Controlling iRobot Create with Matlab

It is a self-study case. This case refers to first homework project of COMS W4733 COMPUTATIONAL ASPECTS OF ROBOTICS taught by Prof. Peter Allen at Columbia University.

I use iRobot Open Interface to create a GUI interface in Matlab to control iRobot Create. The interface takes serial commands from a remote computer and executes them on the robot, returning sensor data as required. In addition, Professor Joel Esposito and Owen Barton at the United States Naval Academy had made a Matlab toolbox for iRobot Create. Therefore, I can use or modified their code to fit with my GUI program.

GUI

This Matlab program does those functions:

Open - open the COM port for serial communication (unable when connecting)
Close - close the COM port for serial communication (unable when disconnecting)
Safe - set iRobot Create to Safe Mode
Go and Back - move forward and Back
Stop
Turn left and right
Turn Angle - let robot turn the angle (in degree) inputted by user
Go Distance - let robot move the distance (in meter) inputted by user
Go Velocity - let robot move in certain speed seted by user
Make Square - let robot drive in square whose side is decided by suer
Read Sensor - Read and Display the state of the wheel, bumper, virtual wall, and cliff sensors (binary) and read and display the value of the wall signal sensor (0-4095).