function varargout = mytry1(varargin)
global a1 a2
% MYTRY1 M-file for mytry1.fig
% MYTRY1, by itself, creates a new MYTRY1 or raises the existing
% singleton*.
%
% H = MYTRY1 returns the handle to a new MYTRY1 or the handle to
% the existing singleton*.
%
% MYTRY1('CALLBACK',hObject,eventData,handles,...) calls the local
% function named CALLBACK in MYTRY1.M with the given input arguments.
%
% MYTRY1('Property','Value',...) creates a new MYTRY1 or raises the
% existing singleton*. Starting from the left, property value pairs are
% applied to the GUI before testGui_OpeningFunction gets called. An
% unrecognized property name or invalid value makes property application
% stop. All inputs are passed to mytry1_OpeningFcn via varargin.
%
% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
% instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES
% Edit the above text to modify the response to help mytry1
% Last Modified by GUIDE v2.5 13-Nov-2008 04:19:55
% Begin initialization code - DO NOT EDIT
a1=4; a2=3;
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @mytry1_OpeningFcn, ...
'gui_OutputFcn', @mytry1_OutputFcn, ...
'gui_LayoutFcn', [] , ...
'gui_Callback', []);
if nargin & isstr(varargin{1})
gui_State.gui_Callback = str2func(varargin{1});
end
if nargout
[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT
% --- Executes just before mytry1 is made visible.
function mytry1_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% varargin command line arguments to mytry1 (see VARARGIN)
% Choose default command line output for mytry1
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% This sets up the initial plot - only do when we are invisible
% so window can get raised using mytry1.
if strcmp(get(hObject,'Visible'),'off')
plot(rand(5));
cla;
plotbot2(0,0,0,0);
end
h = gcf;
set(h,'Color',[0.584 0.902 0.918]);
% UIWAIT makes mytry1 wait for user response (see UIRESUME)
% uiwait(handles.figure1);
% --- Outputs from this function are returned to the command line.
function varargout = mytry1_OutputFcn(hObject, eventdata, handles)
% varargout cell array for returning output args (see VARARGOUT);
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Get default command line output from handles structure
varargout{1} = handles.output;
% --------------------------------------------------------------------
function FileMenu_Callback(hObject, eventdata, handles)
% hObject handle to FileMenu (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% --------------------------------------------------------------------
function OpenMenuItem_Callback(hObject, eventdata, handles)
% hObject handle to OpenMenuItem (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
file = uigetfile('*.fig');
if ~isequal(file, 0)
open(file);
end
% --------------------------------------------------------------------
function PrintMenuItem_Callback(hObject, eventdata, handles)
% hObject handle to PrintMenuItem (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
printdlg(handles.figure1)
% --------------------------------------------------------------------
function CloseMenuItem_Callback(hObject, eventdata, handles)
% hObject handle to CloseMenuItem (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
selection = questdlg(['Close ' get(handles.figure1,'Name') '?'],...
['Close ' get(handles.figure1,'Name') '...'],...
'Yes','No','Yes');
if strcmp(selection,'No')
return;
end
delete(handles.figure1)
% --- Executes during object creation, after setting all properties.
function x_position_CreateFcn(hObject, eventdata, handles)
% hObject handle to x_position (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function x_position_Callback(hObject, eventdata, handles)
% hObject handle to x_position (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of x_position as text
% str2double(get(hObject,'String')) returns contents of x_position as a double
x = round(str2double(get(hObject,'String'))*10)/10;
set(handles.x_position,'String',x);
set(handles.x_slider,'Value',x);
% --- Executes during object creation, after setting all properties.
function y_position_CreateFcn(hObject, eventdata, handles)
% hObject handle to y_position (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function y_position_Callback(hObject, eventdata, handles)
% hObject handle to y_position (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of y_position as text
% str2double(get(hObject,'String')) returns contents of y_position as a double
y = round(str2double(get(hObject,'String'))*10)/10;
set(handles.y_position,'String',y);
set(handles.y_slider,'Value',y);
% --- Executes during object creation, after setting all properties.
function theta1_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to theta1_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function theta1_slider_Callback(hObject, eventdata, handles)
% hObject handle to theta1_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
theta1 = round(get(hObject,'Value')*10)/10;
set(handles.theta1_slider,'Value',theta1);
set(handles.theta1_angle,'String',theta1);
% --- Executes during object creation, after setting all properties.
