Copyright

Arduino Programming using MATLAB

Agus Kurniawan
1st Edition, 2015
Copyright 2015 Agus Kurniawan
 Table of Contents
Copyright
Preface
1. Preparing Development Environment
1.1 Arduino
1.1.1 Arduino Uno
1.1.2 Arduino Leonardo
1.1.3 Arduino Mega 2560
1.1.4 Arduino Due
1.2 Electronic Components
1.2.1 Arduino Starter Kit
1.2.2 Fritzing
1.2.3 Cooking-Hacks: Arduino Starter Kit
1.2.4 Arduino Sidekick Basic kit
1.3 Matlab
1.4 Testing
2. Setting Arduino Development for MATLAB
2.1 Getting Started
2.2 Setting up Arduino Development for MATLAB
2.3 Connecting Arduino Board to Computer
2.4 Hello Arduino: Blinking LED
3. Working with Digital I/O
 3.1 Getting Started
3.2 Demo : LED and Pushbutton
3.2.1 Wiring
3.2.2 Writing a Program
3.2.3 Testing
4. Working with PWM and Analog Input
4.1 Getting Started
4.2 Demo Analog Output (PWM) : RGB LED
4.2.1 Wiring
4.2.2 Writing Program
4.2.3 Testing
4.3 Demo Analog Output Voltage: LED Brightness
4.3.1 Wiring
4.3.2 Writing a Program
4.3.3 Testing
4.4 Demo Analog Input: Working with Potentiometer
4.4.1 Wiring
4.4.2 Writing Program
4.4.3 Testing
5. Working with I2C
5.1 Getting Started
5.2 Writing Program
5.3 Demo 1: Scanning I2C
 5.4 Demo 2: Reading Data from Sensor Based I2C
6. Working with SPI
6.1 Getting Started
6.2 Demo : SPI Loopback
7. Working with Servo Motor
7.1 Getting Started
7.2 Wiring
7.3 Writing a Matlab Program
7.4 Testing
8. Measuring and Plotting Sensor Data in Real-Time
8.1 Getting Started
8.2 Wiring
8.3 Writing a Program
8.4 Testing
Source Code
Contact
 Preface


This book was written to help anyone want to develop Arduino board using MATLAB with Arduino supported. It
describes the basic elements of Arduino development using MATLAB.

Agus Kurniawan
Depok, September 2015
1. Preparing Development Environment
1.1 Arduino
Arduino is an open-source electronics prototyping platform based on flexible, easy-to-use
hardware and software. This board uses Atmel microcontroller series. There are many
Arduino hardware models that you can use. Further information about Arduino products,
you can visit on website http://arduino.cc/en/ .
You must one Arduino hardware to follow practices in this book. I recommend to obtain
one of the following Arduino hardware:

Arduino Uno
Arduino Leonardo
Arduino Mega 2560
Arduino Due

You can buy this product on your local electronic store. You also can order it by online.
Find it on http://arduino.cc/en/Main/Buy. The following is the list of Arduino store you
can buy

Arduino store, http://store.arduino.cc/

Amazon, http://www.amazon.com
Cooking-hacks, http://www.cooking-hacks.com/index.php/shop/arduino.html
RS Components, http://www.rs-components.com
Element 14, http://www.element14.com
EXP-Tech, http://www.exp-tech.de

Because Arduino is an open-source hardware, people can build it. Its called Arduino
compatible. Generally its sold in low prices.

1.1.1 Arduino Uno

The Arduino Uno is a microcontroller board based on the ATmega328. You can download
the datasheet file, http://www.atmel.com/dyn/resources/prod_documents/doc8161.pdf .
Further information about Arduino Uno, you can read it on
http://arduino.cc/en/Main/ArduinoBoardUno .
1.1.2 Arduino Leonardo
The Arduino Leonardo is a microcontroller board based on the ATmega32u4. Download
datasheet for this product on
http://www.atmel.com/dyn/resources/prod_documents/7766S.pdf .
Visit this product to get the further information on
http://arduino.cc/en/Main/ArduinoBoardLeonardo .

1.1.3 Arduino Mega 2560

The Arduino Mega 2560 is a microcontroller board based on the ATmega2560. You can
download the datasheet file on
http://www.atmel.com/dyn/resources/prod_documents/doc2549.PDF.
Further information about Arduino Mega 2560, you can visit on
http://arduino.cc/en/Main/ArduinoBoardMega2560 .

