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= Learning Robots =
This wiki site is part of the [[https://venus.tue.nl/owinfo-cgi/owi_0695.opl?vakcode=DBD04&language=NL | Learning Robots]] module. 
<<TableOfContents>>

== Connecting MATLAB and Arduino ==

=== Arduino support in MATLAB  ===
 * Math``Works has a software package to support Arduino directly in MATLAB. You can find the package from [[http://www.mathworks.nl/academia/arduino-software/arduino-matlab.html | its website]]. Please notice that:
  * You do need to login with your MATLAB account, in order to download the package and get access to other resources such as tutorials.
  * Check out the [[http://www.mathworks.nl/academia/arduino-software/arduino-matlab.html]] to find a useful Webinar.
  * In the downloaded zip file, readme.txt has very detailed instructions for installing the firmware to Arduino and the necessary library to MATLAB.
  * if you plan to use servo motors, you need the [[http://arduino.cc/en/Main/ArduinoMotorShield|motor shield]] for MATLAB to control the motors properly using the given package.
  * To get the online documentation of the arduino class in MATLAB, type in "arduino(" and wait for a dialogue box to pop up:

  [[attachment:arduinomatlab.jpg|{{attachment:arduinomatlabthumb.jpg}}]]

=== MATLAB-Processing-Arduino: Using matlabcontrol in Processing ===

 * The matlabcontrol library for Java is available from [[http://code.google.com/p/matlabcontrol/]]
 * To install the library to be used in Processing:
  1. Download "matlabcontrol jar with source files included" from [[http://code.google.com/p/matlabcontrol/downloads/list]].
  1. Rename the jar file (for example, matlabcontrol-4.0.0.jar) to "matlabcontrol.jar".
  1. Create a directory in your Processing library path: {{{<Sketchbook location>\libraries\matlabcontrol\library}}}, put "matlabcontrol.jar" in this directory.
  1. To verify your installation, start processing, go to menu "Sketch->Import Library", you should be able to able to import "matlabcontrol":

  [[attachment:matlabcontrol.jpg|{{attachment:matlabcontrolthumb.jpg}}]]

 * Follow the [[http://code.google.com/p/matlabcontrol/wiki/Walkthrough|Walkthrough]] to understand how to communicate to MATLAB in JAVA.
 * Similar approach described in the [[http://code.google.com/p/matlabcontrol/wiki/Walkthrough|Walkthrough]] can be done in Processing.  Take the "Hello World" example in Java: {{{
#!java
public static void main(String[] args) throws MatlabConnectionException, MatlabInvocationException
{
    //Create a proxy, which we will use to control MATLAB
    MatlabProxyFactory factory = new MatlabProxyFactory();
    MatlabProxy proxy = factory.getProxy();

    //Display 'hello world' just like when using the demo
    proxy.eval("disp('hello world')");

    //Disconnect the proxy from MATLAB
    proxy.disconnect();
}
}}} The same can be done in Processing by removing the "main" skeleton. However in Processing we need to catch the exceptions: {{{
#!java

import matlabcontrol.internal.*;
import matlabcontrol.extensions.*;
import matlabcontrol.*;

try {
  //Create a proxy, which we will use to control MATLAB
  MatlabProxyFactory factory = new MatlabProxyFactory();
  MatlabProxy proxy = factory.getProxy();

  //Display 'hello world' just like when using the demo
  proxy.eval("disp('hello world')");

  //Disconnect the proxy from MATLAB
  proxy.disconnect();
} 
catch (Exception e) {
  //do nothing, or cry.
}
}}} Other examples in the [[http://code.google.com/p/matlabcontrol/wiki/Walkthrough|Walkthrough]] can be modified in a similar manner for Processing.
 * This approach has been used successfully by F.N.A. Al-Kaylani, K.J.F de Greef and N.M. Nelson in their project. See their report: [[attachment:Learning_Robots_SuggestionRobot.pdf]]

=== MATLAB-socket<=>socket-Processing-Arduino: Using TCP/IP client/server sockets ===
 * Both MATLAB and Processign are able to communicate with the others over a TCP/IP connection, acting as either a client or a server. 
 * Robbert van Vliet, Rik Vegt, Martijn Kors and Michael Geertshuis are able to use this approach in their project. In their report you can find the technical details: [[attachment:Learning_Robots_Socket.pdf]]

=== MATLAB-datafile-Processing-Arduino: Using a data file ===
 * If there is no need of real time communication between MATLAB and processing, you can first let MATLAB write its output to a data file, then let Processing read from it, or vice versa.
 * Jelle Dekker, Laura van Geel, Jasper de Kruiff and Vincent Klerkx are very successful in applying this approach to their cleaning robot. See their report: [[attachment:Cleaning_Robot.pdf]] 

== Other interesting techniques ==
 * NeurophNeuralNetwork
 * MaxJavaArduino
 * LegoBeyondToys
 * [[LegoBeyondToys/1209 | Using leJOS with Neural networks]]