Mov_joystick(hObject, eventdata, handles)

function Mov_joystick(hObject, eventdata, handles)

%%%%%%Experimentar colocar y_joy_anterior e Z_jo.. com parametros da funcao
global flag_joy d2 d3 teta1 teta4 teta5 teta6 T06 y_joy_anteriord2 z_joy_anteriord3
global y_joy_anteriorteta1 y_joy_anteriorteta4 y_joy_anteriorteta5 y_joy_anteriorteta6

warning off;

%ai=analoginput('joy',1); % the number is an ID number of installed joystick (see Controller IDs in Control panel/Gaming options
% k=0.2:0.2:1;
% i=5;
%addchannel(ai,[1 2 3 4 5 6]);
%channels 
% 1 - X axis
% 2 - Y axis
% 3 - Z axis
% 4 - R axis
% 5 - buttons pressed (quasy binary data - see below)
% 6 - no of buttons pressed at the time
% Set up the display

% d2inicialstr=get(handles.textd2,'String');
% d2inicial=str2num(d2inicialstr);
% d3inicialstr=get(handles.textd3,'String');
% d3inicial=str2num(d3inicialstr);
%k=1; %absoluto

flag_joy=1;
while flag_joy==1         
    pause(0.05);
    samples = jst;
    samples(1) = -samples(1)*100;  %Y data
    samples(2) = samples(2)*100;   %X data
    samples(3) = -samples(3)*100;  %Z data
    % decoding the data from dll. You may play with the dll. Please see
    % JoyIn.cpp
    ButtonsPressed = samples(5);
    BP = ButtonsPressed;
     
    
    if BP==32         %BP==32 =>R1 com y_joy varia d2 altura e z_joy d3
        % pause(0.01);          
       y_joy=samples(1);   
       y_joy=y_joy+y_joy_anteriord2;
       y_joy_anteriord2=y_joy;      
       d2=((y_joy*180)/200)+90; %90 d2inicial
       if(y_joy>100)
          d2=180;     
       end
       if(y_joy<-100)
          d2=0;
       end     
         
       z_joy=-samples(3); %%- pq estava invertido
       z_joy=z_joy+z_joy_anteriord3;
       z_joy_anteriord3=z_joy;
       d3=((z_joy*250)/200)+125;  %d3 inicial
       if(z_joy>100)
          d3=250;     
       end
       if(z_joy<-100)
          d3=0;
       end     
        d2str=num2str(d2);
        d3str=num2str(d3);
        set(handles.textd2,'String',d2str);
        set(handles.textd3,'String',d3str);
                
        SimuladorCs('Desenha_robo',hObject, eventdata,handles); %tem q estar dentro senao o cpu est a 100% 
           
        %% Determinar PX,Py e Pz
        Px=T06(1,4);
        Py=T06(2,4);
        Pz=T06(3,4);
   
        tetaf=teta6+teta4;
        tetafdeg=tetaf*180/pi;
        tetap=teta5;
        tetapdeg=tetap*180/pi;
        set(handles.textpx,'String',num2str(Px));
        set(handles.textpy,'String',num2str(Py));
        set(handles.textpz,'String',num2str(Pz));
        set(handles.texttetaf,'String',num2str(tetafdeg));
        set(handles.texttetap,'String',num2str(tetapdeg));
                        
   end

   if BP==4      %%Boto X controla teta1                      
       y_joy=samples(1);   
       y_joy=y_joy+y_joy_anteriorteta1;
       y_joy_anteriorteta1=y_joy;      
       
       teta1=y_joy*pi/100;
       
       if(y_joy>100)
          teta1=pi;     
       end
       if(y_joy<-100)
          teta1=-1*pi;
       end    
           
          teta1deg=teta1*180/pi;
          teta1str=num2str(teta1deg);
          set(handles.textteta1,'String',teta1str);
          SimuladorCs('Desenha_robo',hObject, eventdata,handles); 
          %% Determinar PX,Py e Pz
           Px=T06(1,4);
           Py=T06(2,4);
           Pz=T06(3,4);
   
