pendulum.m

为了下载东西

%PENDULUM A ball balancing simulator that uses fuzzy logic
%
%             PENDULUM 3.0    -    A BALL BALANCING SIMULATOR
%
%
%     Simulates linear and fuzzy control strategies for a ball balancing
%     system.  Version 1.0 written by prof. Jan Jantzen, Danmarks Tekniske
%     Universitet.  Version 2.0, to run under Matlab SE 4.0, written by
%     Petur Snaeland, M.Sc. student, May 1995.
%
%     The program does not clear or alter the Matlab environment.  All its
%     variables are cleared when the user selects the Exit button or menu
%     command.
%
%     Program execution is similar to that of event-driven programs.  Control
%     flow is therefore not continuous, since user-interface objects trigger
%     command execution as they are activated by the user.  However, the same
%     subroutine, doevent(strEvent), is always called when events are fired.
%     There, any response to user interaction is determined.
%
%     Version 1.0, Jan Jantzen, Danmarks Tekniske Universitet
%     Version 2.0, Petur Snaeland, May 1995
%     Version 3.0, Hordur Kvaran, 20.10.97

function pendulum

%  Initialization file for the Pendulum simulator.
%  As pendulum is declared as a function it will have a completely independent
%  workspace.  To access variables at runtime it is necessary to declare them global.
%  Hordur Kvaran, 20.10.97

%  Check if the Pendulum simulator is running.
%  Put focus on the simulator if it is
hPendul = findobj('Type','figure','Name','Ball Balancing Simulator','Tag','wndMain');
if ~isempty(hPendul),
   disp('Pendulum simulator already running');
   figure(hPendul);
   clear hPendul figHandles;
   return;
end;
clear hPendul;

disp('');            % (Just to cut off the help screen)

pendul2;   %  Run the main setup.

%  If you read this file and come across this, I recommend using the following 
%  IF IT WORKS ON YOUR SYSTEM.  This does not work on all systems (I don't know why)
%  This is done because the pendulum needs access to files that are in the pendulum
%  directory, such as the .mat files and the rulebases. (cartbase.txt and ballbase.txt)
%  If you start the pendulum in a directory that does NOT contain those files, 
%  pendulum will crash.
%  Idea: If the pendulum simulator is not in Matlab path it has been invoked from current
%        dir.  Otherwise change into the pendulum directory and continue from there.
%


%pendpath=which('pendulum');  % Which only find .m(at) files in the PATH.  Not current dir
%if (isempty(pendpath) | ~isempty(findstr(pendpath,'not found')))  
%   clear pendpath;
%   pendul2;
%else
%   num=findstr(pendpath,'pendulum.m');    % Find the filename within the path
%   cd(pendpath(1:num-1));                 % Change into the directory (without the filename)
%   clear num pendpath;
%   pendul2;
%end;