1.1.4 Arduino Due

The Arduino Due is a microcontroller board based on the Atmel SAM3X8E ARM Cortex-
M3 CPU. You can download the datasheet, http://www.atmel.com/Images/doc11057.pdf.
If you want to know about Arduino Due, I recommend to visit this website,
http://arduino.cc/en/Main/ArduinoBoardDue.
1.2 Electronic Components
We need electronic components to build our testing, for instance, Resistor, LED, sensor
devices and etc. I recommend you can buy electronic component kit.

1.2.1 Arduino Starter Kit

Store website: http://arduino.cc/en/Main/ArduinoStarterKit

1.2.2 Fritzing
Store website: http://shop.fritzing.org/ .
You can buy Fritzing Starter Kit with Arduino UNO or Fritzing Starter Kit with Arduino
Mega.
1.2.3 Cooking-Hacks: Arduino Starter Kit
Store website: http://www.cooking-hacks.com/index.php/shop/arduino/starter-
kits/arduino-starter-kit.html
1.2.4 Arduino Sidekick Basic kit
Store website: http://www.seeedstudio.com/depot/arduino-sidekick-basic-kit-p-775.html
Alternative online store
http://www.amazon.com/Arduino-Sidekick-Basic-Kit-Version/dp/B007B14HM8/
http://www.exp-tech.de/Zubehoer/Arduino-Sidekick-Basic-Kit.html
1.3 Matlab
MATLAB Support Package for Arduino hardware enables you to use MATLAB to
communicate with the Arduino board over a USB cable. This package is based on a
server program running on the board, which listens to commands arriving via serial port,
executes the commands, and, if needed, returns a result.
This support package is available for R2014a and later releases. Its available on 32-bit
and 64-bit Microsoft Windows, 64-bit Mac OS, and 64-bit Linux.
I will explain how to set up Matlab for Arduino development on chapter 2.
1.4 Testing
For testing, I used Arduino Uno R3 and Arduino Mega 2560 on OSX and Windows 10
platforms with Matlab 2015b.

I also used Arduino Sidekick Basic kit for electronic components.

 2. Setting Arduino Development for MATLAB

This chapter explains how to work on setting up Arduino board on a computer and then,
access it from MATLAB.
2.1 Getting Started
In this chapter, we set up Arduino board development using MATLAB support package
for Arduino hardware. To set up this development, you must have MATLAB 2014a or
later and MATLAB account to verify while installing.
2.2 Setting up Arduino Development for MATLAB
In this section, we try to set up Arduino development for MATLAB. You can configure
MATLAB Support Package for Arduino hardware using MATLAB 2014a or later. We also
need internet connection to download this package.
Lets start.
Run MATLAB application. Click Get Hardware Support Packages on Add-Ons icon
on toolbox.

Then, you get a dialog. Select Install from Internet.

If done, click Next> button.
Select Arduino on Support for. You should see two Arduino support packages. You can
select both.
If done, click Next> button.
You will be asked to logon with your MATLAB account. You should have MATLAB
license. Click Log In button.

You should the authentication dialog. Fill your account. After that, click Log In button.

If success, you should get a software license agreement. Checked I accept and then click
Next> button.
You will get confirmation. Click Next> button.

Click Install button to start installation.

After done, you will be asked to configure Arduino board. Select Arduino and then, click
Next> button.

Confirmation form will be shown. Click Continue> button.

The program will check if your platform needs Arduino driver or not. If youre working
on Linux and Mac, you dont need a driver. You need to install Arduino driver if youre
working on Windows platform. Click Next> button if done.
Installation is over. Click Finish button to close installation.
2.3 Connecting Arduino Board to Computer
Now you can connect Arduino board to computer. Then, verify which serial port is used
for Arduino board. On Mac platform, you type this command.
$ ls /dev/cu*

On Linux platform, you type this command.

$ ls /dev/tty*

You can use Device Manager on Windows platform.

After that, you should see serial port of Arduino board which is attached on the computer.
My OSX detected my Arduino board used /dev/cu.usbmodem1421 serial port.

On MATLAB command Windows, type this command

>> a = arduino

MATLAB will detect your Arduino board. You should detected Arduino board
information on Maltab Command Window.
2.4 Hello Arduino: Blinking LED
In this section, we build a blinking LED program using MATLAB. Arduino
Uno/Mega/Leonardo boards provides onboard LED which is connected on pin 13.
Lets start to write our Blink program.
Firstly, you set working folder on MATLAB. You can change it on MATLAB IDE, see a
red arrow.