           tetaf=teta6+teta4;
           tetafdeg=tetaf*180/pi;
           tetap=teta5;
           tetapdeg=tetap*180/pi;
           set(handles.textpx,'String',num2str(Px));
           set(handles.textpy,'String',num2str(Py));
           set(handles.textpz,'String',num2str(Pz));
           set(handles.texttetaf,'String',num2str(tetafdeg));
           set(handles.texttetap,'String',num2str(tetapdeg));
       
       end   

       if BP==1      %%Boto delta controla teta4
          y_joy=samples(1);   
          y_joy=y_joy+y_joy_anteriorteta4;
          y_joy_anteriorteta4=y_joy;      
       
          teta4=(y_joy*pi/200)+(pi/2) ;
       
          if(y_joy>100)
             teta4=pi;     
          end
          if(y_joy<-100)
             teta4=-1*pi;
          end    
          teta4deg=teta4*180/pi;
          teta4str=num2str(teta4deg);
          set(handles.textteta4,'String',teta4str); 
          SimuladorCs('Desenha_robo',hObject, eventdata,handles); 
          %% Determinar PX,Py e Pz
           Px=T06(1,4);
           Py=T06(2,4);
           Pz=T06(3,4);
   
           tetaf=teta6+teta4;
           tetafdeg=tetaf*180/pi;
           tetap=teta5;
           tetapdeg=tetap*180/pi;
           set(handles.textpx,'String',num2str(Px));
           set(handles.textpy,'String',num2str(Py));
           set(handles.textpz,'String',num2str(Pz));
           set(handles.texttetaf,'String',num2str(tetafdeg));
           set(handles.texttetap,'String',num2str(tetapdeg));
       end  
       
       if BP==2      %%Boto O cotrola teta5
          y_joy=samples(1);   
          y_joy=y_joy+y_joy_anteriorteta5;
          y_joy_anteriorteta5=y_joy;      
       
          teta5=y_joy*pi/200;
       
          if(y_joy>100)
             teta5=pi/2;     
          end
          if(y_joy<-100)
             teta5=-1*pi/2;
          end    
          teta5deg=teta5*180/pi;
          teta5str=num2str(teta5deg);
          set(handles.textteta5,'String',teta5str); 
          SimuladorCs('Desenha_robo',hObject, eventdata,handles); 
          %% Determinar PX,Py e Pz
           Px=T06(1,4);
           Py=T06(2,4);
           Pz=T06(3,4);
   
           tetaf=teta6+teta4;
           tetafdeg=tetaf*180/pi;
           tetap=teta5;
           tetapdeg=tetap*180/pi;
           set(handles.textpx,'String',num2str(Px));
           set(handles.textpy,'String',num2str(Py));
           set(handles.textpz,'String',num2str(Pz));
           set(handles.texttetaf,'String',num2str(tetafdeg));
           set(handles.texttetap,'String',num2str(tetapdeg));
       end  

       if BP==8      %%Boto rectangulo cotrola teta6
          y_joy=samples(1);   
          y_joy=y_joy+y_joy_anteriorteta6;
          y_joy_anteriorteta6=y_joy;      
       
          teta6=y_joy*pi/100;
       
          if(y_joy>100)
             teta6=pi;     
          end
          if(y_joy<-100)
             teta6=-1*pi;
          end    
          
          teta6deg=teta6*180/pi;
          teta6str=num2str(teta6deg);
          set(handles.textteta6,'String',teta6str); 
          SimuladorCs('Desenha_robo',hObject, eventdata,handles); 
          %% Determinar PX,Py e Pz
           Px=T06(1,4);
           Py=T06(2,4);
           Pz=T06(3,4);
   
           tetaf=teta6+teta4;
           tetafdeg=tetaf*180/pi;
           tetap=teta5;
           tetapdeg=tetap*180/pi;
           set(handles.textpx,'String',num2str(Px));
           set(handles.textpy,'String',num2str(Py));
           set(handles.textpz,'String',num2str(Pz));
           set(handles.texttetaf,'String',num2str(tetafdeg));
           set(handles.texttetap,'String',num2str(tetapdeg));
       end  


end