function theta1_angle_CreateFcn(hObject, eventdata, handles)
% hObject handle to theta1_angle (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function theta1_angle_Callback(hObject, eventdata, handles)
% hObject handle to theta1_angle (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of theta1_angle as text
% str2double(get(hObject,'String')) returns contents of theta1_angle as a double
theta1 = round(str2double(get(hObject,'String'))*10)/10;
set(handles.theta1_angle,'String',theta1);
set(handles.theta1_slider,'Value',theta1);
% --- Executes during object creation, after setting all properties.
function theta2_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to theta2_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function theta2_slider_Callback(hObject, eventdata, handles)
% hObject handle to theta2_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
theta2 = round(get(hObject,'Value')*10)/10;
set(handles.theta2_slider,'Value',theta2);
set(handles.theta2_angle,'String',theta2);
% --- Executes during object creation, after setting all properties.
function theta2_angle_CreateFcn(hObject, eventdata, handles)
% hObject handle to theta2_angle (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function theta2_angle_Callback(hObject, eventdata, handles)
% hObject handle to theta2_angle (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of theta2_angle as text
% str2double(get(hObject,'String')) returns contents of theta2_angle as a double
theta2 = round(str2double(get(hObject,'String'))*10)/10;
set(handles.theta2_angle,'String',theta2);
set(handles.theta2_slider,'Value',theta2);
% --- Executes during object creation, after setting all properties.
function xe_position_CreateFcn(hObject, eventdata, handles)
% hObject handle to xe_position (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function xe_position_Callback(hObject, eventdata, handles)
% hObject handle to xe_position (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of xe_position as text
% str2double(get(hObject,'String')) returns contents of xe_position as a double
xe = round(str2double(get(hObject,'String'))*10)/10;
set(handles.xe_position,'String',xe);
set(handles.xe_slider,'Value',xe);
% --- Executes during object creation, after setting all properties.
function ye_position_CreateFcn(hObject, eventdata, handles)
% hObject handle to ye_position (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function ye_position_Callback(hObject, eventdata, handles)
% hObject handle to ye_position (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of ye_position as text
% str2double(get(hObject,'String')) returns contents of ye_position as a double
ye = round(str2double(get(hObject,'String'))*10)/10;
set(handles.ye_position,'String',ye);
set(handles.ye_slider,'Value',ye);
% --- Executes on button press in inv_update.
function inv_update_Callback(hObject, eventdata, handles)
% hObject handle to inv_update (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
[xe,ye] = getEE(handles);
[r1,r2,r4,r5] = getConfig(handles);
r = [r1 r2 r4 r5]';
[x,y,th1,th2] = botInvKinematics2(xe,ye,r);
axes(handles.axes1);
cla;
plotbot2(x,y,th1,th2);
updateConfig(handles,x,y,th1,th2);
[xe,ye] = botFwdKinematics2(x,y,th1,th2);
updateEE(handles,xe,ye);
% --- Executes on button press in fwd_update.
function fwd_update_Callback(hObject, eventdata, handles)
% hObject handle to fwd_update (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
[x,y,th1,th2] = getConfig(handles);
axes(handles.axes1);
cla;
plotbot2(x,y,th1,th2);
[xe,ye] = botFwdKinematics2(x,y,th1,th2);
updateEE(handles,xe,ye);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %
% Additional functions I wrote (begin) %
% %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function updateConfig(handles,x,y,theta1,theta2)
set(handles.x_position,'String',x);
set(handles.y_position,'String',y);
set(handles.theta1_slider,'Value',theta1*180/pi);
set(handles.theta1_angle,'String',theta1*180/pi);
set(handles.theta2_slider,'Value',theta2*180/pi);
set(handles.theta2_angle,'String',theta2*180/pi);
function updateEE(handles,xe,ye)
set(handles.xe_position,'String',xe);
set(handles.ye_position,'String',ye);
set(handles.xe_slider,'Value',xe);
set(handles.ye_slider,'Value',ye);
function [x,y,theta1,theta2] = getConfig(handles)
x = str2double(get(handles.x_position,'String'));
y = str2double(get(handles.y_position,'String'));
theta1 = str2double(get(handles.theta1_angle,'String'))*pi/180;
theta2 = str2double(get(handles.theta2_angle,'String'))*pi/180;
function [xe,ye] = getEE(handles)
xe = str2double(get(handles.xe_position,'String'));
ye = str2double(get(handles.ye_position,'String'));
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %
% Additional functions I wrote (end) %
% %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% --- Executes during object creation, after setting all properties.
% --- Executes on slider movement.
