How to Control the Reglo ICC Pump Using Python and Matlab ?

				
					%-----------------------------------------
% Reglo ICC Peristaltic Pump Adapter Class
%-----------------------------------------

%--------------------------------------------------------------------------------------%
% CUSTOM CLASS MANAGING THE COMMUNICATION WITH A REGLO ICC WITH 3 INDEPENDENT CHANNELS %
%--------------------------------------------------------------------------------------%

classdef RegloICC 
  
    %%% Define the class properties
    properties
        % Change the size of 'direction', 'mode' and 'speed' according to the total number of
        % channels to control. In the case herein, 3 channels are being independently controlled
        sp        = []; % serial port
        COM       = ''; % input parameter: COM port to use for the pump
        direction = [0 0 0]; % direction of rotation of each channel: 0 = clockwise, 1 = counter-clockwise
        mode      = [0 0 0]; % operational mode of each channel: 0 = RPM, 1 = Flow Rate, 2 = Volume (over time), one can add here all other modes (check Table 3)
        speed     = zeros(3,1); % rotation speed for each channel in case of RPM mode
    end
    
     %%% Define the class methods
    methods 
        % Initialize the pump
        function obj = RegloICC(COM)
            obj.COM = COM;
            obj.sp = serialport(obj.COM,9600,'Parity','None','DataBits',8,'StopBits',1); % open the serial port with the data format corresponding to the RegloICC pump
        end

        % Delete the pump
        function obj = delete(obj)
            delete(obj.sp);
            obj.sp = [];
        end

        % Start the corresponding channel
        function start_channel(obj,channel)
            write(obj.sp,strcat(num2str(channel),'H',13),"uint8"); % 'H' to start the channel
            % 13 for the carriage return [CR] required to tell the pump that the command is finished
            pause(0.1); % give the pump time to process the command before reading the response
            while obj.sp.NumBytesAvailable > 0 % clear the buffer
               read(obj.sp, obj.sp.NumBytesAvailable, "char");
            end
        end

        % Stop the corresponding channel
        function stop_channel(obj,channel)
            write(obj.sp,strcat(num2str(channel),'I',13),"uint8"); % 'I' to stop the channel 
            pause(0.1);
            while obj.sp.NumBytesAvailable > 0
                read(obj.sp, obj.sp.NumBytesAvailable, "char");
            end
        end

        % Set the rotation direction for a single channel
        function obj = set_direction(obj,channel,direction)
            if direction == 1
                write(obj.sp,strcat(num2str(channel),'K',13),"uint8"); % counter-clockwise rotation
                pause(0.1);
                while obj.sp.NumBytesAvailable > 0
                    read(obj.sp, obj.sp.NumBytesAvailable, "char");
                end
            else
                write(obj.sp,strcat(num2str(channel),'J',13),"uint8"); % clockwise rotation
                pause(0.1);
                while obj.sp.NumBytesAvailable > 0
                    read(obj.sp, obj.sp.NumBytesAvailable, "char");
                end
            end
            obj.direction(channel) = direction;
        end

        % Get the rotation direction of a single channel
        function getDirection = get_direction(obj,channel)
            write(obj.sp,strcat(num2str(channel),'xD',13),"uint8"); % 'xD' to get the rotation direction
            pause(0.1);
            getDirection = read(obj.sp,obj.sp.NumBytesAvailable,"char"); % read the rotation direction from the corresponding channel
        end

        % Set the speed for a single channel in RPM when in RPM mode
        function obj = set_speed(obj,channel,speed) % in RPM, with speed  100 
                disp('Speed higher than maximum (100 RPM), reduced to maximum.'); 
            end
            speed = max(min(speed,100),0); % speed between 0 and 100 rpm
            speedstring = strcat(sprintf('%03d',floor(speed)), num2str(floor((speed-floor(speed))*100))); % format speed explained below
            obj.speed(channel) = speed; % set the speed for the corresponding channel
            write(obj.sp,strcat(num2str(channel),'S0',speedstring,13),"uint8"); % write the speed to the corresponding channel
            pause(0.1);
            while obj.sp.NumBytesAvailable > 0
                read(obj.sp, obj.sp.NumBytesAvailable, "char");
            end
        end

