Merged in development (pull request #20)

Development

Approved-by: Fred Kummer

iq/src/clients/MultiTurnAngleControlClient.m

@@ -59,5 +59,16 @@ function SendTrajectory(obj,tf,xf,xdf,xddf)
             end
             obj.set('trajectory_duration',tf);
         end
+
+        function SendLinearTrajectory(obj,tf,xf,xdf,xddf)
+            obj.set('trajectory_linear_displacement',xf);
+            if(nargin > 3)
+                obj.set('trajectory_linear_velocity',xdf);
+                if(nargin > 4)
+                    obj.set('trajectory_linear_acceleration',xddf);
+                end
+            end
+            obj.set('trajectory_duration',tf);
+        end
     end
 end

iq/src/clients/RgbLedClient.m

@@ -0,0 +1,35 @@
+% RgbLedClient allows the user to control the RGB LED on an LED board connected to a Vertiq module.
+%
+% Example:
+%   % Make a communication interface object
+%   com = MessageInterface('COM3', 115200);
+%   % Make a RgbLedClient object with obj_id 0
+%   rgbLed = RgbLedClient('com', com);
+%   % Use the RgbLedClient object
+%   rgbLedRed = rgbLed.get('red');
+%
+% Copyright 2024 Vertiq [email protected]
+%
+% This file is part of the Vertiq Matlab API.
+%
+% This code is licensed under the MIT license (see LICENSE or https://opensource.org/licenses/MIT for details)
+%
+% Name: RgbLedClient.m
+% Last update: 2024/08/05 by Fred Kummer
+% Author: Fred Kummer
+% Contributors:
+
+classdef RgbLedClient < Client
+
+    methods
+
+        %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+        %% Constructor, from JSON Parameters
+
+        function obj = RgbLedClient(varargin)
+            args = varargin;
+            args = [args, {'filename', 'rgb_led.json'}];
+            obj@Client(args{:});
+        end
+    end
+end

iq/src/clients/WhiteLedClient.m

@@ -0,0 +1,35 @@
+% WhiteLedClient allows the user to control the white LED on an LED board connected to a Vertiq module.
+%
+% Example:
+%   % Make a communication interface object
+%   com = MessageInterface('COM3', 115200);
+%   % Make a WhiteLedClient object with obj_id 0
+%   whiteLed = WhiteLedClient('com', com);
+%   % Use the WhiteLedClient object
+%   whiteLedIntensity = whiteLed.get('intensity');
+%
+% Copyright 2024 Vertiq [email protected]
+%
+% This file is part of the Vertiq Matlab API.
+%
+% This code is licensed under the MIT license (see LICENSE or https://opensource.org/licenses/MIT for details)
+%
+% Name: WhiteLedClient.m
+% Last update: 2024/08/05 by Fred Kummer
+% Author: Fred Kummer
+% Contributors:
+
+classdef WhiteLedClient < Client
+
+    methods
+
+        %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+        %% Constructor, from JSON Parameters
+
+        function obj = WhiteLedClient(varargin)
+            args = varargin;
+            args = [args, {'filename', 'white_led.json'}];
+            obj@Client(args{:});
+        end
+    end
+end

iq/src/communication/FindCom.m

@@ -31,6 +31,7 @@
     p = inputParser;
     addOptional(p,'id',[]);
     addOptional(p,'timeout',.2);
+    addOptional(p,'baud',115200);
     parse(p,varargin{:});
 
     % Sets up a com
@@ -39,10 +40,10 @@
     com = [];
 
     %% Find/make com
-    coms = seriallist;
+    coms = serialportlist;
     for i = 1:length(coms)
         try
-            com = MessageInterface(coms{i}, 115200);
+            com = MessageInterface(coms{i}, p.Results.baud);
             sys = SystemControlClient('com',com,'timeout',p.Results.timeout);
             id_in = sys.get('module_id');
             clear sys