% --- Executes during object creation, after setting all properties.
function x_radius_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to x_radius_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function x_radius_slider_Callback(hObject, eventdata, handles)
% hObject handle to x_radius_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
r = round(get(hObject,'Value')*10)/10;
set(handles.x_radius_slider,'Value',r);
set(handles.x_radius,'String',r);
function y_radius_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to y_radius_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function y_radius_slider_Callback(hObject, eventdata, handles)
% hObject handle to y_radius_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
r = round(get(hObject,'Value')*10)/10;
set(handles.y_radius_slider,'Value',r);
set(handles.y_radius,'String',r);
% --- Executes on button press in trackCircle.
function trackCircle_Callback(hObject, eventdata, handles)
% hObject handle to trackCircle (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
global a1 a2
d2r=3.1416/180;
ell_an = str2double(get(handles.ellipse_angle,'String'))*d2r; %converted to radians
rad_x = str2double(get(handles.x_radius,'String'));
rad_y = str2double(get(handles.y_radius,'String'));
xc = str2double(get(handles.xCenter,'String'));
yc = str2double(get(handles.yCenter,'String'));
x = xc + rad_x*cos(ell_an) - (a1+a2);
y = yc + rad_x*sin(ell_an);
th1 = 0;
th2 = 0;
[xe,ye] = botFwdKinematics2(x,y,th1,th2);
axes(handles.axes1);
cla;
plotbot2(x,y,th1,th2);
pause(0.01);
updateConfig(handles,x,y,th1,th2);
updateEE(handles,xe,ye);
simTime = str2double(get(handles.simTime,'String'));
Trev = str2double(get(handles.revTime,'String'));
dt = 0.1;
t = 0:dt:simTime;
N = length(t);
Qo = str2double(get(handles.weightQo,'String'));
Qp = str2double(get(handles.weightQp,'String'));
Q = [eye(2)*Qp zeros(2,2); zeros(2,2) eye(2)*Qo];
r = [x y th1 th2]';
re = [xc + rad_x*cos(2*pi*t/Trev)*cos(ell_an) - rad_y*sin(2*pi*t/Trev)*sin(ell_an); ...
yc + rad_x*cos(2*pi*t/Trev)*sin(ell_an) + rad_y*sin(2*pi*t/Trev)*cos(ell_an)];
ra = zeros(2,N);
rb = zeros(2,N);
for k = 1:N-1,
P = eye(2);
for j = 1:10,
tc = dt/10*(j-1) + t(k);
rDot = [-2*pi*rad_x*sin(2*pi*tc/Trev)/Trev*cos(ell_an)-2*pi*rad_y*cos(2*pi*tc/Trev)/Trev*sin(ell_an); ...
-2*pi*rad_x*sin(2*pi*tc/Trev)/Trev*sin(ell_an)+2*pi*rad_y*cos(2*pi*tc/Trev)/Trev*cos(ell_an)];
f1 = dt/10*botThetaDot2(r, rDot, P, Q);
f2 = dt/10*botThetaDot2(r+f1*0.5, rDot, P, Q);
f3 = dt/10*botThetaDot2(r+f2*0.5, rDot, P, Q);
f4 = dt/10*botThetaDot2(r+f3, rDot, P, Q);
r = r + (f1+2*f2+2*f3+f4)/6;
end
x = r(1); y = r(2); th1 = r(3); th2 = r(4);
rb(:,k) = [x y]';
while (2*pi<th1)||(0>th1)
th1 = th1 - sign(th1)*2*pi;
end
while (2*pi<th2)||(0>th2)
th2 = th2 - sign(th2)*2*pi;
end
[xe,ye] = botFwdKinematics2(x,y,th1,th2);
ra(:,k) = [xe ye]';
cla;
plot(re(1,:),re(2,:),'b'); hold on;
plot(ra(1,1:k),ra(2,1:k),'r');
plot(rb(1,1:k),rb(2,1:k),'k');
plotbot2(x,y,th1,th2);
% if rem(k,5)==0
updateConfig(handles,x,y,th1,th2);
updateEE(handles,xe,ye);
% end
pause(0.01);
flag = get(handles.stop,'Value');
if flag == 1
set(handles.stop,'Value',0);
break;
end
end
% --- Executes during object creation, after setting all properties.
function xCenter_CreateFcn(hObject, eventdata, handles)
% hObject handle to xCenter (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function xCenter_Callback(hObject, eventdata, handles)
% hObject handle to xCenter (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of xCenter as text
% str2double(get(hObject,'String')) returns contents of xCenter as a double
x = round(str2double(get(hObject,'String'))*10)/10;
set(handles.xCenter,'String',x);
set(handles.xCenter_slider,'Value',x);
% --- Executes during object creation, after setting all properties.
