Is it possible to use two different toolboxes at once?

Hi!

I need to write a code that allows a Lego Mindstorms Ev3 robot to travel in a straight line until it encounters a magnetic field. The problem is that I have one toolbox for the code that the magnetic sensor uses and another toolbox that makes the robot travel in a straight line. Is it possible to make use of both toolboxes at once?

The toolbox I use for the magnetic sensor I got from

https://wiki.qut.edu.au/download/attachments/172135780/EV3.zip?version=1&modificationDate=1391352088000&api=v2

And the toolbox for the movement of the robot is Mathlabs own Lego Mindstorms toolbox and the code I use is the one you get when you type edit('gostraight_closeloop.m')

When I need to use the toolbox for the magnetic sensor I need to type:

b = Brick('ioType','usb');

And when I need to use mathlabs own toolbox to move the robot I need to type:

mylego = legoev3('usb');

Is it possible that I can use both of these toolboxes at once?

Answer 1

[Image Analyst]

Yes. Nearly everyone here has multiple toolboxes and uses functions from several of them in the same program. It won't be a problem.

[Karl-Axel Ruuth]

Okay, but do you know how I can run them both at the same time? Since mathlab's need that I set

mylego = legoev3('USB');

And the toolbox for the magnetic sensor needs

mylego = Brick('ioType','usb');

I can't figure out how I get them to work together.

[Image Analyst]

I don't know anything about the Lego functionality. What does "at the same time" mean to you? In the same program, like one line of code after the other? Or truly at the same time like you have the Parallel Processing Toolbox and you have completely separate threads running different code on each CPU?

[Karl-Axel Ruuth]

I mean that I need to have the magnetic sensor scanning at the same time as the robot is moving in a straight line. The code I use for the movement of the robot is the following:

mylego = legoev3('USB');

mymotor1 = motor(mylego, 'A');

mymotor2 = motor(mylego, 'B');

%Forward---------------------------------------------------------

EXE_TIME = 3;

PERIOD = 0.1;

SPEED = -40;

P = -0.009;

mymotor1.Speed = SPEED;

mymotor2.Speed = SPEED;

resetRotation(mymotor1);

resetRotation(mymotor2);

start(mymotor1);

start(mymotor2);

t = timer('TimerFcn', 'stat=false;', 'StartDelay',EXE_TIME);

start(t);

stat = true;

lastR1 = 0;

lastR2 = 0;

while stat == true

    r1 = readRotation(mymotor1);            

    r2 = readRotation(mymotor2);            

    speed1 = (r1 - lastR1)/PERIOD;          

    speed2 = (r2 - lastR2)/PERIOD;

    diff = speed1 - speed2;                 

    mymotor1.Speed = mymotor1.Speed - int8(diff * P);

    lastR1 = r1;

    lastR2 = r2;

    pause(PERIOD);

end

stop(mymotor1);

stop(mymotor2);

pause(0.5);

%Back------------------------------------------------------------

EXE_TIME = 3;

PERIOD = 0.1;

SPEED = 40;

P = 0.008;

mymotor1.Speed = SPEED;

mymotor2.Speed = SPEED;

resetRotation(mymotor1);

resetRotation(mymotor2);

start(mymotor1);

start(mymotor2);

t = timer('TimerFcn', 'stat=false;', 'StartDelay',EXE_TIME);

start(t);

stat = true;

lastR1 = 0;

lastR2 = 0;

while stat == true

    r1 = readRotation(mymotor1);            

    r2 = readRotation(mymotor2);            

    speed1 = (r1 - lastR1)/PERIOD;          

    speed2 = (r2 - lastR2)/PERIOD;

    diff = speed1 - speed2;                 

    mymotor1.Speed = mymotor1.Speed - int8(diff * P);

    lastR1 = r1;

    lastR2 = r2;

    pause(PERIOD);

end

stop(mymotor1);

stop(mymotor2);

clear

-----------------------------------------------------------------

And the code I use for reading with the magnetic sensor is the following:

b = Brick('ioType','usb');

tic;

while (toc <= 20) % Runs for 10 sec'

    pause(0.5);

    reading = b.inputReadSI(0,Device.Port1,Device.ColReflect);

    disp(reading)

end

clear

-----------------------------------------------------------------

My problem is that I need to have

legoev3('USB');

and

Brick('ioType','usb');

working simultaneously as you can see in the two codes above. But I've yet to figure out how to achieve this.