%----------------------------------------------------------------------------------%
% SPEEDSTRING EXAMPLE                                                              %
%% Speed value :                                                                   %
% speed = 123.456                                                                  %
%                                                                                  %
%% Convert the integer part to a string with at least three digits :               %
% integer_part = sprintf('%03d', floor(speed)); %% --> Result: '123'               %
%                                                                                  %
%% Convert the decimal part to a string with two digits :                          %
% decimal_part = num2str(floor((speed - floor(speed)) * 100)); %% --> Result: '45' %
%                                                                                  %
%% Concatenate the two parts :                                                     %
% speedstring = strcat(integer_part, decimal_part);                                %
%% --> Result: '12345' representing 123.45 in fixed-point notation                 %
%                                                                                  %
%% When the two strings are concatenated, the result is a string that represents   %
%% the original speed value in a fixed-point notation with three digits before     %
%% the decimal point and two digits after, without the decimal separator.          %
%----------------------------------------------------------------------------------%

        % Read out speed of a single channel in RPM when in RPM mode
        function getRPM = get_speed(obj,channel)
            write(obj.sp,strcat(num2str(channel),'S',13),"uint8"); % 'S' to get the setting speed in RPM
            pause(0.1);
            getRPM = read(obj.sp,obj.sp.NumBytesAvailable,"char");
        end

        % Set the operational mode for a single channel (you can add all other modes)
        function obj = set_mode(obj,channel,mode)
            if mode == 0
                write(obj.sp,strcat(num2str(channel),'L',13),"uint8"); % RPM mode
                pause(0.1);
                while obj.sp.NumBytesAvailable > 0
                    read(obj.sp, obj.sp.NumBytesAvailable, "char");
                end
            elseif mode == 1
                write(obj.sp,strcat(num2str(channel),'M',13),"uint8"); % Flow rate mode
                pause(0.1);
                while obj.sp.NumBytesAvailable > 0
                    read(obj.sp, obj.sp.NumBytesAvailable, "char");
                end
            else
                write(obj.sp,strcat(num2str(channel),'G',13),"uint8"); % Volume (over time) mode    
                pause(0.1);
                while obj.sp.NumBytesAvailable > 0
                    read(obj.sp, obj.sp.NumBytesAvailable, "char");
                end
            end
            
            obj.mode(channel) = mode;
        end

        % Get the operational mode of a single channel
        function getMd = get_mode(obj,channel)
            write(obj.sp,strcat(num2str(channel),'xM',13),"uint8"); % 'xM' to get the operational mode
            pause(0.1);
            getMd = read(obj.sp,obj.sp.NumBytesAvailable,"char"); 
        end

    end
    
end

%-------------------------------------------------------------------%
% Examples on how to use the defined class to control the Reglo ICC %
%-------------------------------------------------------------------%

%%% To start the communication and open the serial port %%%
% pump = RegloICC('COM5') % Replace 'COM5' with your actual COM port

%%% Start channel 3 %%%
% pump.start_channel(3) 

%%% Get the rotation direction of channel 3 %%%
% pump.get_direction(3)

%%% Set the rotation direction of channel 3 to clockwise %%%
% pump.set_direction(3,0) 

%%% Get the current operational mode of channel 3 %%%
% pump.get_mode(3) 

%%% Set the operational mode of channel 3 to RPM %%%
% pump.set_mode(3,0) 

%%% Get the current speed setting of channel 3 %%%
% pump.get_speed(3) 

%%% Set the setting speed of channel 3 to 24 RPM %%%
% pump.set_speed(3,24) 

%%% Stop channel 3 %%%
% pump.stop_channel(3) 

%%% Delete pump %%%
% pump = delete(pump)