function yCenter_CreateFcn(hObject, eventdata, handles)
% hObject handle to yCenter (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function yCenter_Callback(hObject, eventdata, handles)
% hObject handle to yCenter (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of yCenter as text
% str2double(get(hObject,'String')) returns contents of yCenter as a double
y = round(str2double(get(hObject,'String'))*10)/10;
set(handles.yCenter,'String',y);
set(handles.yCenter_slider,'Value',y);
% --- Executes during object creation, after setting all properties.
function x_radius_CreateFcn(hObject, eventdata, handles)
% hObject handle to x_radius (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function x_radius_Callback(hObject, eventdata, handles)
% hObject handle to x_radius (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of x_radius as text
% str2double(get(hObject,'String')) returns contents of x_radius as a double
r = (round(str2double(get(hObject,'String'))*10))/10;
set(handles.x_radius,'String',r);
set(handles.x_radius_slider,'Value',r);
% --- Executes during object creation, after setting all properties.
function y_radius_CreateFcn(hObject, eventdata, handles)
% hObject handle to y_radius (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function y_radius_Callback(hObject, eventdata, handles)
% hObject handle to y_radius (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of y_radius as text
% str2double(get(hObject,'String')) returns contents of y_radius as a double
r = (round(str2double(get(hObject,'String'))*10))/10;
set(handles.y_radius,'String',r);
set(handles.y_radius_slider,'Value',r);
% --- Executes during object creation, after setting all properties.
function ellipse_angle_CreateFcn(hObject, eventdata, handles)
% hObject handle to ellipse_angle (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function ellipse_angle_Callback(hObject, eventdata, handles)
% hObject handle to ellipse_angle (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of ellipse_angle as text
% str2double(get(hObject,'String')) returns contents of ellipse_angle as a double
ea = round(str2double(get(hObject,'String'))*10)/10;
set(handles.ellipse_angle,'String',ea);
set(handles.ellipse_angle_slider,'Value',ea);
% --- Executes during object creation, after setting all properties.
function ellipse_angle_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to ellipse_angle_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function ellipse_angle_slider_Callback(hObject, eventdata, handles)
% hObject handle to ellipse_angle_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
ea = round(get(hObject,'Value')*10)/10;
set(handles.ellipse_angle_slider,'Value',ea);
set(handles.ellipse_angle,'String',ea);
% --- Executes during object creation, after setting all properties.
function revTime_CreateFcn(hObject, eventdata, handles)
% hObject handle to revTime (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function revTime_Callback(hObject, eventdata, handles)
% hObject handle to revTime (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of revTime as text
% str2double(get(hObject,'String')) returns contents of revTime as a double
t = round(str2double(get(hObject,'String'))*10)/10;
set(handles.revTime,'String',t);
set(handles.time_slider,'Value',t);
% --- Executes during object creation, after setting all properties.
function time_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to time_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function time_slider_Callback(hObject, eventdata, handles)
% hObject handle to time_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
t = round(get(hObject,'Value')*10)/10;
set(handles.time_slider,'Value',t);
set(handles.revTime,'String',t);
% --- Executes during object creation, after setting all properties.
function xCenter_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to xCenter_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function xCenter_slider_Callback(hObject, eventdata, handles)
% hObject handle to xCenter_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
x = round(get(hObject,'Value')*10)/10;
set(handles.xCenter_slider,'Value',x);
set(handles.xCenter,'String',x);
% --- Executes during object creation, after setting all properties.
function yCenter_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to yCenter_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function yCenter_slider_Callback(hObject, eventdata, handles)
% hObject handle to yCenter_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
y = round(get(hObject,'Value')*10)/10;
set(handles.yCenter_slider,'Value',y);
set(handles.yCenter,'String',y);
% --- Executes during object creation, after setting all properties.
function Qo_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to Qo_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function Qo_slider_Callback(hObject, eventdata, handles)
% hObject handle to Qo_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
q = round(get(hObject,'Value')*10)/10;
set(handles.Qo_slider,'Value',q);
set(handles.weightQo,'String',q);
% --- Executes during object creation, after setting all properties.
function weightQo_CreateFcn(hObject, eventdata, handles)
% hObject handle to weightQo (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function weightQo_Callback(hObject, eventdata, handles)
% hObject handle to weightQo (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of weightQo as text
% str2double(get(hObject,'String')) returns contents of weightQo as a double
q = round(str2double(get(hObject,'String'))*10)/10;
set(handles.weightQo,'String',q);
set(handles.Qo_slider,'Value',q);
% --- Executes during object creation, after setting all properties.
