||int serial() ||return serial number of phidget if attached, -1 otherwise ||
||int version() ||return phidget version number if attached, -1 otherwise ||

# %item value=3% It is not strictly necessary, but I like to wait for the phidget to ''attach'' in ''setup()''. When the phidget is ''attached'' it means it is plugged in by USB and ready for the program to use it.

# %item value=4% In ''draw()'', check to see if the phidget is attached. If it is, display a green circle, otherwise display a red circle.

->This allows one second (1000 ''ms'') for the phidget to attach before proceeding. If the phidget does not attach within this time (i.e., ''times out''), the program carries on without the phidget attached.

# %item value=2% You need to create an instance of the accelerometer object. The example does this in ''setup()''.

# %item value=3% It is not strictly necessary, but I like to wait for the phidget to attach in ''setup()''.

->This allows one second (1000 ''ms'') for the phidget to attach before proceeding.
# %item value=4% In ''draw()'', check to see if the phidget is attached, i.e., plugged in by USB and talking to your program. If it is, display a green circle, otherwise display a red circle.

# %item value=6% Display the acceleration data as a bar graph. The code uses the ''getAxisCount()'' to determine the number of axes to display acceleration data for, allowing a ''for'' loop to iterate through the axes.

!!Source Code with Classes for Operating Phidgets from Processing

|| || ||

|| || ||

|| || ||

|| || ||

||

||!Accelerometer || ||

||!AdvancedServo || ||

||!Encoder || ||

||!Motor Control || ||

||!Interface Kit || ||

||!Motor Control|| ||

!!!Motor Control

||int getMotorCount() ||return number of motors that phidget can control ||
||float getAcceleration( int index ) ||return acceleration setting for indexed motor normalized to [0 .. 1] ||
||float getCurrent( int index ) ||return current for indexed motor ||
||int getInputCount( ) ||return number of digital inputs ||
||boolean getInputState( int index ) ||return state for indexed digital input ||
||float getVelocity( int index ) ||return velocity for indexed motor ||
||void setAcceleration( int index, float accel ) ||set acceleratin for indexed motor in range [0 .. 1] ||
||void setVelocity( int index, float velocity ) ||set velocity of indexed motor in range [-100 ... 100] ||

||int getEncoderCount() ||return encoder count ||
||int getInputCount() ||return number of digital inputs ||
||int getPosition( int index ) ||return position of indexed encoder ||
||void setPosition( int index, int position ) ||set position of indexed encoder ||
||boolean getInputState( int index ) ||return state of indexed digital input ||

||void setRatiometric( boolean state ) ||set ratiometric mode for interface kit ||
||int getSensorCount() ||return number of A/D converters (sensor channels) available ||
||int getSensorValue( int index ) ||return sensor value for A/D converter corresponding to index ||
||int getInputCount() ||return number of digital inputs available ||
||boolean getInputState( int index ) ||return state of digital input corresponding to index ||
||int getOutputCount() ||return number of digital outputs available ||
||void setOutputState( int index, boolean state ) ||sets state of digital output corresponding to index ||

||int getEncoderCount() || return encoder count ||
||int getInputCount() || return number of digital inputs ||
||int getPosition( int index ) || return position of indexed encoder ||
||void setPosition( int index, int position ) || set position of indexed encoder ||
||boolean getInputState( int index ) || return state of indexed digital input ||

||int getMotorCount() ||return number of motors available ||
||boolean getEngaged( int index ) ||return true if indexed motor is engaged ||
||void setEngaged( int index, boolean state ) ||engage/disengage indexed motor (state=true for engaged) ||
||float getPosition( int index ) ||returns position of indexed motor in range [-1 ... 1] ||
||void setPosition( int index, float position ) ||set position of indexed motor in range [-1 ... 1] ||

The following are methods specific to each phidget type.

!!!Accelerometer

||int getAxisCount() ||returns number of axes ||
||float getAcceleration( int axis ) ||returns acceleration for axis x=0 y=1 z=2 ||
||float getAccelerationMax( int axis ) ||returns maximum acceleration for axis x=0 y=1 z=2 ||
||float getAccelerationMin( int axis ) ||returns minimum acceleration for axis x=0 y=1 z=2 ||



