% Sumit Tripathi
% MAE593(Math Methods in Robotics),University at Buffalo
%!!!IMPORTANT :: Any Time you see broken linkages, please press Forward Kin/Home Push button
% Copy forward_kin.m, inverse_kin.m,My_fun.m,plot_RPRP.m, robotics_project.m,
% robotics_project.fig, RPRP_sgraph.m, rprp_trace.m, set_dimentions.m into same directory
% open robotics_project.fig using guide command and run it.
% Use different values of gains to compare effect of gain on trajectory
% tracing.
%
function varargout = robotics_project(varargin)
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @robotics_project_OpeningFcn, ...
'gui_OutputFcn', @robotics_project_OutputFcn, ...
'gui_LayoutFcn', [] , ...
'gui_Callback', []);
if nargin && ischar(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 robotics_project is made visible.
function robotics_project_OpeningFcn(hObject, eventdata, handles, varargin)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g wd_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
r_g=1.5;% Radius of robot arm base
len_g=3;
wd_g=2;
theta1_g=get(handles.Theta1_slider,'Value');% get values of sliders from GUI
theta2_g=get(handles.Theta2_slider,'Value');
d1_g=get(handles.D1_slider,'Value');
d2_g=get(handles.D2_slider,'Value');
x_ee_g=22;y_ee_g=0; % Default end effector position
y_max=40;y_min=-40;x_max=40;x_min=-40;
th_base=linspace(pi,0,25);
x_base=(r_g+.2)*cos(th_base);
y_base=(r_g+.2)*sin(th_base)-r_g-.5;
color=x_base;
axis([x_min x_max y_min y_max]) % axis limits
axis manual % set axis to exact manual value
axis equal % x-scale=y-scale
hold on % does not erase previous graphs
grid off % turns on grid
% manual grid
% minor grid lines
for y=y_min:1:y_max
plot([x_min+.1 x_max],[y y],'Color',[.8,.97,.97])
end
for x=x_min+.1:1:x_max
plot([x x],[y_min y_max],'Color',[.8,.97,.97])
end
% major grid lines
for y=0:5:y_max
plot([x_min+.1 x_max],[y y],'Color',[0.9 0.9 0.9])
end
for x=x_min:5:x_max
plot([x x],[y_min y_max],'Color',[.9,.9,.9])
end
fill(x_base,y_base,color);
th_jr1=linspace(-pi,pi,50);
xjr1=r_g*cos(th_jr1);
ystart_jr1=0;
yjr1=ystart_jr1+r_g*sin(th_jr1);
jr1=[xjr1' yjr1' zeros(size(xjr1))' ones(size(xjr1))']'; % rotaion joint 1 matrix
pF_jr1=fill(xjr1,yjr1,'g', 'erasemode','xor'); % color fill rotation jont 1
set(pF_jr1,'FaceColor',[.2 .8 .6]);
ystart_pL1_prism=ystart_jr1;
yc=ystart_pL1_prism;
xstart_pL1_prism=r_g;
xc=xstart_pL1_prism;
wd=wd_g;
x1_g=xc;y1_g=yc;
xc=0;yc=0;
plunger1=d1_g-5;
xend_pL1_plunger=xc+ 5 +plunger1;
xep=xend_pL1_plunger;
wdc=wd_g/5;
ypL1_prism=[yc-.5 yc-.5 yc-wd yc-wd yc-wd+.5 yc-wd+.5 yc-wd yc-wd yc-wdc yc-wdc yc+wdc yc+wdc yc+wd yc+wd yc+wd-.5 yc+wd-.5 yc+wd yc+wd yc+.5 yc+.5];
xpL1_prism=[xc xc+.5 xc+.5 xc+1 xc+1 xc+4.5 xc+4.5 xc+5 xc+5 xc+xep xc+xep xc+5 xc+5 xc+4.5 xc+4.5 xc+1 xc+1 xc+.5 xc+.5 xc];
pL1_prism_g=[xpL1_prism' ypL1_prism' zeros(size(xpL1_prism))' ones(size(xpL1_prism))']';
% The above matrices are used to transform the polygon, representing prismatic joint, from one
% frame to other.
