cnf_update_panel.m

hard disk drive servo control tools, it is very helpful

ty=(Y+Vgap/2-pos(2))/pos(4);
tx=0.01/pos(3);
axes(handles.axes_Panel);
ud.Handles2.EquationHandle =text(tx,ty,...
    '\fontsize{12}\bf\it \rho\fontsize{11}\rm\bf (\ite\rm\bf) = -\it\beta \rm\bf| exp(-\it\alpha |e|\rm\bf) - exp(-\it\alpha \rm\bf|\fontsize{10}h(0)\fontsize{11}-r|) |', 'Color','b');
%     set(ud.Handles2.EquationHandle, 'Visible','off');
 
    % parameter Alpha in rho function
    Y=Y-Vgap;
    text_Pos(2)=Y;
    
    ud.Handles2.text_Alpha = uicontrol('Parent',FigHandle, ...
        'Unit',Params.StdUnit,...
        'BackgroundColor',Params.StdColor, ...
        'Position',text_Pos, ...
        'String','alpha  ', ...
        'Style','text',...
        'HorizontalAlignment','right');
    
    slider_Pos(2)=Y;
    ud.Handles2.slider_Alpha = uicontrol('Parent',FigHandle, ...
        'Unit',Params.StdUnit,...
        'BackgroundColor',[1 1 1], ...
        'Position',slider_Pos, ...
        'Style','slider', ...
        'Callback',{@callback_slider_edit}, ...
        'HorizontalAlignment','left');
    
    edit_Pos(2)=Y;
    ud.Handles2.edit_Alpha = uicontrol('Parent',FigHandle, ...
        'Unit',Params.StdUnit,...
        'BackgroundColor',[1 1 1], ...
        'Position',edit_Pos, ...
        'Style','edit', ...
        'Callback',{@callback_slider_edit}, ...
        'HorizontalAlignment','center');
    
    set(ud.Handles2.slider_Alpha,'UserData',ud.Handles2.edit_Alpha);
    set(ud.Handles2.edit_Alpha,'UserData',ud.Handles2.slider_Alpha);
    
    
    % parameter Beta in rho function
    Y=Y-Vgap;
    text_Pos(2)=Y;
    ud.Handles2.text_Beta = uicontrol('Parent',FigHandle, ...
        'Unit',Params.StdUnit,...
        'BackgroundColor',Params.StdColor, ...
        'Position',text_Pos, ...
        'String','beta  ', ...
        'Style','text',...
        'HorizontalAlignment','right');
    slider_Pos(2)=Y;
    ud.Handles2.slider_Beta = uicontrol('Parent',FigHandle, ...
        'Unit',Params.StdUnit,...
        'BackgroundColor',[1 1 1], ...
        'Position',slider_Pos, ...
        'Style','slider', ...
        'Callback',{@callback_slider_edit}, ...
        'HorizontalAlignment','left');
    
    edit_Pos(2)=Y;
    ud.Handles2.edit_Beta = uicontrol('Parent',FigHandle, ...
        'Unit',Params.StdUnit,...
        'BackgroundColor',[1 1 1], ...
        'Position',edit_Pos, ...
        'Style','edit', ...
        'Callback',{@callback_slider_edit}, ...
        'HorizontalAlignment','center');
    
    set(ud.Handles2.slider_Beta,'UserData',ud.Handles2.edit_Beta);
    set(ud.Handles2.edit_Beta,'UserData',ud.Handles2.slider_Beta);
    
    % set the values
    Beta = cnfdb.Controller.CNF_Beta;
    set(ud.Handles2.slider_Beta,'Max', max(2*Beta,1) );
    set(ud.Handles2.slider_Beta,'Value',Beta);
    set(ud.Handles2.edit_Beta,'String', num2str(Beta,'%0.6g') );
    
    Alpha = cnfdb.Controller.CNF_Alpha;
    set(ud.Handles2.slider_Alpha,'Max', max(2*Alpha,1) );
    set(ud.Handles2.slider_Alpha,'Value',Alpha);
    set(ud.Handles2.edit_Alpha,'String', num2str(Alpha,'%0.6g') );
    
    
    % setup the CNF Weighting Matrix
    
    text_Pos(2)=Y-Vgap*2;
    text_Pos(4)=2*text_Pos(4);
    ud.Handles2.WM_text=uicontrol('Parent',FigHandle, ...
        'Unit',Params.StdUnit,...
        'BackgroundColor',Params.StdColor, ...
        'ForegroundColor','b',...
        'FontWeight','bold',...
        'FontSize',10,...
        'Position',text_Pos, ...
        'String','Matrix W (Diagonal)', ...
        'Style','text', ...
        'HorizontalAlignment','left');
    
