer.FILTER_BANDWIDTH_50HZ = 3

BrickletAccelerometer.Configuration BrickletAccelerometer.getConfiguration()¶

Return Object:	dataRate – Type: short, Range: See constants, Default: 6 fullScale – Type: short, Range: See constants, Default: 1 filterBandwidth – Type: short, Range: See constants, Default: 2

Returns the configuration as set by setConfiguration().

The following constants are available for this function:

For dataRate:

• BrickletAccelerometer.DATA_RATE_OFF = 0
• BrickletAccelerometer.DATA_RATE_3HZ = 1
• BrickletAccelerometer.DATA_RATE_6HZ = 2
• BrickletAccelerometer.DATA_RATE_12HZ = 3
• BrickletAccelerometer.DATA_RATE_25HZ = 4
• BrickletAccelerometer.DATA_RATE_50HZ = 5
• BrickletAccelerometer.DATA_RATE_100HZ = 6
• BrickletAccelerometer.DATA_RATE_400HZ = 7
• BrickletAccelerometer.DATA_RATE_800HZ = 8
• BrickletAccelerometer.DATA_RATE_1600HZ = 9

For fullScale:

• BrickletAccelerometer.FULL_SCALE_2G = 0
• BrickletAccelerometer.FULL_SCALE_4G = 1
• BrickletAccelerometer.FULL_SCALE_6G = 2
• BrickletAccelerometer.FULL_SCALE_8G = 3
• BrickletAccelerometer.FULL_SCALE_16G = 4

For filterBandwidth:

• BrickletAccelerometer.FILTER_BANDWIDTH_800HZ = 0
• BrickletAccelerometer.FILTER_BANDWIDTH_400HZ = 1
• BrickletAccelerometer.FILTER_BANDWIDTH_200HZ = 2
• BrickletAccelerometer.FILTER_BANDWIDTH_50HZ = 3

BrickletAccelerometer.Identity BrickletAccelerometer.getIdentity()¶

Return Object:

uid – Type: String, Length: up to 8 connectedUid – Type: String, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, Range: [0 to 255] firmwareVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, Range: [0 to 255] deviceIdentifier – Type: int, Range: [0 to 216 - 1]

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions¶

void BrickletAccelerometer.setAccelerationCallbackPeriod(long period)¶

Parameters:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the AccelerationCallback callback is triggered periodically. A value of 0 turns the callback off.

The AccelerationCallback callback is only triggered if the acceleration has changed since the last triggering.

long BrickletAccelerometer.getAccelerationCallbackPeriod()¶

Returns:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by setAccelerationCallbackPeriod().

void BrickletAccelerometer.setAccelerationCallbackThreshold(char option, short minX, short maxX, short minY, short maxY, short minZ, short maxZ)¶

Parameters:

option – Type: char, Range: See constants, Default: 'x' minX – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 maxX – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 minY – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 maxY – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 minZ – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 maxZ – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0

Sets the thresholds for the AccelerationReachedCallback callback.

The following options are possible:

Option	Description
'x'	Callback is turned off
'o'	Callback is triggered when the acceleration is outside the min and max values
'i'	Callback is triggered when the acceleration is inside the min and max values
'<'	Callback is triggered when the acceleration is smaller than the min value (max is ignored)
'>'	Callback is triggered when the acceleration is greater than the min value (max is ignored)

The following constants are available for this function:

For option:

• BrickletAccelerometer.THRESHOLD_OPTION_OFF = 'x'
• BrickletAccelerometer.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletAccelerometer.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletAccelerometer.THRESHOLD_OPTION_SMALLER = '<'
• BrickletAccelerometer.THRESHOLD_OPTION_GREATER = '>'

BrickletAccelerometer.AccelerationCallbackThreshold BrickletAccelerometer.getAccelerationCallbackThreshold()¶

Return Object:

option – Type: char, Range: See constants, Default: 'x' minX – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 maxX – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 minY – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 maxY – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 minZ – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0 maxZ – Type: short, Unit: 1/1000 gₙ, Range: [-215 to 215 - 1], Default: 0

Returns the threshold as set by setAccelerationCallbackThreshold().