th_jr2=linspace(-pi,pi,50);
xjr2=r_g*cos(th_jr2);
yjr2=r_g*sin(th_jr2);
jr2_g=[xjr2' yjr2' zeros(size(xjr2))' ones(size(xjr2))']'; % rotaion joint 2 matrix
yc=0;
xc=0;
plunger2=d2_g-5;
xend_pL2_plunger=xc + 5 +plunger2;
xep=xend_pL2_plunger;
wdc=wd_g/5;
ypL2_prism=[yc-.5 yc-.5 yc-wd yc-wd yc-wd+.5 yc-wd+.5 yc-wd yc-wd yc-wdc yc-wdc yc+wdc yc+wdc yc+wd yc+wd yc+wd-.5 yc+wd-.5 yc+wd yc+wd yc+.5 yc+.5];
xpL2_prism=[xc xc+.5 xc+.5 xc+1 xc+1 xc+4.5 xc+4.5 xc+5 xc+5 xc+xep xc+xep xc+5 xc+5 xc+4.5 xc+4.5 xc+1 xc+1 xc+.5 xc+.5 xc];
pL2_prism_g=[xpL2_prism' ypL2_prism' zeros(size(xpL2_prism))' ones(size(xpL2_prism))']'; % "prismatic joint" # 2 matrix
%Calculations to draw end effector
wd=len_g/2;
yc=0;xc=0;
wdc=wd_g/2;
yEE_RPRP=[yc+wd yc+wd-wdc yc+wd-wdc yc-wd+wdc yc-wd+wdc yc-wd];
xEE_RPRP=[xc xc+len_g xc+len_g/2 xc+len_g/2 xc+len_g xc];
pEE_RPRP_g=[xEE_RPRP' yEE_RPRP' zeros(size(xEE_RPRP))' ones(size(xEE_RPRP))']';
%Calculate positions of different links and joints using Forward kinamatics
forward_kin();
pF_pL1_prism_g=fill(Link1_g(1,:),Link1_g(2,:),'y', 'erasemode','xor'); % color fill prismatic jont 1
set(pF_pL1_prism_g,'FaceColor',[.8 .9 .2]);
pF_jr2_g=fill(joint2_g(1,:),joint2_g(2,:),'g', 'erasemode','xor'); % color fill rotation jont 2
set(pF_jr2_g,'FaceColor',[.2 .8 .6]);
pF_pL2_prism_g=fill(Link2_g(1,:),Link2_g(2,:),'y', 'erasemode','xor'); % color fill prismatic jont 2
set(pF_pL2_prism_g,'FaceColor',[.8 .9 .2]);
pF_EE_RPRP_g=fill(EE_g(1,:),EE_g(2,:),'r', 'erasemode','xor'); % color fill end effector
set(pF_EE_RPRP_g,'FaceColor',[.8 .2 .2]);
handles.number_errors_Xee = 0;
handles.number_errors_Yee = 0;
handles.number_errors_Phi = 0;
handles.number_errors_D1 = 0;
handles.number_errors_D2 = 0;
handles.number_errors_Theta1 = 0;
handles.number_errors_Theta2 = 0;
handles.sgraph_flag=1;
handles.control_flag=0;
% Choose default command line output for robotics_project
handles.output = hObject;
handles.sgraph_case='Circle';
% Update handles structure
guidata(hObject, handles);
% --- Outputs from this function are returned to the command line.
function varargout = robotics_project_OutputFcn(hObject, eventdata, handles)
varargout{1} = handles.output;
% --- Executes on slider movement.
function Xee_slider_Callback(hObject, eventdata, handles)
set(handles.Xee_edit,'String',...
num2str(get(handles.Xee_slider,'Value')));
% --- Executes during object creation, after setting all properties.
function Xee_slider_CreateFcn(hObject, eventdata, handles)
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function Yee_slider_Callback(hObject, eventdata, handles)
set(handles.Yee_edit,'String',...
num2str(get(handles.Yee_slider,'Value')));
% --- Executes during object creation, after setting all properties.
function Yee_slider_CreateFcn(hObject, eventdata, handles)
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function Phi_slider_Callback(hObject, eventdata, handles)
set(handles.Phi_edit,'String',...
num2str(get(handles.Phi_slider,'Value')));
% --- Executes during object creation, after setting all properties.
function Phi_slider_CreateFcn(hObject, eventdata, handles)
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function Xee_edit_Callback(hObject, eventdata, handles)
val = str2double(get(handles.Xee_edit,'String'));
% --- Executes during object creation, after setting all properties.
if isnumeric(val)& ...
val >= get(handles.Xee_slider,'Min') & ...
val <= get(handles.Xee_slider,'Max')
set(handles.Xee_slider,'Value',val);
else
% Increment the error count, and display it
handles.number_errors_Xee = handles.number_errors_Xee+1;
guidata(hObject,handles); % store the changes
set(handles.Xee_edit,'String',...
['invalid',...
num2str(handles.number_errors_Xee),' times.']);
end
function Xee_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function Yee_edit_Callback(hObject, eventdata, handles)
val = str2double(get(handles.Yee_edit,'String'));
% --- Executes during object creation, after setting all properties.
if isnumeric(val)& ...
val >= get(handles.Yee_slider,'Min') & ...
val <= get(handles.Yee_slider,'Max')
set(handles.Yee_slider,'Value',val);
else
% Increment the error count, and display it
handles.number_errors_Yee = handles.number_errors_Yee+1;
guidata(hObject,handles); % store the changes
set(handles.Yee_edit,'String',...
['invalid',...
num2str(handles.number_errors_Yee),' times.']);
end
% --- Executes during object creation, after setting all properties.
function Yee_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function Phi_edit_Callback(hObject, eventdata, handles)
val = str2double(get(handles.Phi_edit,'String'));
% --- Executes during object creation, after setting all properties.
if isnumeric(val)& ...
val >= get(handles.Phi_slider,'Min') & ...
val <= get(handles.Phi_slider,'Max')
set(handles.Phi_slider,'Value',val);
else
% Increment the error count, and display it
handles.number_errors_Phi = handles.number_errors_Phi+1;
guidata(hObject,handles); % store the changes
set(handles.Phi_edit,'String',...
