truck0.m

FISMAT accommodates different arithmetic operators, fuzzification and defuzzification algorithm, imp

function truck0(sys,cb)

% TRUCK0 initializes animation.
%
%      TRUCK0(SYS,CB) initializes the truck animation.  If
%      a truck animation figure is already on the screen, it
%      is brought to the front.  Otherwise a new figure is created.
%      Important animation handles are placed in the figure's UserData.

TimeClock = 0;
%RefSignal = str2num(get_param([sys '/' cb],'Value'));
XTruck = IXPOS;
YTruck = IYPOS;
phiTruck = IPHI;
%XCart = 0;
%Theta = 0;

XDelta = 2;
YDelta = 2;
%PDelta = 0.2;
FigureName = 'Truck Visualization';
%XPendTop = XCart + 10*sin(Theta); % Will be zero
%YPendTop = 10*cos(Theta);         % Will be 10
%PDcosT = PDelta*cos(Theta);       % Will be 0.2
%PDsinT = -PDelta*sin(Theta);      % Will be zero

NotOnScreen = 1;
Figures = get(0,'Chil');
for INDEX=1:length(Figures),
   if strcmp(get(Figures(INDEX),'Type'),'figure'),
      if strcmp(get(Figures(INDEX),'Name'),FigureName),
         set(0,'CurrentF',Figures(INDEX));
         NotOnScreen = 0;
         FigUD = get(Figures(INDEX),'UserData');
         Truck = FigUD(1);
         %Cart = FigUD(1);
         %Pend = FigUD(2);
         TimeField = FigUD(3);
         %RefMark = FigUD(5);
         %set(RefMark,'XData',RefSignal+[-XDelta 0 XDelta]);
         set(TimeField,'String',num2str(TimeClock));
         set(Truck,'XData',ones(2,1)*[XTruck-XDelta XTruck+XDelta]);
         %set(Cart,'XData',ones(2,1)*[XCart-XDelta XCart+XDelta]);
         %set(Pend,'XData', ...
         % [XPendTop-PDcosT XPendTop+PDcosT; XCart-PDcosT XCart+PDcosT], ...
         % 'YData',[YPendTop-PDsinT YPendTop+PDsinT; -PDsinT PDsinT]);
      end % if right name
   end % if ifigure
end % for INDEX

if NotOnScreen,
   Fig = figure('Unit','pixel','Pos',[100 100 500 300], ...
                'Name',FigureName);
   axes('Unit','pixel','Pos',[50 50 400 200],'CLim',[1 64], ...
        'Xlim',[0 100],'Ylim',[0 100],'Vis','off');
   %axes('Unit','pixel','Pos',[50 50 400 200],'CLim',[1 64], ...
   %     'Xlim',[-12 12],'Ylim',[-2 10],'Vis','off');
   Truck= surface('XData',ones(2,1)*[XTruck-XDelta XTruck+XDelta], ...
    'YData',[YTruck-YDelta YTruck+YDelta],'ZData',zeros(2),'CData', ...
    ones(2), 'Erase', 'xor');
    %Cart = surface('XData',ones(2,1)*[XCart-XDelta XCart+XDelta], ...
    % 'YData',[0 0; -2 -2],'ZData',zeros(2),'CData',ones(2), ...
    %'Erase','xor');
    %Pend = surface('XData',[XPendTop-PDcosT XPendTop+PDcosT; ...
    %                      XCart-PDcosT XCart+PDcosT], ...
    %'YData',[YPendTop-PDsinT YPendTop+PDsinT; -PDsinT PDsinT], ...
    %'ZData',zeros(2),'CData',11*ones(2),'Erase','xor');
   uicontrol('Style','text','Unit','pixel','Pos',[0 0 500 50]);
   uicontrol('Style','text','Unit','pixel','Pos',[150 0 100 25], ...
    'Horiz','right','String','Time: ');
   TimeField = uicontrol('Style','text','Unit','pixel', ...
    'Pos',[250 0 100 25],'Horiz','left', ...
    'String',num2str(TimeClock));
   SlideControl = uicontrol('Style','slide','Unit','pixel', ...
    'Pos',[100 25 300 22],'Min',-9,'Max',9, ...
    'Value',str2num(get_param([sys '/' cb],'Value')),'Call', ...
    ['set_param(''' sys '/' cb ''',''Value'',' ...
     'num2str(get(get(gcf,''CurrentO''),''Value'')));']);
   %RefMark = patch(RefSignal+[-XDelta 0 XDelta],[-2 0 -2],22);
   uicontrol('Style','push','Pos',[415 15 70 20],'String','Close', ...
    'Call','delete(gcf);');
   uicontrol('Style','push','Pos',[15 15 70 20],'String','Playback', ...
    'Call', ...
    ['ud = get(gcf,''UserData'');' ...
     'if exist(''t'')==1,' ...
     '   index = find(abs(round(t/0.1) - t/0.1) < 1e-8);' ...
     '   for i=index''', ...
     '      truckset(t(i),ud,y(i,:));' ...
     %'      pendsets(t(i),ud,y(i,:));' ...
     '   end,' ...
     'else,' ...
     '   disp(''Must run simulation first.''),' ...
     'end']);
   %set(RefMark,'Erase','xor');
   set(Fig,'UserData',[Truck TimeField]);
   %set(Fig,'UserData',[Cart Pend TimeField SlideControl RefMark]);
end

drawnow

% end truck0