    % for each diagonal element of W
    ud.WM_size=0;
    while ud.WM_size<ord & Y>Vgap,    
        ud.WM_size=ud.WM_size+1;
        Y=Y-Vgap;
        slider_Pos(2)=Y;
        
        ud.WM_slider(ud.WM_size)=uicontrol('Parent',FigHandle, ...
            'Unit','normalized ',...
            'BackgroundColor',[1 1 1], ...
            'Position',slider_Pos, ...
            'Style','slider', ...
            'Callback',{@callback_slider_edit}, ...
            'HorizontalAlignment','left');
        edit_Pos(2)=Y;
        edit1= uicontrol('Parent',FigHandle, ...
            'Unit','normalized ',...
            'BackgroundColor',[1 1 1], ...
            'Position',edit_Pos, ...
            'Style','edit', ...
            'Callback',{@callback_slider_edit}, ...
            'HorizontalAlignment','center');
        
        set(ud.WM_slider(ud.WM_size), 'UserData',edit1);
        set(edit1,'UserData',ud.WM_slider(ud.WM_size) );
        
    end
    
    WM_S=ud.WM_size;
    W=cnfdb.Controller.CNF_W;    % note that W now is a vector of those diagonal elements
    nw = length(W);
    if IC>0 & nw<WM_S  % now the term for integration is the 1st 
        W=[0 W];
        nw=nw+1;
    end   
    for nn=1:min([nw,WM_S]),
        if W(nn)>0
            MaxW=2*W(nn);
        else
            MaxW=1;
        end   
        set(ud.WM_slider(nn), 'Max', MaxW );
        set(ud.WM_slider(nn), 'Value', W(nn) );
        edit1=get(ud.WM_slider(nn), 'UserData');
        set(edit1, 'String', num2str(W(nn),'%0.6g') );
    end    
    
    
end


% re-locate the button
% Pos = get(handles.Button_Start, 'Position');
% Pos(2) =(Y- Pos(4))*0.7;
% set(handles.Button_Start, 'Position', Pos);

% refresh the simulation parameters on the panel
set(handles.edit_SetPoint,'String', num2str(cnfdb.SetPoint,'%0.6g') );
set(handles.edit_StopTime,'String', num2str(cnfdb.StopTime,'%0.6g') );
set(handles.edit_StepSize,'String', num2str(cnfdb.StepSize,'%0.6g') );

set(handles.edit_ErrorBound,'String', num2str(cnfdb.ErrorBound) );
set(handles.check_Percent,'Value', cnfdb.ErrorInPercent );


% Create the lines that will plot the result (r,y,u,x,q) from the simulation

% the lines for (r,h,u,x,q)
[nh,nu] = size(cnfdb.System.D2);
nx = size(cnfdb.System.A);
nq = 0;
if cnfdb.System.QD_in>0
    nq=length(cnfdb.System.Q0);
end    

nh0 = length(ud.Display.hLineHandles);
nu0 = length(ud.Display.uLineHandles);
nx0 = length(ud.Display.xLineHandles);

ref_val  = [0];
out_val  = [0];
con_val  = [0];
time_val = [0];
x_val = [0];

StyleSet = {'-'; '--'; '-.'; ':'};
ColorSet = 'mbrcykg';

% line (r,h)
if nh > nh0
    for i=nh0+1:nh,
        lc=ColorSet(mod(i-1,7)+1);
        
        ud.Display.rLineHandles(i) = line(...
            'Parent',ud.Display.GraphHandles(1),...
            'YData',ref_val,...
            'XData',time_val,...
            'LineStyle','--',...
            'LineWidth',ud.Display.LineWidth,...
            'Color',ud.Display.LineColorR,...
            'EraseMode','normal');
        
        ud.Display.hLineHandles(i) = line(...
            'Parent',ud.Display.GraphHandles(1),...
            'YData',out_val,...
            'XData',time_val,...
            'LineStyle',ud.Display.LineStyle,...
            'LineWidth',ud.Display.LineWidth,...
            'Color',lc,...
            'EraseMode','normal');    
    end
elseif nh < nh0
    for i=nh0:nh+1,
        delete(ud.Display.rLineHandles(i) );
        delete(ud.Display.hLineHandles(i) );
    end
    ud.Display.rLineHandles = ud.Display.rLineHandles(1:nh) ;
    ud.Display.hLineHandles = ud.Display.hLineHandles(1:nh) ;
end

% first clear the legend, then re-plot
legend(ud.Display.GraphHandles(1),'off');
str='{';
if  nh>1
    for i=1:nh,
            str = [str, '''', ['h',num2str(i)],''','];
    end    
    str(end)='}';
    tt = eval(str);
    legend(ud.Display.hLineHandles, tt, 4);
elseif nh==1
    legend(ud.Display.GraphHandles(1),'r','h',4);
end    