['invalid',...
num2str(handles.number_errors_Phi),' times.']);
end
% --- Executes during object creation, after setting all properties.
function Phi_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on button press in Analytical_pushbutton.
% Analytical Push Button is reserved for future versions of this RPRP Manipulator GUI
function Analytical_pushbutton_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
% hObject handle to Analytical_pushbutton (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% --- Executes on button press in Numerical_pushbutton.
function Numerical_pushbutton_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
x_ee_g = str2double(get(handles.Xee_edit,'String'));
y_ee_g = str2double(get(handles.Yee_edit,'String'));
inverse_kin; % Calling inverse kinamatics function to set joint variables
forward_kin; % Forward Kinamatics takes the calculated joint variables from inverse_kin and set to output screen
set(handles.Theta1_slider,'Value',theta1_g);
set(handles.Theta2_slider,'Value',theta2_g);
set(handles.D1_slider,'Value',d1_g);
set(handles.D2_slider,'Value',d2_g);
set(handles.Theta1_edit,'String',...
num2str(get(handles.Theta1_slider,'Value')));
set(handles.Theta2_edit,'String',...
num2str(get(handles.Theta2_slider,'Value')));
set(handles.D1_edit,'String',...
num2str(get(handles.D1_slider,'Value')));
set(handles.D2_edit,'String',...
num2str(get(handles.D2_slider,'Value')));
[flag_set]=set_dimensions();% set_dimensions sets the value of position matrices of different joints
if(flag_set==1)
plot_RPRP; %plot_RPRP gets the dimension, which are set by set_dimensions and plots it to output screen
set(handles.Warning_text,'visible','off');
elseif(flag_set==0)
set(handles.Warning_text,'visible','on');
end
% --- Executes during object creation, after setting all properties.
function axes2_CreateFcn(hObject, eventdata, handles)
s1 = ['T1 = get(gco,''Value'');' ... % defines T1 as slider value
'forkin;' ...
'robotics_ball;'];
guidata(hObject, handles);
% --- Executes on slider movement.
function Theta2_slider_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
set(handles.Theta2_edit,'String',...
num2str(get(handles.Theta2_slider,'Value')));
d1_g = str2double(get(handles.D1_edit,'String'));
d2_g = str2double(get(handles.D2_edit,'String'));
theta1_g = str2double(get(handles.Theta1_edit,'String'));
theta2_g = str2double(get(handles.Theta2_edit,'String'));
forward_kin;
set(handles.Xee_slider,'Value',x_ee_g);
set(handles.Yee_slider,'Value',y_ee_g);
set(handles.Phi_slider,'Value',phi_g);
set(handles.Xee_edit,'String',...
num2str(get(handles.Xee_slider,'Value')));
set(handles.Yee_edit,'String',...
num2str(get(handles.Yee_slider,'Value')));
set(handles.Phi_edit,'String',...
num2str(get(handles.Phi_slider,'Value')));
[flag_set]=set_dimensions();
if(flag_set==1)
plot_RPRP;
set(handles.Warning_text,'visible','off');
elseif(flag_set==0)
set(handles.Warning_text,'visible','on');
end
% --- Executes during object creation, after setting all properties.
function Theta2_slider_CreateFcn(hObject, eventdata, handles)
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function Theta2_edit_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
val = str2double(get(handles.Theta2_edit,'String'));
% --- Executes during object creation, after setting all properties.
if isnumeric(val)& ...
val >= get(handles.Theta2_slider,'Min') & ...
val <= get(handles.Theta2_slider,'Max')
set(handles.Theta2_slider,'Value',val);
else
% Increment the error count, and display it
handles.number_errors_Theta2 = handles.number_errors_Theta2+1;
guidata(hObject,handles); % store the changes
set(handles.Theta2_edit,'String',...
['invalid',...
num2str(handles.number_errors_Theta2),' times.']);
end
d1_g = str2double(get(handles.D1_edit,'String'));
d2_g = str2double(get(handles.D2_edit,'String'));
theta1_g = str2double(get(handles.Theta1_edit,'String'));
theta2_g = str2double(get(handles.Theta2_edit,'String'));
forward_kin;
set(handles.Xee_slider,'Value',x_ee_g);
set(handles.Yee_slider,'Value',y_ee_g);
set(handles.Phi_slider,'Value',phi_g);
set(handles.Xee_edit,'String',...
num2str(get(handles.Xee_slider,'Value')));
set(handles.Yee_edit,'String',...
num2str(get(handles.Yee_slider,'Value')));
set(handles.Phi_edit,'String',...
num2str(get(handles.Phi_slider,'Value')));
[flag_set]=set_dimensions();
if(flag_set==1)
plot_RPRP;
set(handles.Warning_text,'visible','off');
elseif(flag_set==0)
set(handles.Warning_text,'visible','on');
end
% --- Executes during object creation, after setting all properties.
function Theta2_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function D2_slider_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
set(handles.D2_edit,'String',...
