autonavigator.m

主要实现一无人自行车的控制自主导航

handles.status_cb=get(hObject,'Value');
guidata(hObject,handles);


% --- Executes on button press in checkbox2.
function checkbox2_Callback(hObject, eventdata, handles)
% hObject    handle to checkbox2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of checkbox2
handles.trt=get(hObject,'Value');
guidata(hObject,handles);

% --- Executes on button press in checkbox3.
function checkbox3_Callback(hObject, eventdata, handles)
% hObject    handle to checkbox3 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of checkbox3
handles.tft=get(hObject,'Value');
guidata(hObject,handles);

% --- Executes on button press in checkbox4.
function checkbox4_Callback(hObject, eventdata, handles)
% hObject    handle to checkbox4 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of checkbox4
handles.tvb=get(hObject,'Value');
guidata(hObject,handles);


% --- Executes on button press in checkbox9.
function checkbox9_Callback(hObject, eventdata, handles)
% hObject    handle to checkbox9 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of checkbox9
if get(hObject,'Value')
    % UIWAIT makes autonavigator wait for user response (see UIRESUME)
    uiwait(handles.figure1);
else
    uiresume(handles.figure1);
end



function edit22_Callback(hObject, eventdata, handles)
% hObject    handle to edit22 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of edit22 as text
%        str2double(get(hObject,'String')) returns contents of edit22 as a double
handles.delta=str2double(get(hObject,'String'));
guidata(hObject,handles);


% --- Executes during object creation, after setting all properties.
function edit22_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit22 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end


% --- Executes on button press in radiobutton1.
function radiobutton1_Callback(hObject, eventdata, handles)
% hObject    handle to radiobutton1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of radiobutton1


% --- Executes on button press in radiobutton2.
function radiobutton2_Callback(hObject, eventdata, handles)
% hObject    handle to radiobutton2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of radiobutton2


% --- Executes on button press in radiobutton3.
function radiobutton3_Callback(hObject, eventdata, handles)
% hObject    handle to radiobutton3 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hint: get(hObject,'Value') returns toggle state of radiobutton3


% --- Executes on selection change in listbox2.
function listbox2_Callback(hObject, eventdata, handles)
% hObject    handle to listbox2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: contents = get(hObject,'String') returns listbox2 contents as cell array
%        contents{get(hObject,'Value')} returns selected item from listbox2




% --- Executes during object creation, after setting all properties.
function listbox2_CreateFcn(hObject, eventdata, handles)
% hObject    handle to listbox2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: listbox controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end


% --- Executes on button press in Initialize.
function Initialize_Callback(hObject, eventdata, handles)
% hObject    handle to Initialize (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% this function is used to control manually the motion of the vehicle uwing mouse buttons    
    x=handles.x;
    y=handles.y;
    angle_v=handles.angle_v;
    angle_t=handles.angle_t;
    v=handles.v;
    status_cb=handles.status_cb;
    tft=handles.tft;
    trt=handles.trt;
    tvb=handles.tvb;
   while(1)
        handles=guidata(hObject);
        left=handles.left;
        right=handles.right;
        vplus=handles.vplus;
        vminus=handles.vminus;
        [lf rf vpf vmf]=hum_cnt(x,y,angle_v,angle_t,v,status_cb,tft,trt,tvb,left,right,vplus,vminus);
        if lf==1
            handles.left=0;
            guidata(hObject,handles);
        end
        if rf==1
            handles.right=0;
            guidata(hObject,handles);
        end
        if vpf==1
            handles.vplus=0;
            guidata(hObject,handles);
        end
        if vmf==1
            handles.vminus=0;
            guidata(hObject,handles);
        end
    end
             
   
% --- Executes on button press in RightSteer.
function RightSteer_Callback(hObject, eventdata, handles)
% hObject    handle to RightSteer (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
    

    handles.right=1;
    handles.left=0;
    handles.vplus=0;
    handles.vminus=0;
    guidata(hObject,handles);

% --- Executes on button press in LeftSteer.
function LeftSteer_Callback(hObject, eventdata, handles)
% hObject    handle to LeftSteer (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
    
    handles.right=0;
    handles.left=1;
    handles.vplus=0;
    handles.vminus=0;
    guidata(hObject,handles);

    %distance=hum_cnt(x,y,angle_v,angle_t,v,status_cb,tft,trt,tvb,left,right,vplus,vminus);
   

% --- Executes on button press in vplus.
function vplus_Callback(hObject, eventdata, handles)
% hObject    handle to vplus (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
  
    handles.right=0;
    handles.left=0;
    handles.vplus=1;
    handles.vminus=0;
    guidata(hObject,handles);

% --- Executes on button press in vminus.
function vminus_Callback(hObject, eventdata, handles)
% hObject    handle to vminus (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
 
    handles.right=0;
    handles.left=0;
    handles.vplus=0;
    handles.vminus=1;
    guidata(hObject,handles);


% --- Executes on button press in StartKeyHum.
function StartKeyHum_Callback(hObject, eventdata, handles)

% hObject    handle to StartKeyHum (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
    x=handles.x;
    y=handles.y;
    angle_v=handles.angle_v;
    angle_t=handles.angle_t;
    v=handles.v;
    status_cb=handles.status_cb;
    tft=handles.tft;
    trt=handles.trt;
    tvb=handles.tvb;

while(1)

    action_code=double(get(gcbf,'Currentcharacter'));

    left=0;
    right=0;
    vplus=0;
    vminus=0;
    
    if action_code==28
            left=1;
            right=0;
            vplus=0;
            vminus=0;
            set(gcbf,'Currentcharacter','c');
    elseif action_code==29
            left=0;
            right=1;
            vplus=0;
            vminus=0;
            set(gcbf,'Currentcharacter','c');
    elseif action_code==30
            left=0;
            right=0;
            vplus=1;
            vminus=0;
            set(gcbf,'Currentcharacter','c');
    elseif action_code==31
            left=0;
            right=0;
            vplus=0;
            vminus=1;
            set(gcbf,'Currentcharacter','c');
    elseif action_code==120
            break;
    end
    
   hum_cnt(x,y,angle_v,angle_t,v,status_cb,tft,trt,tvb,left,right,vplus,vminus);
    
end


% --- Executes on selection change in pathcalc.
function pathcalc_Callback(hObject, eventdata, handles)
% hObject    handle to pathcalc (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: contents = get(hObject,'String') returns pathcalc contents as cell array
%        contents{get(hObject,'Value')} returns selected item from pathcalc


% --- Executes during object creation, after setting all properties.
function pathcalc_CreateFcn(hObject, eventdata, handles)
% hObject    handle to pathcalc (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: listbox controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end