pendul2.m

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%PENDUL2 Second setup file for the inverted pendulum simulator
%
%
%             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.
%
%     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.
%
%     Revised Hordur Kvaran, 20.10.97
%
%##############################################################################

global ConType Ts Ttot Y dY Phi dPhi G1 G2 G3 G4 GU1 GU2 SOCLR SOCTC SOCDP BallRules CartRules;

pendmenu;      %Load the menu

%
%  Assign initial values to simulation parameters.
%
Ts = 0.1;   Ttot = 5 ;                 % Time step size and total simulation period.
Y = 0 ;     dY = 0;                    % Cart position/velocity at t=0.
Phi = -12.0; dPhi = 0;                 % Ball angle/angular velocity at t=0.
% G1 = 65;    G2 = 65;    GU1 = 0.37;    % Cart controller input/output gains.
% G3 = 332;   G4 = 86;   GU2 = 0.5;      % Ball controller input/output gains.
G1 = 24;    G2 = 24;    GU1 = 1;       % Cart controller input/output gains.
G3 = 166;   G4 = 43;   GU2 = 1;        % Ball controller input/output gains.
SOCLR = 10; SOCTC = 0.5; SOCDP = 0.1;  % SOC cart controller parameters.
BallRules = ones(1,9);                 % Uses all ball-rules as default
CartRules = ones(1,9);                 % Uses all cart-rules as default
ltGray = [0.75 0.75 0.75];             % RGB description of light gray.
dkGray = [0.5 0.5 0.5];                % RGB description of dark gray.


%##############################################################################
%
%  INITIALIZE OBJECTS IN ANIMATION AREA
%
hCart        = patch([-0.1 -0.1 0.1 0.1],[0 0.1 0.1 0],[0 0 0.7]);
hBall        = patch([-0.1 -0.1 0.1 0.1],[0 0.1 0.1 0],ltGray);
set(hCart,'Tag','objCart');
set(hBall,'Tag','objBall');
frame('',[60 110 240 15],ltGray);      % Left side of track
frame('',[300 110 240 15],ltGray);     % Right side of track
frame('',[50 110 10 30],ltGray);       % Left hand stopper
frame('',[540 110 10 30],ltGray);      % Right hand stopper

draw(Y,Phi/180*pi);




%##############################################################################
%
%  INITIALIZE MAIN SCREEN INFORMATION PANELS AND COMMAND BUTTONS
%
frame('',[0 0 600 110],ltGray);

%
%  Select the linear controller to begin with and check menus accordingly (see setctrlr.m).
%
ConType = 'Linear Summation';
hConType = label([ ConType ' Controller'],[200 80 200 20],ltGray);
set(hConType,'HorizontalAlignment','center','Tag','txtConType');
ConType=setctrlr('SimConLin',hConType);
%
%  Display initial values within a frame:
%
frame('',[5 5 115 100],ltGray);
   label('Initial Conditions:', [10 80 109 18],ltGray);
   uicontrol('Style','text','Position',[10 55 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' Y:       ' num2str(Y)     ' [m]'],...
             'ButtonDownFcn','doevent(''SimIniPos'');','Tag','txtSimIniPos');
   uicontrol('Style','text','Position',[10 40 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' dY:      ' num2str(dY)    ' [m/s]'],...
             'ButtonDownFcn','doevent(''SimIniVel'');','Tag','txtSimIniVel');
   uicontrol('Style','text','Position',[10 25 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' Phi:     ' num2str(Phi)   ' [deg]'],...
             'ButtonDownFcn','doevent(''SimIniAng'');','Tag','txtSimIniAng');
   uicontrol('Style','text','Position',[10 10 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' dPhi:   ' num2str(dPhi) ' [deg/s]'],...
             'ButtonDownFcn','doevent(''SimIniAVe'');','Tag','txtSimIniAVe');
   
%
%  Display cart gains within a frame:
%
frame('',[125 5 115 70],ltGray);
   label('Cart Gains:',             [130 55 109 18],ltGray);
   uicontrol('Style','text','Position',[130 40 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' Position:   ' num2str(G1) ],...
             'ButtonDownFcn','doevent(''CartGainPos'');','Tag','txtCartPos');
   uicontrol('Style','text','Position',[130 25 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' Velocity:   ' num2str(G2) ],...
             'ButtonDownFcn','doevent(''CartGainVel'');','Tag','txtCartVel');
   uicontrol('Style','text','Position',[130 10 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' Output:     ' num2str(GU1)],...
             'ButtonDownFcn','doevent(''CartGainOut'');','Tag','txtCartOut');
%
%  Display ball gains within a frame:
%
frame('',[245 5 115 70],ltGray);
   label('Ball Gains:',             [250 55 109 18],ltGray);
   uicontrol('Style','text','Position',[250 40 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' Angle:      ' num2str(G3) ],...
             'ButtonDownFcn','doevent(''BallGainAng'');','Tag','txtBallPos');
   uicontrol('Style','text','Position',[250 25 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' Velocity:   ' num2str(G4) ],...
             'ButtonDownFcn','doevent(''BallGainVel'');','Tag','txtBallVel');
   uicontrol('Style','text','Position',[250 10 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' Output:     ' num2str(GU2)],...
             'ButtonDownFcn','doevent(''BallGainOut'');','Tag','txtBallOut');
%
%  Display current time, step size and total simulation time within a frame:
%
frame('',[365 5 115 70],ltGray);
   label('Simulation:',                 [370 55 109 18],ltGray);
   uicontrol('Style','text','Position',[370 40 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',' Time:      0.00 [s]','Tag','txtTime');
   uicontrol('Style','text','Position',[370 25 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' Tstep:     ' num2str(Ts) ' [s]'],...
             'ButtonDownFcn','doevent(''SimInt'');','Tag','txtStep');
   uicontrol('Style','text','Position',[370 10 109 15],'HorizontalAlignment','left',...
             'BackgroundColor',ltGray,'String',[' Tmax:      ' num2str(Ttot) ' [s]'],...
             'ButtonDownFcn','doevent(''SimPer'');','Tag','txtTtot');

%
%  Display buttons to start and replay a simulation, and to exit.
%
frame('',[485 5 110 100],ltGray);
   uicontrol('Style','pushbutton','Units','pixels','Enable','on', ...
             'Position',[490 75 100 25],'String','Start','Callback',...
             'doevent(''SimStart'');','Tag','btnSimStart');
   uicontrol('Style','pushbutton','Units','pixels','Enable','on', ...
             'Position',[490 45 100 25],'String','Replay','Callback',...
             'doevent(''SimReplay'');','Tag','btnSimReplay','Enable','off');
   uicontrol('Style','pushbutton','Units','pixels','Enable','on', ...
             'Position',[490 10 100 25],'String','Exit','Callback',...
             'doevent(''MainExit'');','Tag','btnMainExit');
   uicontrol('Style','checkbox','Units','pixels','Background','w',...
             'Position',[510 230 100 25],'String','Animation', ...
             'Enable','on','Value',1,'Callback', '','Tag','chkAnimation');

%##############################################################################
%
%  CLEAR UNNECESSARY LOCAL VARIABLES
%
clear dkGray ltGray;