Then, click New Script icon to create a new script file.

After that, you can get a script editor, shown in Figure below.
 board = arduino();
led = 'D13';
for k=1:10
disp('turn on LED');
writeDigitalPin(board,led,1);
pause(1);
disp('turn off LED');
writeDigitalPin(board,led,0);
pause(1);
end

disp('close Arduino board');

clear board;

Save those scripts into a file, called blinking.m. Now you can run it.
>> blinking

You may get error message, shown in Figure below.

This error occurs because we create arduino object while there is existing arduino object.
We cant use multiple arduino object. Delete existing arduino on Workspace Window. See
a red arrow on above Figure.
We can clear our arduino object usage using clear syntax.
Now you can run the program again. The following is a sample output of blinking
program.
You should see blinking LED on Arduino board.
 3. Working with Digital I/O

In this chapter Im going to explain how to work with digital I/O on Arduino board and
write a program for demo.
3.1 Getting Started
MATLAB support for Arduino board provides three functions which we can use on digital
I/O processing. The following is the functions:

configurePin() is used to define pin mode either as input or output.

Reference: http://www.mathworks.com/help/supportpkg/arduinoio/ref/configurepin.html
writeDigitalPin() is used to write digital data into a specific digital pin.
Reference: http://www.mathworks.com/help/supportpkg/arduinoio/ref/writedigitalpin.html
readDigitalPin() is used to read digital input on specific digital pin.
Reference: http://www.mathworks.com/help/supportpkg/arduinoio/ref/readdigitalpin.html

To illustrate how to work with digital I/O, we build a simple program by utilizing LED
and pushbutton.
3.2 Demo : LED and Pushbutton
we build a program using LED and pushbutton. When we press a pushbutton, LED will
lighting. Its a simple;).

3.2.1 Wiring
The following is hardware wiring:

LED is connected to Arduino digital pin 9

Pushbutton is connected to Arduino digital pin 8

A sample of hardware implementation is shown in Figure below.

3.2.2 Writing a Program

Now you can write these scripts.
function [] = led_pushbutton()
pushbutton = 'D8';
led = 'D9';
board = arduino();
 finishup = onCleanup(@() exitprogram(board));

configurePin(board,pushbutton,'DigitalInput');
disp('press Ctr-C to exit');
while 1
state = readDigitalPin(board,pushbutton);
writeDigitalPin(board,led,state);
disp(state);
pause(0.5);
end

end

function exitprogram(b)
clear b;
disp('program has exit');
end

We use onCleanup(), http://www.mathworks.com/help/matlab/ref/oncleanup.html , to

catch CTRL+C for quiting the program.
Save this program into file, called led_pushbutton.m.

3.2.3 Testing
Run this program by typing this command on Command Window on Matlab.
>> led_pushbutton

Press pushbutton. Then, you should see lighting LED. Press CTRL+C to exit program.
Program output:
LED is lighting while a pushbutton is pressed.
 4. Working with PWM and Analog Input

This chapter explains how to work with Arduino Analog I/O using MATLAB.
4.1 Getting Started
MATLAB support for Arduino board provides five functions which we can use on analog
I/O processing. The following is the functions:

configurePin() is used to define pin mode either as input or output.

Reference: http://www.mathworks.com/help/supportpkg/arduinoio/ref/configurepin.html
writePWMVoltage() is used to write PWM voltage on digital pin.
Reference: http://www.mathworks.com/help/supportpkg/arduinoio/ref/writepwmvoltage.htm
writePWMDutyCycle() is used to set PWM duty cycle on digital pin.
Reference: http://www.mathworks.com/help/supportpkg/arduinoio/ref/writepwmdutycycle.h
readVoltage() to read analog input on Analog pin.
Reference: http://www.mathworks.com/help/supportpkg/arduinoio/ref/readvoltage.html

In this chapter, we try to access Arduino Analog I/O using MATLAB. There are three
scenarios for our cases:

Controlling RGB LED

Controlling LED brightness
Reading Analog input using Potentiometer

Lets start.
4.2 Demo Analog Output (PWM) : RGB LED
In this scenario we build a program to control RGB LED color using Arduino Analog
output (PWM).
Please be careful if you want to work with Arduino PWM. If you have Arduino Mega, you
will see PWM label so you obtain PWM pins easily but if you have Arduino Uno, it writes
DIGITAL (PWM ~). It means your PWM pins can be found on DIGITAL pins which pin
with ~, for instance, ~3,~5,~6,~9, ~10, ~11.
For Arduino Mega 2560, you can see PWM pins on picture below (see red arrow).