num2str(get(handles.D2_slider,'Value')));
d1_g = str2double(get(handles.D1_edit,'String'));
d2_g = str2double(get(handles.D2_edit,'String'));
theta1_g = str2double(get(handles.Theta1_edit,'String'));
theta2_g = str2double(get(handles.Theta2_edit,'String'));
forward_kin;
set(handles.Xee_slider,'Value',x_ee_g);
set(handles.Yee_slider,'Value',y_ee_g);
set(handles.Phi_slider,'Value',phi_g);
set(handles.Xee_edit,'String',...
num2str(get(handles.Xee_slider,'Value')));
set(handles.Yee_edit,'String',...
num2str(get(handles.Yee_slider,'Value')));
set(handles.Phi_edit,'String',...
num2str(get(handles.Phi_slider,'Value')));
[flag_set]=set_dimensions();
if(flag_set==1)
plot_RPRP;
set(handles.Warning_text,'visible','off');
elseif(flag_set==0)
set(handles.Warning_text,'visible','on');
end
% --- Executes during object creation, after setting all properties.
function D2_slider_CreateFcn(hObject, eventdata, handles)
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function D2_edit_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
val = str2double(get(handles.D2_edit,'String'));
% --- Executes during object creation, after setting all properties.
if isnumeric(val)& ...
val >= get(handles.D2_slider,'Min') & ...
val <= get(handles.D2_slider,'Max')
set(handles.D2_slider,'Value',val);
else
% Increment the error count, and display it
handles.number_errors_D2 = handles.number_errors_D2+1;
guidata(hObject,handles); % store the changes
set(handles.D2_edit,'String',...
['invalid',...
num2str(handles.number_errors_D2),' times.']);
end
d1_g = str2double(get(handles.D1_edit,'String'));
d2_g = str2double(get(handles.D2_edit,'String'));
theta1_g = str2double(get(handles.Theta1_edit,'String'));
theta2_g = str2double(get(handles.Theta2_edit,'String'));
forward_kin;
set(handles.Xee_slider,'Value',x_ee_g);
set(handles.Yee_slider,'Value',y_ee_g);
set(handles.Phi_slider,'Value',phi_g);
set(handles.Xee_edit,'String',...
num2str(get(handles.Xee_slider,'Value')));
set(handles.Yee_edit,'String',...
num2str(get(handles.Yee_slider,'Value')));
set(handles.Phi_edit,'String',...
num2str(get(handles.Phi_slider,'Value')));
[flag_set]=set_dimensions();
if(flag_set==1)
plot_RPRP;
set(handles.Warning_text,'visible','off');
elseif(flag_set==0)
set(handles.Warning_text,'visible','on');
end
% --- Executes during object creation, after setting all properties.
function D2_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function Theta1_slider_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
set(handles.Theta1_edit,'String',...
num2str(get(handles.Theta1_slider,'Value')));
d1_g = str2double(get(handles.D1_edit,'String'));
d2_g = str2double(get(handles.D2_edit,'String'));
theta1_g = str2double(get(handles.Theta1_edit,'String'));
theta2_g = str2double(get(handles.Theta2_edit,'String'));
forward_kin;
set(handles.Xee_slider,'Value',x_ee_g);
set(handles.Yee_slider,'Value',y_ee_g);
set(handles.Phi_slider,'Value',phi_g);
set(handles.Xee_edit,'String',...
num2str(get(handles.Xee_slider,'Value')));
set(handles.Yee_edit,'String',...
num2str(get(handles.Yee_slider,'Value')));
set(handles.Phi_edit,'String',...
num2str(get(handles.Phi_slider,'Value')));
[flag_set]=set_dimensions();
if(flag_set==1)
plot_RPRP;
set(handles.Warning_text,'visible','off');
elseif(flag_set==0)
set(handles.Warning_text,'visible','on');
end
% --- Executes during object creation, after setting all properties.
function Theta1_slider_CreateFcn(hObject, eventdata, handles)
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function Theta1_edit_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
val = str2double(get(handles.Theta1_edit,'String'));
% --- Executes during object creation, after setting all properties.
if isnumeric(val)& ...
val >= get(handles.Theta1_slider,'Min') & ...
val <= get(handles.Theta1_slider,'Max')
set(handles.Theta1_slider,'Value',val);
else
% Increment the error count, and display it
handles.number_errors_Theta1 = handles.number_errors_Theta1+1;
guidata(hObject,handles); % store the changes
set(handles.Theta1_edit,'String',...