!!!AdvancedServo

!!!Encoder

!!!Interface Kit

||void close() ||close the phidget ||
||boolean isAttached() ||returns true if phidget is attached ||
||void waitForAttachment( int timeout ) ||wait for phidget to attach with timeout in miliseconds ||
||void waitForAttachment( ) ||wait indefinitely for phidget to attach ||
||int serial() ||return serial number of phidget if attached, 0 otherwise ||
||int version() ||return phidget version number if attached, 0 otherwise ||

||phidget''TYPE''() ||open with first available phidget of ''TYP{E'' ||
||phidget''TYPE''( int serial) ||open phidget with given serial number ||

||void close() ||close the phidget Accelerometer ||
||boolean isAttached() ||returns true if Accelerometer is attached ||
||void waitForAttachment( int timeout ) ||wait for Accelerometer to attach with timeout in miliseconds ||
||void waitForAttachment( ) ||wait indefinitely for Accelerometer to attach ||
||int serial() ||return serial number of Accelerometer if attached, 0 otherwise ||
||int version() ||return Accelerometer revision no if attached, 0 otherwise ||

||'''phidget''TYPE''()''' ||open with first available phidget of ''TYP{E'' ||
||'''phidget''TYPE''( int serial)''' ||open phidget with given serial number ||

Every phidget class has these methods.

[@|| void close() - close the phidget Accelerometer
// boolean isAttached() - returns true if Accelerometer is attached
// void waitForAttachment( int timeout ) - wait for Accelerometer to attach with timeout in miliseconds
// void waitForAttachment( ) - wait indefinitely for Accelerometer to attach
// int serial() - return serial number of Accelerometer if attached, 0 otherwise
// int version() - return Accelerometer revision no if attached, 0 otherwise
@]

||phidget''TYPE''() ||open with first available phidget of ''TYP{E'' ||
||phidget''TYPE''( int serial) ||open phidget with given serial number ||

Each phidget class has two constructors as given below (''TYPE'' is one of Acclerometer, AdvancedServo, Encoder, IK, or MotorControl).

@]

!!Documentation

The phidget classes currently available are:
* phidgetAccelerometer
* phidgetAdvancedServo
* phidgetEncoder
* phidgetIK
* phidgetMotorControl

->Compute where the endpoint of the bar should be. Use the ''getAcceleration()'' method to get the acceleration. The ''getAccelerationMax()'' and ''getAccelerationMin()'' methods give you the range of values for the accelerometer that you are using. Scale the the acceleration into the range of bar sizes using the ''map()'' function.

...

...

->Draw the bar.
[@

void draw() {
...
// show accelerations
for( int i = 0; i < accelerometer.getAxisCount(); i++ ) {
...
noFill();
stroke( 0 );
line( xc, yc, xc, y );
fill( #0000ff );
noStroke();
ellipse( xc, y, 10, 10 );
}
...
}

@]
# %item value=7% It is best to use the ''close()'' method for the phidget object explicitly. It closes the phidget connection nicely, which will not happen automatically when Processing/Java deletes your phidget object. I used a ''keyPressed'' event to trigger the ''close()'' method and to shut down the program.
[@

void draw() {
...
if (keyPressed) {
accelerometer.close();
exit();
}
}

@]

->Compute where the bar should be placed for the ''i '^th^' '' axis, center at ''xc,yc''.

->Compute where the bar should be placed for the '''i '^th^' ''' axis, center at '''xc,yc'''.


[@

void draw() {
...
// show accelerations
for( int i = 0; i < accelerometer.getAxisCount(); i++ ) {
float xc = 30.0 + i * 60.0;
float yc = 140.0;
...
}
...
}

@]

...

...

...

...

...

...

...

...

...

...

...

...

...

...

...

# %item value=6% Display the acceleration data as a bar graph. The code uses the '''getAxisCount''' to determine the number of axes to display acceleration data for, allowing a '''for''' loop to iterate through the axes.

}
...

@]



[@

void draw() {
...
// show accelerations
for( int i = 0; i < accelerometer.getAxisCount(); i++ ) {
float xc = 30.0 + i * 60.0;
float yc = 140.0;
float y = map( accelerometer.getAcceleration( i ),
accelerometer.getAccelerationMin( i ), accelerometer.getAccelerationMax( i ), 230.0, 50.0 );

noFill();
stroke( 0 );
line( xc, yc, xc, y );
fill( #0000ff );
noStroke();
ellipse( xc, y, 10, 10 );
}
...
}

@]

[@

void draw() {
...
// show accelerations
for( int i = 0; i < accelerometer.getAxisCount(); i++ ) {
float xc = 30.0 + i * 60.0;
float yc = 140.0;
float y = map( accelerometer.getAcceleration( i ),
accelerometer.getAccelerationMin( i ), accelerometer.getAccelerationMax( i ), 230.0, 50.0 );

noFill();
stroke( 0 );
line( xc, yc, xc, y );
fill( #0000ff );
noStroke();
ellipse( xc, y, 10, 10 );
}
...
}

@]

# %item value=6%

...
}

@]
# %item value=5% Find and display the serial and version numbers for the accelerometer phidget.
[@

void draw() {
...
// show serial number and version
fill(0);
text( accelerometer.serial(), 40, 25 );
text( accelerometer.version(), 40, 35 );