For Arduino Uno R3, you can see PWM pins as below.
RGB LED has 4 pins that you can see it on Figure below.

To understand these pins, you can see the following Figure.

Note:

Pin 1: Red
Pin 2: Common pin
Pin 3: Green
 Pin 4: Blue

Now we can start to build a program and hardware implementation.

4.2.1 Wiring
Firstly we implement RGB LED hardware. The following is a hardware schema.

For our testing, we configure the following PWM pins.

Arduino Mega 2560:

RGB LED pin 1 (red) is connected to Arduino PWM pin 3

RGB LED pin 2 is connected to Arduino VCC 5V
RGB LED pin 3 (green) is connected to Arduino PWM pin 5
RGB LED pin 4 (blue) is connected to Arduino PWM pin 6

Arduino Uno R3:

RGB LED pin 1 (red) is connected to Arduino PWM pin 3

 RGB LED pin 2 is connected to Arduino VCC 5V
RGB LED pin 3 (green) is connected to Arduino PWM pin 5
RGB LED pin 4 (blue) is connected to Arduino PWM pin 6

Here is a sample implementation with Arduino Uno R3.

4.2.2 Writing Program

To display a certain color, we must combine colors from red, green, blue. MATLAB
provides API for PWM like Arduino API such as writePWMDutyCycle() with analog
value from 0 to 1.
Lets start to build a program. Firstly, open MATLAB. Then, write these scripts.
function [] = led_rgb()
board = arduino();
finishup = onCleanup(@() exitprogram(board));
configurePin(board,'D3','PWM');
configurePin(board,'D5','PWM');
configurePin(board,'D6','PWM');
disp('press Ctr-C to exit');
while 1
disp('red');
write_rgb(board,0,1,1); % red
pause(1);

disp('green');
 write_rgb(board,1,0,1); % green
pause(1);

disp('blue');
write_rgb(board,1,1,0); % blue
pause(1);

disp('yellow');
write_rgb(board,0,0,1); % yellow
pause(1);

disp('purple');
write_rgb(board,0.3,1,0.3); % purple
pause(1);

disp('aqua');
write_rgb(board,1,0,0); % aqua
pause(1);
end

end

% testing for Arduino Uno

function write_rgb(board,r,g,b)
writePWMDutyCycle(board,'D3',r);
writePWMDutyCycle(board,'D5',g);
writePWMDutyCycle(board,'D6',b);
end

function exitprogram(b)
clear b;
disp('program has exit');
end

Save this program as led_rgb.m.

This program will generate six colors: red, green, blue, yellow, purple, and aqua.

4.2.3 Testing
Upload and run the program. You should see several color on RGB LED.
>> led_rgb

The following is a sample demo on Command Window on MATLAB.

The following is a sample demo on hardware.
4.3 Demo Analog Output Voltage: LED Brightness
In this demo, we try to control LED brightness by controlling voltage on LED. MATLAB
for Arduino support provides writePWMVoltage() function to set voltage on PWM pins.
We can set a voltage value from 0 to 5 for Arduino Uno/Mega and 0 - 3.3 for Arduino
Due.
Lets build.

4.3.1 Wiring
We connect a LED on PWM pin on digital pin 3. The following is my hardware wiring.

4.3.2 Writing a Program

Now you can open MATLAB and write these scripts.
function [] = led_brightness()
board = arduino();
finishup = onCleanup(@() exitprogram(board));
configurePin(board,'D3','PWM');
disp('press Ctr-C to exit');
 while 1
for k = 0:5
writePWMVoltage(board,'D3',k);
pause(1);
end
for k = 5:-1:0
writePWMVoltage(board,'D3',k);
pause(1);
end
end

end

function exitprogram(b)
clear b;
disp('program has exit');
end

Save these scripts into a file, called led_brightness.m.

This program will set voltage value on PWM pin on digital pin 3 from 0 to 5 and then set
a value from 5 to 0 too.