The following constants are available for this function:

For option:

• BrickletAccelerometer.THRESHOLD_OPTION_OFF = 'x'
• BrickletAccelerometer.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletAccelerometer.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletAccelerometer.THRESHOLD_OPTION_SMALLER = '<'
• BrickletAccelerometer.THRESHOLD_OPTION_GREATER = '>'

void BrickletAccelerometer.setDebouncePeriod(long debounce)¶

Parameters:	debounce – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Sets the period with which the threshold callback

• AccelerationReachedCallback

is triggered, if the threshold

• setAccelerationCallbackThreshold()

keeps being reached.

long BrickletAccelerometer.getDebouncePeriod()¶

Returns:	debounce – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Returns the debounce period as set by setDebouncePeriod().

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with "set" function of MATLAB. The parameters consist of the IP Connection object, the callback name and the callback function. For example, it looks like this in MATLAB:

function my_callback(e)
    fprintf('Parameter: %s\n', e.param);
end

set(device, 'ExampleCallback', @(h, e) my_callback(e));

Due to a difference in the Octave Java support the "set" function cannot be used in Octave. The registration is done with "add*Callback" functions of the device object. It looks like this in Octave:

function my_callback(e)
    fprintf("Parameter: %s\n", e.param);
end

device.addExampleCallback(@my_callback);

It is possible to add several callbacks and to remove them with the corresponding "remove*Callback" function.

The parameters of the callback are passed to the callback function as fields of the structure e, which is derived from the java.util.EventObject class. The available callback names with corresponding structure fields are described below.

callback BrickletAccelerometer.AccelerationCallback¶

Event Object:	x – Type: short, Unit: 1/1000 gₙ, Range: ? y – Type: short, Unit: 1/1000 gₙ, Range: ? z – Type: short, Unit: 1/1000 gₙ, Range: ?

This callback is triggered periodically with the period that is set by setAccelerationCallbackPeriod(). The parameters are the X, Y and Z acceleration. The range is configured with setConfiguration().

The AccelerationCallback callback is only triggered if the acceleration has changed since the last triggering.

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addAccelerationCallback() function. An added callback function can be removed with the removeAccelerationCallback() function.

callback BrickletAccelerometer.AccelerationReachedCallback¶

Event Object:	x – Type: short, Unit: 1/1000 gₙ, Range: ? y – Type: short, Unit: 1/1000 gₙ, Range: ? z – Type: short, Unit: 1/1000 gₙ, Range: ?

This callback is triggered when the threshold as set by setAccelerationCallbackThreshold() is reached. The parameters are the X, Y and Z acceleration. The range is configured with setConfiguration().

If the threshold keeps being reached, the callback is triggered periodically with the period as set by setDebouncePeriod().

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addAccelerationReachedCallback() function. An added callback function can be removed with the removeAccelerationReachedCallback() function.

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

short[] BrickletAccelerometer.getAPIVersion()¶

Return Object:	apiVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

boolean BrickletAccelerometer.getResponseExpected(byte functionId)¶

Parameters:	functionId – Type: byte, Range: See constants
Returns:	responseExpected – Type: boolean

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by setResponseExpected(). For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• BrickletAccelerometer.FUNCTION_SET_ACCELERATION_CALLBACK_PERIOD = 2
• BrickletAccelerometer.FUNCTION_SET_ACCELERATION_CALLBACK_THRESHOLD = 4
• BrickletAccelerometer.FUNCTION_SET_DEBOUNCE_PERIOD = 6
• BrickletAccelerometer.FUNCTION_SET_CONFIGURATION = 9
• BrickletAccelerometer.FUNCTION_LED_ON = 11
• BrickletAccelerometer.FUNCTION_LED_OFF = 12

void BrickletAccelerometer.setResponseExpected(byte functionId, boolean responseExpected)¶

Parameters:	functionId – Type: byte, Range: See constants responseExpected – Type: boolean

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• BrickletAccelerometer.FUNCTION_SET_ACCELERATION_CALLBACK_PERIOD = 2
• BrickletAccelerometer.FUNCTION_SET_ACCELERATION_CALLBACK_THRESHOLD = 4
• BrickletAccelerometer.FUNCTION_SET_DEBOUNCE_PERIOD = 6
• BrickletAccelerometer.FUNCTION_SET_CONFIGURATION = 9
• BrickletAccelerometer.FUNCTION_LED_ON = 11
• BrickletAccelerometer.FUNCTION_LED_OFF = 12

void BrickletAccelerometer.setResponseExpectedAll(boolean responseExpected)¶

Parameters:	responseExpected – Type: boolean

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Constants¶

int BrickletAccelerometer.DEVICE_IDENTIFIER¶

This constant is used to identify a Accelerometer Bricklet.

The getIdentity() function and the IPConnection.EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

String BrickletAccelerometer.DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a Accelerometer Bricklet.