# %item value=4% In '''draw()''', check to see if the phidget is attached, i.e., plugged in by USB and talking to your program. If it is, display a green circle, otherwise display a red circle.
[@

void draw() {
...
// show attach status
if ( accelerometer.isAttached() ) fill( 0, 255, 0 );
else fill( 255, 0, 0 );
noStroke();
ellipse( 20, 20, 10, 10 );
...
}

@]

# %item value=4%

# %item value=2% You need to create an instance of the accelerometer object. The example does this in '''setup()'''.
[@

void setup() {
...
// get phidget IK started and wait up to 1s for attach
accelerometer = new phidgetAccelerometer();
...
}

@]
->This will work if you use only one phidget accelerometer. If you use more, you should use the alternate constructor to specify which phidget to use with the serial number.
[@

void setup() {
...
// get phidget IK started and wait up to 1s for attach
accelerometer = new phidgetAccelerometer( 12345 );
...
}

@]
# %item value=3% It is not strictly necessary, but I like to wait for the phidget to attach in '''setup()'''.
[@

void setup() {
...
// get phidget IK started and wait up to 1s for attach
accelerometer = new phidgetAccelerometer();
accelerometer.waitForAttachment( 1000 );
...
}

@]
->This allows one second (1000 '''ms''') for the phidget to attach before proceeding.

# %item value=2%next item
->What happened with the last example? Why? If you were able to correctly anticipate the computer’s response in all but the last one, it is time to move on. If not, take time now to make up examples of your own. Explore the modulus operator until you are confident you understand how it works.

@]

# Every phidget needs an object to operate it, so create the object variable:
[@
phidgetAccelerometer accelerometer;
@/
# next item

The following example illustrates how to write Processing code that uses phidgets. It is based on [[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/testPhidgetAccelerometer.zip | testPhidgetAccelerometer.zip]].

# Every phidget needs an object to operate it, so create the object variable.

# From the Sketch menu in Processing, select '''Add File ...''' From the file selection dialogue, select the Processing code for your phidget, e.g., phidgetIK.pde. You will see a new file tab appear for your sketch with the Processing code, and the file will be copied to your sketch folder.
# Repeat the previous step for each type of phidget that you will use.

Your sketch is now ready for you to start writing code that uses the phidgets.

# From the Sketch menu in Processing, select '''Add File ...''' From the file selection dialogue, select ''phidget21.jar'' from your folder of phidget-related files. This will add a folder name '''code''' to your Processing sketch folder, and a copy ''phidget21.jar'' will appear there.
# From the Sketch menu in Processing, select '''Add File ...''' From the file selection dialogue, select the Processing code for your phidget, e.g., phidgetIK.pde.

# Install phidget drivers for your computer from [[http://www.phidgets.com/]] - drivers tab.
# Make a folder to keep your phidget-related files in. This will contain files that you will re-use for phidget projects, not your Processing sketches.
# Download ''phidget21.jar'' from [[http://www.phidgets.com/]] - programming tab. Put it in your phidget folder.
# Download the Processing code for the phidgets you plan to use from this page. Put them in your phidget folder.
# Create a new Processing sketch. Save the sketch, giving it a suitable name.

# Install Phidget drivers for your computer from [[ http://www.phidgets.com/ ]].

!!General Instructions

# Install Phidget drivers for your computer from [[ http://www.phidgets.com/ ]]

*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/phidgetMotorControl.pde | Motor Controller]]

!!Sample Sketches

*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/testPhidgetAccelerometer.zip | testPhidgetAccelerometer.zip]]
*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/testPhidgetAdvancedServo.zip | testPhidgetAdvancedServo.zip]]
*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/testPhidgetEncoder.zip | testPhidgetEncoder.zip]]
*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/testPhidgetIK.zip | testPhidgetIK.zip]]
*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/testPhidgetMotorControl.zip | testPhidgetMotorControl.zip]]

*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/phidgetAccelerometer.pde | Accelerometer]]
*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/phidgetAdvancedServo.pde | Advanced Servo]]
*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/phidgetEncoder.pde |Encoder]]
*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/phidgetIK.pde | Interface Kit]]
*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/phidgetAccelerometer.pde | Accelerometer]]

!!Source Code with Objects for Operating Phidgets from Processing

*[[ http://www.cpsc.ucalgary.ca/~boyd/60136/processing/ | phidgetAccelerometer.pde]]


[=
phidgetAdvancedServo.pde
phidgetEncoder.pde
phidgetIK.pde
phidgetMotorControl.pde
testPhidgetAccelerometer.zip
testPhidgetAdvancedServo.zip
testPhidgetEncoder.zip
testPhidgetIK.zip
testPhidgetMotorControl.zip
=]

!Processing with Phidgets