['invalid',...
num2str(handles.number_errors_Theta1),' times.']);
end
d1_g = str2double(get(handles.D1_edit,'String'));
d2_g = str2double(get(handles.D2_edit,'String'));
theta1_g = str2double(get(handles.Theta1_edit,'String'));
theta2_g = str2double(get(handles.Theta2_edit,'String'));
forward_kin;
set(handles.Xee_slider,'Value',x_ee_g);
set(handles.Yee_slider,'Value',y_ee_g);
set(handles.Phi_slider,'Value',phi_g);
set(handles.Xee_edit,'String',...
num2str(get(handles.Xee_slider,'Value')));
set(handles.Yee_edit,'String',...
num2str(get(handles.Yee_slider,'Value')));
set(handles.Phi_edit,'String',...
num2str(get(handles.Phi_slider,'Value')));
[flag_set]=set_dimensions();
if(flag_set==1)
plot_RPRP;
set(handles.Warning_text,'visible','off');
elseif(flag_set==0)
set(handles.Warning_text,'visible','on');
end
% --- Executes during object creation, after setting all properties.
function Theta1_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on slider movement.
function D1_slider_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
set(handles.D1_edit,'String',...
num2str(get(handles.D1_slider,'Value')));
d1_g = str2double(get(handles.D1_edit,'String'));
d2_g = str2double(get(handles.D2_edit,'String'));
theta1_g = str2double(get(handles.Theta1_edit,'String'));
theta2_g = str2double(get(handles.Theta2_edit,'String'));
forward_kin;
set(handles.Xee_slider,'Value',x_ee_g);
set(handles.Yee_slider,'Value',y_ee_g);
set(handles.Phi_slider,'Value',phi_g);
set(handles.Xee_edit,'String',...
num2str(get(handles.Xee_slider,'Value')));
set(handles.Yee_edit,'String',...
num2str(get(handles.Yee_slider,'Value')));
set(handles.Phi_edit,'String',...
num2str(get(handles.Phi_slider,'Value')));
[flag_set]=set_dimensions();
if(flag_set==1)
plot_RPRP;
set(handles.Warning_text,'visible','off');
elseif(flag_set==0)
set(handles.Warning_text,'visible','on');
end
% --- Executes during object creation, after setting all properties.
function D1_slider_CreateFcn(hObject, eventdata, handles)
usewhitebg = 1;
if usewhitebg
set(hObject,'BackgroundColor',[.9 .9 .9]);
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function D1_edit_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
val = str2double(get(handles.D1_edit,'String'));
% --- Executes during object creation, after setting all properties.
if isnumeric(val)& ...
val >= get(handles.D1_slider,'Min') & ...
val <= get(handles.D1_slider,'Max')
set(handles.D1_slider,'Value',val);
else
% Increment the error count, and display it
handles.number_errors_D1 = handles.number_errors_D1+1;
guidata(hObject,handles); % store the changes
set(handles.D1_edit,'String',...
['invalid',...
num2str(handles.number_errors_D1),' times.']);
end
d1_g = str2double(get(handles.D1_edit,'String'));
d2_g = str2double(get(handles.D2_edit,'String'));
theta1_g = str2double(get(handles.Theta1_edit,'String'));
theta2_g = str2double(get(handles.Theta2_edit,'String'));
forward_kin;
set(handles.Xee_slider,'Value',x_ee_g);
set(handles.Yee_slider,'Value',y_ee_g);
set(handles.Phi_slider,'Value',phi_g);
set(handles.Xee_edit,'String',...
num2str(get(handles.Xee_slider,'Value')));
set(handles.Yee_edit,'String',...
num2str(get(handles.Yee_slider,'Value')));
set(handles.Phi_edit,'String',...
num2str(get(handles.Phi_slider,'Value')));
[flag_set]=set_dimensions();
if(flag_set==1)
plot_RPRP;
set(handles.Warning_text,'visible','off');
elseif(flag_set==0)
set(handles.Warning_text,'visible','on');
end
% --- Executes during object creation, after setting all properties.
function D1_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on button press in Forkin_pushbutton.
function Forkin_pushbutton_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
d1_g = str2double(get(handles.D1_edit,'String'));
d2_g = str2double(get(handles.D2_edit,'String'));
theta1_g = str2double(get(handles.Theta1_edit,'String'));
theta2_g = str2double(get(handles.Theta2_edit,'String'));
forward_kin;
set(handles.Xee_slider,'Value',x_ee_g);
set(handles.Yee_slider,'Value',y_ee_g);
set(handles.Phi_slider,'Value',phi_g);
set(handles.Xee_edit,'String',...
num2str(get(handles.Xee_slider,'Value')));
set(handles.Yee_edit,'String',...
num2str(get(handles.Yee_slider,'Value')));
set(handles.Phi_edit,'String',...
num2str(get(handles.Phi_slider,'Value')));
[flag_set]=set_dimensions();
if(flag_set==1)
plot_RPRP;
set(handles.Warning_text,'visible','off');
elseif(flag_set==0)
set(handles.Warning_text,'visible','on');
end
% --- Executes on button press in point1_pushbutton.