4.3.3 Testing
Make sure Arduino board already connected to your computer. You can run the program
by typing this command.
>> led_brightness

On hardware side, you should see LED brightness changing gradually.

4.4 Demo Analog Input: Working with Potentiometer
In this section, we learn how to read analog input on Arduino board. For illustration, I use
Potentiometer as analog input source. Our scenario is to read analog value from
Potentiometer. Then, display it on console.
Lets start!.

4.4.1 Wiring
To understand Potentiometer, you see its scheme in Figure below.

You can connect VCC to Arduino board on VCC +5V pin. Vout to Arduino board Analog
input A0. In addition, GND to Arduino board GND. The following is hardware
implementation. I use slide potentiometer.
4.4.2 Writing Program
Firstly, create a program via MATLAB. To read analog input, we can use readVoltage()
function. Ok, Lets write these scripts.
function [] = potentiometer()
board = arduino();
finishup = onCleanup(@() exitprogram(board));
disp('press Ctr-C to exit');
while 1
analog = readVoltage(board,'A0');
disp(['analog= ',num2str(analog)]);
pause(1);
end

end

function exitprogram(b)
clear b;
disp('program has exit');
end

Save this code as potentiometer.m

4.4.3 Testing
To run the program, you can type this command.
>> potentiometer

You should see analog value on Command Window.

 5. Working with I2C

In this chapter we learn how to work with I2C on Arduino board using MATLAB.
5.1 Getting Started
The I2C (Inter-Integrated Circuit) bus was designed by Philips in the early 80s to allow
easy communication between components which reside on the same circuit board. TWI
stands for Two Wire Interface and for most marts this bus is identical to IC. The name
TWI was introduced by Atmel and other companies to avoid conflicts with trademark
issues related to IC.
I2C bus consists of two wires, SDA (Serial Data Line) and SCL (Serial Clock Line). You
can see I2C pins on Arduino board as follows:

Arduino Uno: A4 pin as SDA and A5 as SCL pin

Arduino Mega 2560: Digital pin 20 as SDA and Digital pin 21 as SCL

MATLAB for Arduino support provides several functions to access I2C protocol. You can
read it on http://www.mathworks.com/help/supportpkg/arduinoio/i2c-sensors.html .
For testing, I used PCF8591 AD/DA Converter module with sensor and actuator devices.
You can find it on the following online store:

Amazon, http://www.amazon.com/PCF8591-Converter-Module-Digital-
Conversion/dp/B00BXX4UWC/
eBay, http://www.ebay.com
Dealextreme, http://www.dx.com/p/pcf8591-ad-da-analog-to-digital-digital-to-
analog-converter-module-w-dupont-cable-deep-blue-336384
Aliexpress, http://www.aliexpress.com/

In addition, you can find this device on your local electronics store/online store.
This module has mini form model too, for instance, you can find it on Amazon,
http://www.amazon.com/WaveShare-PCF8591T-Converter-Evaluation-
Development/dp/B00KM6X2OI/ .

This module use PCF8591 IC and you can read the datasheet on the following URLs.

http://www.electrodragon.com/w/images/e/ed/PCF8591.pdf
http://www.nxp.com/documents/data_sheet/PCF8591.pdf
In this chapter, we build a program to access sensor via I2C using Arduino software
on Arduino board.
5.2 Writing Program
We use PCF8591 AD/DA Converter as I2C source. You can connect PCF8591 AD/DA
Converter to Arduino board directly. In this demo, I use Arduino Uno.
The following is our wiring lab

PCF8591 AD/DA Converter SDA > Arduino SDA (A4)

PCF8591 AD/DA Converter SCL > Arduino CLK (A5)
PCF8591 AD/DA Converter VCC > Arduino VCC +5V
PCF8591 AD/DA Converter GND > Arduino GND

Hardware implementation can be shown in Figure below.

5.3 Demo 1: Scanning I2C
After attached our sensor to Arduino, we can scan our I2C address using scanI2CBus()
function. On Arduino Uno, we use 0 for I2C.
Write these scripts.
board = arduino();
address = scanI2CBus(board,0); % uno = 0
disp(['i2c address: ', address]);

clear board;

Save the program into a file, called i2c_scan.m.

Run the program.
>> i2c_scan

On Command Window, you should see I2C address of sensor device. For instance, my
sensor was detected on 0x48.

I2C address will be used on the next demo.