function Qp_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to Qp_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function Qp_slider_Callback(hObject, eventdata, handles)
% hObject handle to Qp_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
q = round(get(hObject,'Value')*10)/10;
set(handles.Qp_slider,'Value',q);
set(handles.weightQp,'String',q);
% --- Executes during object creation, after setting all properties.
function weightQp_CreateFcn(hObject, eventdata, handles)
% hObject handle to weightQp (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function weightQp_Callback(hObject, eventdata, handles)
% hObject handle to weightQp (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of weightQp as text
% str2double(get(hObject,'String')) returns contents of weightQp as a double
q = round(str2double(get(hObject,'String'))*10)/10;
set(handles.weightQp,'String',q);
set(handles.Qp_slider,'Value',q);
% --- Executes during object creation, after setting all properties.
function simTime_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to simTime_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function simTime_slider_Callback(hObject, eventdata, handles)
% hObject handle to simTime_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
t = get(hObject,'Value');
t = round(t*10);
t = t/10;
set(handles.simTime_slider,'Value',t);
set(handles.simTime,'String',t);
% --- Executes during object creation, after setting all properties.
function simTime_CreateFcn(hObject, eventdata, handles)
% hObject handle to simTime (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
% See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function simTime_Callback(hObject, eventdata, handles)
% hObject handle to simTime (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of simTime as text
% str2double(get(hObject,'String')) returns contents of simTime as a double
t = str2double(get(hObject,'String'));
t = round(t*10);
t = t/10;
set(handles.simTime,'String',t);
set(handles.simTime_slider,'Value',t');
% --- Executes on button press in home.
function home_Callback(hObject, eventdata, handles)
% hObject handle to home (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
x = 0; y = 0; v = 0; th1 = 0; th2 = 0;
updateConfig(handles,x,y,th1,th2);
[xe,ye] = botFwdKinematics2(x,y,th1,th2);
updateEE(handles,xe,ye);
cla;
plotbot2(x,y,th1,th2);
% --- Executes during object creation, after setting all properties.
function y_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to y_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function y_slider_Callback(hObject, eventdata, handles)
% hObject handle to y_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
y = round(get(hObject,'Value')*10)/10;
set(handles.y_slider,'Value',y);
set(handles.y_position,'String',y);
% --- Executes during object creation, after setting all properties.
function x_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to x_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function x_slider_Callback(hObject, eventdata, handles)
% hObject handle to x_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
x = round(get(hObject,'Value')*10)/10;
set(handles.x_slider,'Value',x);
set(handles.x_position,'String',x);
% --- Executes during object creation, after setting all properties.
function ye_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to ye_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function ye_slider_Callback(hObject, eventdata, handles)
% hObject handle to ye_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
ye = round(get(hObject,'Value')*10)/10;
set(handles.ye_slider,'Value',ye);
set(handles.ye_position,'String',ye);
% --- Executes during object creation, after setting all properties.
function xe_slider_CreateFcn(hObject, eventdata, handles)
% hObject handle to xe_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles empty - handles not created until after all CreateFcns called
% Hint: slider controls usually have a light gray background, change
% 'usewhitebg' to 0 to use default. See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function xe_slider_Callback(hObject, eventdata, handles)
% hObject handle to xe_slider (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'Value') returns position of slider
% get(hObject,'Min') and get(hObject,'Max') to determine range of slider
xe = round(get(hObject,'Value')*10)/10;
set(handles.xe_slider,'Value',xe);
set(handles.xe_position,'String',xe);
% --- Executes on button press in reset.
function reset_Callback(hObject, eventdata, handles)
% hObject handle to reset (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
set(handles.xCenter,'String',0);
set(handles.xCenter_slider,'Value',0);
set(handles.yCenter,'String',0);
set(handles.yCenter_slider,'Value',0);
set(handles.x_radius,'String',5);
set(handles.x_radius_slider,'Value',5);
set(handles.y_radius,'String',5);
set(handles.y_radius_slider,'Value',5);
set(handles.ellipse_angle,'String',0);
set(handles.ellipse_angle_slider,'Value',0);
set(handles.weightQo,'String',1);
set(handles.Qo_slider,'Value',1);
set(handles.weightQp,'String',1);
set(handles.Qp_slider,'Value',1);
set(handles.simTime,'String',15);
set(handles.simTime_slider,'Value',15);
set(handles.revTime,'String',10);
set(handles.time_slider,'Value',10);
% --- Executes on button press in stop.
function stop_Callback(hObject, eventdata, handles)
% hObject handle to stop (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hint: get(hObject,'Value') returns toggle state of stop
