matlab/GCSPlugin/GCSControl.m

   1 % GCSCONTROL
   2 %  This class allows the user to send 4-axis stick commands to OpenPilot
   3 %  GCS.
   4 %
   5 % Create class by
   6 %    control = GCSControl
   7 %
   8 % Open connection by
   9 %    control.connect('01.23.45.67', 89)
  10 % where the first value is the IP address of the computer running GCS and
  11 % the second value is the port on which GCS is listening.
  12 %
  13 % Send command by
  14 %    control.command(pitch, yaw, roll, throttle)
  15 % where all variables are between [-1,1]
  16 %
  17 % Close connection by
  18 %    control.close()
  19
  20 classdef GCSControl < handle
  21
  22     properties
  23         udpObj;
  24         isConnected=false;
  25     end
  26
  27     methods
  28         function obj=GCSControl()
  29             obj.isConnected = false;
  30         end
  31         function obj=connect(obj,rhost,rport)
  32             obj.udpObj = udp(rhost,rport);
  33             fopen(obj.udpObj);
  34             obj.isConnected = true;
  35         end
  36         function obj=command(obj,pitch,yaw,roll,throttle)
  37             if(obj.isConnected)
  38                 fwrite(obj.udpObj,[42,pitch,yaw,roll,throttle,36],'double')
  39             end
  40         end
  41         function obj=close(obj)
  42             if(obj.isConnected)
  43                 fclose(obj.udpObj);
  44                 obj.isConnected = false;
  45             end
  46         end
  47     end
  48 end