5.4 Demo 2: Reading Data from Sensor Based I2C
We use I2C on Arduino board using i2c object, see
http://www.mathworks.com/help/supportpkg/arduinoio/i2c-sensors.html . PCF8591
AD/DA Converter module has three sensor devices: Thermistor, Photo-voltaic cell and
Potentiometer. This module runs on I2C bus with address 0x48. In this case, we read all
sensor data.
Write these scripts.
function [] = i2c_sensor()
board = arduino();
finishup = onCleanup(@() exitprogram(board));
disp('press Ctr-C to exit');
PCF8591 = '0x48';
PCF8591_ADC_CH0 = '40'; % thermistor
PCF8591_ADC_CH1 = '41'; % photo-voltaic
PCF8591_ADC_CH3 = '43'; % potentiometer
i2c = i2cdev(board,PCF8591);
disp(['thermistor ', 'photo ', 'potentiometer']);
while 1
thermistor = read_adc(i2c,hex2dec(PCF8591_ADC_CH0));
pause(0.5);
photo = read_adc(i2c,hex2dec(PCF8591_ADC_CH1));
pause(0.5);
potentiometer = read_adc(i2c,hex2dec(PCF8591_ADC_CH3));
pause(0.5);
disp([thermistor, photo, potentiometer]);
end

end

function adc = read_adc(dev,config)

write(dev,config);
read(dev, 1);
out = read(dev, 1);
adc = out;
end

function exitprogram(b)
clear b;
disp('program has exit');
end

Save these scripts into a file, called i2c_sensor.m.

Run the program.
>> i2c_sensor
If success, you should see values for Thermistor, Photo-voltaic, and potentiometer.
 6. Working with SPI

In this chapter Im going to explain how to work with SPI on Arduino board using
MATLAB.
6.1 Getting Started
The Serial Peripheral Interface (SPI) is a communication bus that is used to interface one
or more slave peripheral integrated circuits (ICs) to a single master SPI device; usually a
microcontroller or microprocessor of some sort.
SPI in Arduino Uno board can be defined on the following pins:

MOSI on Digital pin 11

MISO on Digital pin 12
SCK on Digital pin 13
SS on Digital pin 10

If you have Arduino Mega, the following is its SPI pins:

MOSI on Digital pin 51

MISO on Digital pin 50
SCK on Digital pin 52
SS on Digital pin 53

In general, you learn SPI using MATLAB on this

document, http://www.mathworks.com/help/supportpkg/arduinoio/spi-sensors.html . To
access SPI on Arduino board from MATLAB, we can do the following steps:

Open Arduino communication by creating arduino object

Open SPI connection by calling spidev with passing SS
pin, http://www.mathworks.com/help/supportpkg/arduinoio/ref/spidev.html
To write and read SPI data, we can use writeRead with passing spidev
object, http://www.mathworks.com/help/supportpkg/arduinoio/ref/writeread.html

In this chapter, we build a SPI Loopback app. Lets start!.

6.2 Demo : SPI Loopback
To develop SPI loopback, we can connect MOSI pin to MISO pin. This means you
connect pin 11 to pin 12 using cable.
The following is a sample of wiring.

On MATLAB, you can write thses scripts.

function [] = spi_loopback()
board = arduino();
finishup = onCleanup(@() exitprogram(board));
spi = spidev(board, 10);
k = 3;
m = 10;
n = 30;
disp('press Ctr-C to exit');
while 1
disp('datain: ');
dataIn = [k m n];
disp(dataIn);
dataOut = writeRead(spi,dataIn);
disp('dataout: ');
disp(dataOut);
pause(1.5);
k = k + 1;
m = m + 1;
n = n + 1;
end

end
 function exitprogram(b)
clear b;
disp('program has exit');
end

Save these scripts into a file, callsed spi_loopback.m. Then, run this program on
Command Windows of MATLAB.
>> spi_loopback

A sample output program can be seen in Figure below.

 7. Working with Servo Motor

In this chapter Im going to explain how to work with servo motor on Arduino board using
MATLAB.
7.1 Getting Started
Servo motor provides a shaft movement 360 degree. We can control this movement based
on its degree. In this scenario, you can use any DC motor (servo) that will be connected to
Arduino. I used a mini servo from Arduino Sidekick Basic kit.
The following is a picture of my mini servo motor.