% --- Executes during object creation, after setting all properties.
function uipanel4_CreateFcn(hObject, eventdata, handles)
% --- Executes on button press in standard_graphs_checkbox.
function standard_graphs_checkbox_Callback(hObject, eventdata, handles)
if (get(handles.standard_graphs_checkbox,'Value') == get(handles.standard_graphs_checkbox,'Max'))
handles.sgraph_flag=1;
else
handles.sgraph_flag=0;
end
if ((isequal(handles.sgraph_flag,1))&(isequal(handles.sgraph_case,'Circle')))
set(handles.Ellipse_min_axis_text,'visible','off');
set(handles.Ellipse_min_axis_edit,'visible','off');
set(handles.Ellipse_maj_axis_text,'visible','off');
set(handles.Ellipse_maj_axis_edit,'visible','off');
set(handles.Ellipse_Xc_text,'visible','off');
set(handles.Ellipse_Xc_edit,'visible','off');
set(handles.Ellipse_Yc_text,'visible','off');
set(handles.Ellipse_Yc_edit,'visible','off');
set(handles.Ellipse_ori_text,'visible','off');
set(handles.Ellipse_ori_edit,'visible','off');
set(handles.sgraph_circle_rad_text,'visible','on');
set(handles.sgraph_circle_rad_edit,'visible','on');
set(handles.sgraph_circle_Xc_text,'visible','on');
set(handles.sgraph_circle_Xc_edit,'visible','on');
set(handles.sgraph_circle_Yc_text,'visible','on');
set(handles.sgraph_circle_Yc_edit,'visible','on');
elseif ((isequal(handles.sgraph_flag,1))&(isequal(handles.sgraph_case,'Ellipse')))
set(handles.Ellipse_min_axis_text,'visible','on');
set(handles.Ellipse_min_axis_edit,'visible','on');
set(handles.Ellipse_maj_axis_text,'visible','on');
set(handles.Ellipse_maj_axis_edit,'visible','on');
set(handles.Ellipse_Xc_text,'visible','on');
set(handles.Ellipse_Xc_edit,'visible','on');
set(handles.Ellipse_Yc_text,'visible','on');
set(handles.Ellipse_Yc_edit,'visible','on');
set(handles.Ellipse_ori_text,'visible','on');
set(handles.Ellipse_ori_edit,'visible','on');
set(handles.sgraph_circle_rad_text,'visible','off');
set(handles.sgraph_circle_rad_edit,'visible','off');
set(handles.sgraph_circle_Xc_text,'visible','off');
set(handles.sgraph_circle_Xc_edit,'visible','off');
set(handles.sgraph_circle_Yc_text,'visible','off');
set(handles.sgraph_circle_Yc_edit,'visible','off');
elseif (isequal(handles.sgraph_flag,0))
set(handles.sgraph_circle_rad_text,'visible','off');
set(handles.sgraph_circle_rad_edit,'visible','off');
set(handles.sgraph_circle_Xc_text,'visible','off');
set(handles.sgraph_circle_Xc_edit,'visible','off');
set(handles.sgraph_circle_Yc_text,'visible','off');
set(handles.sgraph_circle_Yc_edit,'visible','off');
set(handles.Ellipse_min_axis_text,'visible','off');
set(handles.Ellipse_min_axis_edit,'visible','off');
set(handles.Ellipse_maj_axis_text,'visible','off');
set(handles.Ellipse_maj_axis_edit,'visible','off');
set(handles.Ellipse_Xc_text,'visible','off');
set(handles.Ellipse_Xc_edit,'visible','off');
set(handles.Ellipse_Yc_text,'visible','off');
set(handles.Ellipse_Yc_edit,'visible','off');
set(handles.Ellipse_ori_text,'visible','off');
set(handles.Ellipse_ori_edit,'visible','off');
end
guidata(hObject,handles);
% --- Executes on selection change in standard_graphs_popupmenu.
function standard_graphs_popupmenu_Callback(hObject, eventdata, handles)
val=get(hObject,'Value');
str=get(hObject,'String');
switch str{val}
case 'Circle'
handles.sgraph_case='Circle';
case 'Ellipse'
handles.sgraph_case='Ellipse';;
end
if ((isequal(handles.sgraph_flag,1))&(isequal(handles.sgraph_case,'Circle')))
set(handles.sgraph_circle_rad_text,'visible','on');
set(handles.sgraph_circle_rad_edit,'visible','on');
set(handles.sgraph_circle_Xc_text,'visible','on');
set(handles.sgraph_circle_Xc_edit,'visible','on');
set(handles.sgraph_circle_Yc_text,'visible','on');
set(handles.sgraph_circle_Yc_edit,'visible','on');
set(handles.Ellipse_min_axis_text,'visible','off');
set(handles.Ellipse_min_axis_edit,'visible','off');
set(handles.Ellipse_maj_axis_text,'visible','off');
set(handles.Ellipse_maj_axis_edit,'visible','off');
set(handles.Ellipse_Xc_text,'visible','off');
set(handles.Ellipse_Xc_edit,'visible','off');
set(handles.Ellipse_Yc_text,'visible','off');
set(handles.Ellipse_Yc_edit,'visible','off');
set(handles.Ellipse_ori_text,'visible','off');
set(handles.Ellipse_ori_edit,'visible','off');
elseif ((isequal(handles.sgraph_flag,1))&(isequal(handles.sgraph_case,'Ellipse')))
set(handles.Ellipse_min_axis_text,'visible','on');
set(handles.Ellipse_min_axis_edit,'visible','on');
set(handles.Ellipse_maj_axis_text,'visible','on');
set(handles.Ellipse_maj_axis_edit,'visible','on');