% u line
if nu > nu0
    for i=nu0+1:nu,
        lc=ColorSet(mod(i-1,7)+3);
        ud.Display.uLineHandles(i) = line(...
            'Parent',ud.Display.GraphHandles(2),...
            'YData',[0],...
            'XData',[0],...
            'LineStyle', '-',...
            'LineWidth', ud.Display.LineWidth,...
            'Color', lc,...
            'EraseMode','normal');    
    end
elseif nu < nu0
    for i=nu0:nu+1,
        delete(ud.Display.uLineHandles(i) );
    end
    ud.Display.uLineHandles = ud.Display.uLineHandles(1:nu) ;

end

% first clear the legend, then re-plot
legend(ud.Display.GraphHandles(2),'off');
str='{';
if  nu>1
    for i=1:nu,
            str = [str, '''', ['u',num2str(i)],''','];
    end    
    str(end)='}';
    tt = eval(str);
    legend(ud.Display.GraphHandles(2), tt, 4);
end    

% (x,q) lines 
if nx+nq > nx0
    for i=nx0+1:nx+nq,
        lc=ColorSet(mod(i-1,7)+1);
%         if i>7
%             ls=char(StyleSet(mod(i-1,4)+1));
%         else 
%             ls='-';
%         end
        ii=floor((i-1)/7);
        ls=char(StyleSet(mod(ii,4)+1));
              
        ud.Display.xLineHandles(i) = line(...
            'Parent',ud.Display.GraphHandles(3),...
            'YData',[0],...
            'XData',[0],...
            'LineWidth', ud.Display.LineWidth,...
            'LineStyle', ls,...  % '-'
            'Color', lc,...
            'EraseMode','normal');    
    end
elseif nx+nq < nx0
    for i=nx+nq+1:nx0,
        delete(ud.Display.xLineHandles(i) );
    end
    ud.Display.xLineHandles = ud.Display.xLineHandles(1:nx+nq) ;
end

% first clear the legend, then re-plot
legend(ud.Display.GraphHandles(3),'off');
% str='{';
% if  nu>1
%     for i=1:nu,
%             str = [str, '''', ['u',num2str(i)],''','];
%     end    
%     str(end)='}';
%     tt = eval(str);
%     legend(ud.Display.GraphHandles(2), tt, 4);
% end    

legstr='''x1''';
for i=2:nx
    legstr=[legstr,',''x',num2str(i),'''' ];
end
for i=1:nq
    legstr=[legstr,',''q',num2str(i),'''' ];
end
if nx+nq>0
   eval( ['legend(ud.Display.GraphHandles(3),',legstr,')'] );    
end 

% save the new handles to AxeHandle
set(AxeHandle,'UserData', ud);


% ------------------------------------------------------------------------
function callback_slider_edit(hObject, eventdata, handles)
% hObject    handle to edit_Beta (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

hObject=gcbo;
the_other=get(hObject,'UserData');

switch get(hObject,'Style')
case 'edit'

    err_msg = 'The value you just entered is not valid !';
    tag=get(hObject,'Tag');
    in_str=deblank(get(hObject,'String'));
    if isempty(in_str)
        error=1;
    else
        val=evalin('base', in_str ,'[]');
        if isnumeric(val) & length(val)==1 
            error=0;
        else
            error=1;
        end
    end

    if error==0
        
        if strcmp(tag,'negative')    % for negative value
            
            if  val <= get(the_other, 'Max') 
                if  val >= get(the_other, 'Min')
                    set(the_other, 'Value', val);
                else
                    set(the_other, 'Min', 2*val);
                    set(the_other, 'Value', val);
                end
            else 
                error=1;
            end  
            
        elseif  strcmp(tag,'any')
            
            if  val >= get(the_other, 'Min') &  val <= get(the_other, 'Max')
                    set(the_other, 'Value', val);
            else
                    lb=get(the_other, 'Min');
                    ub=get(the_other, 'Max');
                    set(the_other, 'Min', val-abs(val-(lb+ub)/2), 'Max', val+abs(val-(lb+ub)/2) );
                    set(the_other, 'Value', val);
            end
            
        else  % positive is assumed   
            
            if  val >= get(the_other, 'Min') 
                if  val <= get(the_other, 'Max')
                    set(the_other, 'Value', val);
                else
                    set(the_other, 'Max', 2*val);
                    set(the_other, 'Value', val);
                end
            else 
                error=1;
            end  
            
        end
    end 
    
    if error==1
        warndlg(err_msg,'Warning','modal');
        uiwait;
        val = get(the_other, 'Value');
        set(hObject, 'String',  num2str(val,'%0.6g'));
    end
case 'slider'
   val = get(hObject, 'Value');
   set(the_other, 'String',  num2str(val,'%0.6g'));
end