How to control the LSPone via Python and Matlab ?

				
					classdef LSPone
    properties
        COM
        ser
    end
    
    methods
        % Initializing the object and establishing a serial connection
        function obj = LSPone(COM)
            obj.COM = COM;
            obj.ser = serialport(obj.COM, 9600, 'Parity', 'none', 'StopBits', 1, 'DataBits', 8);
        end
        
        % Closing the serial connection and deleting the object
        function delete(obj)
            delete(obj.ser);
            obj.ser = [];
        end
        
        % Sending a command to the device
        function send_command(obj, command, with_trailing_R)
            % make with_trailing_R true by default
            if nargin < 3
                with_trailing_R = true;
            end
            % Wait for any previous responses to clear
            pause(0.01); 
            flushinput(obj.ser);
            % Append R to the command if specified
            command_str = ['/1', command];
            if with_trailing_R
                command_str = [command_str, 'R'];
            end
            % Append carriage return (13 in ASCII)
            command_str = [command_str, char(13)];
            % Write the command to the serial port
            write(obj.ser, command_str, "uint8");
            pause(0.01); % Wait to ensure the command is processed
        end

        % Reading and returning the response from the device
        function response = get_response(obj)
            response = read(obj.ser, obj.ser.NumBytesAvailable, "char");
        end

        % Initializing the plunger with a specified plunger force
        function initialize_plunger(obj, force_level)
            % Make 0 the default value
            if nargin < 2
                force_level = 0;
            end
            if ~any(force_level == [' ', 0, 1, 2, 3])
                error('Force level must be void, 0, 1, 2, or 3.');
            end
            command = ['Z', num2str(force_level)];
            obj.send_command(command); % Execute the command
        end
        
        % Move to the specified valve port via the shortest path
        function move_shortest(obj, port)
            obj.send_command(['B', num2str(port)]);
        end
        
        % Move clockwise to the specified port
        function move_clockwise(obj, port)
            obj.send_command(['I', num2str(port)]);
        end
        
        % Move counter-clockwise to the specified port
        function move_counterclockwise(obj, port)
            obj.send_command(['O', num2str(port)]);
        end
        
        % Move the plunger for relative pickup
        function relative_pickup(obj, position)
            obj.send_command(['P', num2str(position)]);
        end
        
        % Move the plunger for relative dispensing
        function relative_dispense(obj, position)
            obj.send_command(['D', num2str(position)]);
        end
        
        % Set the peak speed for plunger movement
        function set_peak_speed(obj, speed)
            if speed < 0 || speed > 1600
                error('Speed must be a positive integer smaller than 1600.');
            end
            obj.send_command(['V', num2str(speed)]);
        end
        
        % Get the valve position
        function valve_position = get_valve_position(obj)
            obj.send_command('?6',false);
            valve_position = obj.get_response();
        end
    end
end

%----------------------------------------------------------------%
% Examples on how to use the defined class to control the LSPone %
%----------------------------------------------------------------%

% Connect the pump
% pump = LSPone('COM4');

% Initialize the plunger drive with medium force and home the valve 
% pump.initialize_plunger(2);

% Move to port 4 with shortest path
% pump.move_shortest(4);

% Trigger a pick-up move of 1000 steps
% pump.relative_pickup(1000);

% Verify the valve port position
% pump.get_valve_position();

% Execute a 400-step dispense
% pump.relative_dispense(400);

% Move clockwise to valve port 2, trigger a pick-up move of 1000 steps, move to valve port 9 with the shortest path then repeat the following 5 times: delay the command execution by 1 second before executing a 200-step dispense
% pump.send_command('I2P1000B9gM1000D200G5');

% Disconnect and delete device
% delete(pump);