set(handles.Ellipse_Xc_text,'visible','on');
set(handles.Ellipse_Xc_edit,'visible','on');
set(handles.Ellipse_Yc_text,'visible','on');
set(handles.Ellipse_Yc_edit,'visible','on');
set(handles.Ellipse_ori_text,'visible','on');
set(handles.Ellipse_ori_edit,'visible','on');
set(handles.sgraph_circle_rad_text,'visible','off');
set(handles.sgraph_circle_rad_edit,'visible','off');
set(handles.sgraph_circle_Xc_text,'visible','off');
set(handles.sgraph_circle_Xc_edit,'visible','off');
set(handles.sgraph_circle_Yc_text,'visible','off');
set(handles.sgraph_circle_Yc_edit,'visible','off');
elseif (isequal(handles.sgraph_flag,0))
set(handles.sgraph_circle_rad_text,'visible','off');
set(handles.sgraph_circle_rad_edit,'visible','off');
set(handles.sgraph_circle_Xc_text,'visible','off');
set(handles.sgraph_circle_Xc_edit,'visible','off');
set(handles.sgraph_circle_Yc_text,'visible','off');
set(handles.sgraph_circle_Yc_edit,'visible','off');
set(handles.Ellipse_min_axis_text,'visible','off');
set(handles.Ellipse_min_axis_edit,'visible','off');
set(handles.Ellipse_maj_axis_text,'visible','off');
set(handles.Ellipse_maj_axis_edit,'visible','off');
set(handles.Ellipse_Xc_text,'visible','off');
set(handles.Ellipse_Xc_edit,'visible','off');
set(handles.Ellipse_Yc_text,'visible','off');
set(handles.Ellipse_Yc_edit,'visible','off');
end
guidata(hObject,handles);
function standard_graphs_popupmenu_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function sgraph_circle_rad_edit_Callback(hObject, eventdata, handles)
% --- Executes during object creation, after setting all properties.
function sgraph_circle_rad_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function sgraph_circle_Xc_edit_Callback(hObject, eventdata, handles)
% --- Executes during object creation, after setting all properties.
function sgraph_circle_Xc_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function sgraph_circle_Yc_edit_Callback(hObject, eventdata, handles)
% --- Executes during object creation, after setting all properties.
function sgraph_circle_Yc_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
% --- Executes on button press in Trace_pushbutton.
function Trace_pushbutton_Callback(hObject, eventdata, handles)
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
global g_case;
g_case=1;
c=get(handles.standard_graphs_checkbox,'Value');
tspan=linspace(0,3*pi,200);
options=odeset;
if (c==1)
if(isequal(handles.sgraph_case,'Circle'))
par(1) = str2double(get(handles.sgraph_circle_rad_edit,'String'));
par(2) = str2double(get(handles.sgraph_circle_Xc_edit,'String'));
par(3) = str2double(get(handles.sgraph_circle_Yc_edit,'String'));
par(4) =get(handles.control_checkbox,'Value');
par(5)=str2double(get(handles.Gain_edit,'String'));
g_case=1;
xc=par(2);
yc=par(3);
elseif(isequal(handles.sgraph_case,'Ellipse'))
par(1) = str2double(get(handles.Ellipse_maj_axis_edit,'String'));
par(2) = str2double(get(handles.Ellipse_min_axis_edit,'String'));
par(3) = str2double(get(handles.Ellipse_Xc_edit,'String'));
par(4) = str2double(get(handles.Ellipse_Yc_edit,'String'));
par(5) = str2double(get(handles.Ellipse_ori_edit,'String'))
par(6) =get(handles.control_checkbox,'Value');
par(7)=str2double(get(handles.Gain_edit,'String'));
g_case=2;
xc=par(3);
yc=par(4);
end
y0=[d1_g d2_g theta1_g*pi/180 theta2_g*pi/180]';
%y0=[11 11 0 0]'
[T,Y] = ode45(@RPRP_sgraph,tspan,y0,options,par);
k=length(T);
P=par(1);
fig=gcf;
for i=1:k
d1_g=Y(i,1);
d2_g=Y(i,2);
theta1_g=Y(i,3)*180/pi;
theta2_g=Y(i,4)*180/pi;
while(theta1_g>360)
theta1_g=theta1_g-360;
end
while(theta2_g>360)
theta2_g= theta2_g-360;
end
while(theta1_g<(-360))
theta1_g=theta1_g+360;
end
while(theta2_g<(-360))
theta2_g= theta2_g+360;
end
[flag_set]=set_dimensions();
forward_kin;
if(flag_set==1)
plot_RPRP;
set(handles.Warning_text,'visible','off');
elseif(flag_set==0)
set(handles.Warning_text,'visible','on');
end
th1=Y(i,3);
th2=Y(i,4);
pause(.005);
offset_x=x1_g*cos(th1)+ r_g*cos(th1)+r_g*cos(th1+th2);
offset_y=y1_g+r_g*sin(th1)+ r_g*sin(th1)+r_g*sin(th1+th2);
x=offset_x+d1_g*cos(th1) + d2_g*cos((th1+th2));
y=offset_y+d1_g*sin(th1) + d2_g*sin((th1+th2));
plot(x,y,'.','LineWidth',2);
P=[P;sqrt((x_ee_g-xc)^2+(y_ee_g-yc)^2)];
end
P(1)=[];
if(isequal(handles.sgraph_case,'Circle'))
figure(2)
plot(T,P);
xlabel('Time');
ylabel('Radius w.r.t. (X_c, Y_c)');
Title('Plot of Radius with respect to center of the circle');
else
%%%%
end
end
% --- Executes on button press in Erase_pushbutton.