To understand servos cables, you can identify as follows:

Red cable is be connected to 5V

Black or brown cable is be connected to GND
The rest (yellow or orange cable) is be connected to Arduino PWM pin

The next step we are going to build a MATLAB program with Arduino and servo motor.
7.2 Wiring
To build hardware implementation, you can connect servo motor to Arduino by following
configuration:

Red cable is be connected to 5V

Black or brown cable is be connected to GND
The rest (yellow or orange cable) is be connected to Arduino PWM pin. I used pin 10
for Arduino Uno R3 or Arduino Mega 2560

The following is a sample of hardware implementation.

7.3 Writing a Matlab Program
We can use servo object to control server motor. You can read it
on http://www.mathworks.com/help/supportpkg/arduinoio/servo-motors.html . We build a
program to run a servo motor from position 0 to 1 using writePosition() function.
Write these scripts.
function [] = servo_motor()
board = arduino();
finishup = onCleanup(@() exitprogram(board));
motor = servo(board,'D10');
disp('press Ctr-C to exit');
while 1
for pos = 0:0.25:1
disp(['position: ',num2str(pos)]);
writePosition(motor,pos);
pause(1);
end
for pos = 1:-0.25:0
disp(['position: ',num2str(pos)]);
writePosition(motor,pos);
pause(1);
end
end

end

function exitprogram(b)
clear b;
disp('program has exit');
end

Save these scritps into a file, servo_motor.m.

7.4 Testing
Now you can run the program on Command Window from MATLAB.
>> servo_motor

You should see servor motor is running from degree 0 to 180 and then back again from
degree 180 to 0.
A sample output program can be seen in Figure below.
 8. Measuring and Plotting Sensor Data in Real-Time

In this chapter Im going to explain how to read data from sensor devices and plot it on
graph in real-time.
8.1 Getting Started
This section has an objective to show how to work with a real-time on measurement. We
read data from sensor devices and display it on graph.
Lets start!.
8.2 Wiring
We use the same wiring from section 5.2
8.3 Writing a Program
Now you run MATLAB and write these scripts.
function [] = sensing()
board = arduino();
disp('press Ctr-C to exit');
h = figure(1);
finishup = onCleanup(@() exitprogram(board,h));

PCF8591 = '0x48';
PCF8591_ADC_CH0 = '40'; % thermistor
PCF8591_ADC_CH1 = '41'; % photo-voltaic
PCF8591_ADC_CH3 = '43'; % potentiometer
i2c = i2cdev(board,PCF8591);

hLine1 = line(nan, nan, 'Color','red');

hLine2 = line(nan, nan, 'Color', 'blue');
hLine3 = line(nan, nan, 'Color', 'black');
i = 0;
while 1
thermistor = read_adc(i2c,hex2dec(PCF8591_ADC_CH0));
pause(0.5);
photo = read_adc(i2c,hex2dec(PCF8591_ADC_CH1));
pause(0.5);
potentiometer = read_adc(i2c,hex2dec(PCF8591_ADC_CH3));
pause(0.5);

x1 = get(hLine1, 'XData');
y1 = get(hLine1, 'YData');
x2 = get(hLine2, 'XData');
y2 = get(hLine2, 'YData');
x3 = get(hLine3, 'XData');
y3 = get(hLine3, 'YData');

x1 = [x1 i];
y1 = [y1 thermistor];
x2 = [x2 i];
y2 = [y2 photo];
x3 = [x3 i];
y3 = [y3 potentiometer];

set(hLine1, 'XData', x1, 'YData', y1);

set(hLine2, 'XData', x2, 'YData', y2);
set(hLine3, 'XData', x3, 'YData', y3);
i = i + 1;
pause(1);
end

end

function adc = read_adc(dev,config)

 write(dev,config);
read(dev, 1);
out = read(dev, 1);
adc = out;
end

function exitprogram(b,h)
clear b;
close(h);
disp('program has exit');
end

Save the program into a file, called sensing.m.

Basically, the program is similar to program from section 5.4. After read sensor data, we
display it using line object from MATLAB.
8.4 Testing
You can run the program by typing this command.
>> sensing

You should see sensor data on Figure.

 Source Code

You can download source code on

http://www.aguskurniawan.net/book/matprog_120x15.zip .
 Contact

If you have question related to this book, please contact me at aguskur@hotmail.com . My

blog: http://blog.aguskurniawan.net