function Erase_pushbutton_Callback(hObject, eventdata, handles)
axis normal;
hold off;
plot(0,0,'erasemode','xor');
global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g phi_g;
global pF_jr2_g pF_pL1_prism_g pF_pL2_prism_g;
global jr2_g pL1_prism_g pL2_prism_g;
global x1_g y1_g r_g len_g wd_g;
global Link1_g Link2_g joint2_g;
global pF_EE_RPRP_g pEE_RPRP_g EE_g;
r_g=1.5;
len_g=3;
wd_g=2;
y_max=40;y_min=-40;x_max=40;x_min=-40;
th_base=linspace(pi,0,25);
x_base=(r_g+.2)*cos(th_base);
y_base=(r_g+.2)*sin(th_base)-r_g-.5;
color=x_base;
axis([x_min x_max y_min y_max]) % axis limits
axis manual % set axis to exact manual value
axis equal % x-scale=y-scale
hold on % does not erase previous graphs
grid off % turns on grid
% minor grid lines
for y=y_min:1:y_max
plot([x_min+.1 x_max],[y y],'Color',[.8,.97,.97])
end
for x=x_min+.1:1:x_max
plot([x x],[y_min y_max],'Color',[.8,.97,.97])
end
% major grid lines
for y=0:5:y_max
plot([x_min+.1 x_max],[y y],'Color',[0.9 0.9 0.9])
end
for x=x_min:5:x_max
plot([x x],[y_min y_max],'Color',[.9,.9,.9])
end
fill(x_base,y_base,color);
th_jr1=linspace(-pi,pi,50);
xjr1=r_g*cos(th_jr1);
ystart_jr1=0;
yjr1=ystart_jr1+r_g*sin(th_jr1);
jr1=[xjr1' yjr1' zeros(size(xjr1))' ones(size(xjr1))']'; % rotaion joint 1 matrix
pF_jr1=fill(xjr1,yjr1,'g', 'erasemode','xor'); % color fill rotation jont 1
set(pF_jr1,'FaceColor',[.2 .8 .6]);
[flag_set]=set_dimensions();
forward_kin;
pF_pL1_prism_g=fill(Link1_g(1,:),Link1_g(2,:),'y', 'erasemode','xor'); % color fill rotation jont 1
set(pF_pL1_prism_g,'FaceColor',[.8 .9 .2]);
pF_jr2_g=fill(joint2_g(1,:),joint2_g(2,:),'g', 'erasemode','xor'); % color fill rotation jont 2
set(pF_jr2_g,'FaceColor',[.2 .8 .6]);
pF_pL2_prism_g=fill(Link2_g(1,:),Link2_g(2,:),'y', 'erasemode','xor'); % color fill rotation jont 2
set(pF_pL2_prism_g,'FaceColor',[.8 .9 .2]);
pF_EE_RPRP_g=fill(EE_g(1,:),EE_g(2,:),'r', 'erasemode','xor'); % color fill rotation jont 2
set(pF_EE_RPRP_g,'FaceColor',[.8 .2 .2]);
% --- Executes during object creation, after setting all properties.
function Warning_text_CreateFcn(hObject, eventdata, handles)
% --- Executes on button press in control_checkbox.
function control_checkbox_Callback(hObject, eventdata, handles)
if (get(handles.control_checkbox,'Value') == get(handles.control_checkbox,'Max'))
handles.control_flag=1;
disp('clicked')
c=get(handles.control_checkbox,'Value')
else
handles.control_flag=0;
disp('unclicked')
c=get(handles.control_checkbox,'Value')
end
guidata(hObject,handles);
function Gain_edit_Callback(hObject, eventdata, handles)
% --- Executes during object creation, after setting all properties.
function Gain_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function Ellipse_maj_axis_edit_Callback(hObject, eventdata, handles)
% --- Executes during object creation, after setting all properties.
function Ellipse_maj_axis_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function Ellipse_min_axis_edit_Callback(hObject, eventdata, handles)
% --- Executes during object creation, after setting all properties.
function Ellipse_min_axis_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function Ellipse_Xc_edit_Callback(hObject, eventdata, handles)
% --- Executes during object creation, after setting all properties.
function Ellipse_Xc_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function edit44_Callback(hObject, eventdata, handles)
% --- Executes during object creation, after setting all properties.
function edit44_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function Ellipse_ori_edit_Callback(hObject, eventdata, handles)
% --- Executes during object creation, after setting all properties.
function Ellipse_ori_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function Ellipse_Yc_edit_Callback(hObject, eventdata, handles)
% --- Executes during object creation, after setting all properties.
function Ellipse_Yc_edit_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
