simuladorcs.m

是一个在matlab下的机器人运动仿真的软件

printdlg('-setup',handles.figure1);
%printdlg(handles.figure1);%Imprimir Dados
%printdlg('-crossplatform',handles.figure1);



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


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


%openfig('Acerca.fig','new');% Abre novo figure file
Acerca;


function editPX_Callback(hObject, eventdata, handles)
% hObject    handle to editPX (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 editPX as text
%        str2double(get(hObject,'String')) returns contents of editPX as a double


% --- Executes during object creation, after setting all properties.
function editPX_CreateFcn(hObject, eventdata, handles)
% hObject    handle to editPX (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 fundoaxes on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function editPY_Callback(hObject, eventdata, handles)
% hObject    handle to editPY (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 editPY as text
%        str2double(get(hObject,'String')) returns contents of editPY as a double


% --- Executes during object creation, after setting all properties.
function editPY_CreateFcn(hObject, eventdata, handles)
% hObject    handle to editPY (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 fundoaxes on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function editPZ_Callback(hObject, eventdata, handles)
% hObject    handle to editPZ (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 editPZ as text
%        str2double(get(hObject,'String')) returns contents of editPZ as a double
pz = str2num(get(handles.editPZ,'String'));
if(pz<0 || pz>180)
   errordlg('Dist鈔cia Invalida:Digite um valor entre 0 e 180 ','Erro','on')
   set(handles.editPZ,'String',' '); %limpar a caixa
end

% --- Executes during object creation, after setting all properties.
function editPZ_CreateFcn(hObject, eventdata, handles)
% hObject    handle to editPZ (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 fundoaxes on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function edit15_Callback(hObject, eventdata, handles)
% hObject    handle to edit15 (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 edit15 as text
%        str2double(get(hObject,'String')) returns contents of edit15 as a double


% --- Executes during object creation, after setting all properties.
function edit15_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit15 (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 fundoaxes on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function edit16_Callback(hObject, eventdata, handles)
% hObject    handle to edit16 (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 edit16 as text
%        str2double(get(hObject,'String')) returns contents of edit16 as a double


% --- Executes during object creation, after setting all properties.
function edit16_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit16 (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 fundoaxes on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function edit17_Callback(hObject, eventdata, handles)
% hObject    handle to edit17 (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 edit17 as text
%        str2double(get(hObject,'String')) returns contents of edit17 as a double


% --- Executes during object creation, after setting all properties.
function edit17_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit17 (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 fundoaxes on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end




% --- Executes on button press in tbrodar.
function tbrodar_Callback(hObject, eventdata, handles)
% hObject    handle to tbrodar (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 tbrodar



rodar = get(hObject,'Value');
axes(handles.axes1);
if rodar==1 
    rotate3d on;
    [a,map,b]=imread('_Rodar_On.JPG');
    set(handles.tbrodar,'CData',a);

else
    rotate3d off;
    [a,map,b]=imread('_Rodar_Off.JPG');
    set(handles.tbrodar,'CData',a);
end
axes(handles.axes1);


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

global flag_joy
flag_joy=0;

reset(handles.axes1);
axis on
axis([-100 100 -100 100 -100 100]);
Iniciar_variaveis;    %%%%%%%%inicia variaveis

Inicia_Matriz_Objecto; %%%%%%%%%%%%Iniciar todas as matirzes referentes as faces dos objectos
set(handles.editteta1,'String','0','Enable','off');
set(handles.editteta4,'String','90','Enable','off');
set(handles.editteta5,'String','0','Enable','off');
set(handles.editteta6,'String','0','Enable','off');
set(handles.editd2,'String','90','Enable','off');
set(handles.editd3,'String','125','Enable','off');

set(handles.editPX,'Enable','off','String','110');
set(handles.editPY,'Enable','off','String','-150');
set(handles.editPZ,'Enable','off','String','90');
set(handles.edittetaf,'Enable','off','String','90');
set(handles.edittetap,'Enable','off','String','0');

set(handles.textd2,'String',get(handles.editd2,'String'));
set(handles.textd3,'String',get(handles.editd3,'String'));
set(handles.textteta1,'String',get(handles.editteta1,'String'));
set(handles.textteta4,'String',get(handles.editteta4,'String'));
set(handles.textteta5,'String',get(handles.editteta5,'String'));
set(handles.textteta6,'String',get(handles.editteta6,'String'));

set(handles.textpx,'String','110');
set(handles.textpy,'String','-150');
set(handles.textpz,'String','90');
set(handles.texttetaf,'String','90');
set(handles.texttetap,'String','0');

[a,map,b]=imread('_Rodar_Off.JPG');
set(handles.tbrodar,'CData',a);
[a,map,b]=imread('_Reset_.JPG');
set(handles.pbrestaurar,'CData',a);
[a,map,b]=imread('_Zoom_Off.JPG');
set(handles.tbzoom,'CData',a);
[a,map,b]=imread('_Cursor_Off.JPG');
set(handles.tbDataCursor,'CData',a);


set(handles.rbjoyistick,'Value',1);

Desenha_robo(hObject, eventdata,handles); %Matlab 7.3
%SimuladorCs('Desenha_robo',hObject, eventdata,handles); %Matlab 7.1


% --- Executes on button press in tbzoom.
function tbzoom_Callback(hObject, eventdata, handles)
% hObject    handle to tbzoom (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 tbzoom
zoomx = get(hObject,'Value');
axes(handles.axes1);
if zoomx==1 
    zoom on;
    [a,map,b]=imread('_Zoom_On.JPG');
    set(handles.tbzoom,'CData',a);

else
    zoom off;
    [a,map,b]=imread('_Zoom_Off.JPG');
    set(handles.tbzoom,'CData',a);
end
axes(handles.axes1);



% --- Executes on button press in tbDataCursor.
function tbDataCursor_Callback(hObject, eventdata, handles)
% hObject    handle to tbDataCursor (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 tbDataCursor
datacursorx = get(hObject,'Value');
axes(handles.axes1);
if datacursorx==1 
    datacursormode on;
    [a,map,b]=imread('_Cursor_On.JPG');
    set(handles.tbDataCursor,'CData',a);
else
    datacursormode off;
    [a,map,b]=imread('_Cursor_Off.JPG');
    set(handles.tbDataCursor,'CData',a);
end
axes(handles.axes1);






function edittetaf_Callback(hObject, eventdata, handles)
% hObject    handle to edittetaf (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 edittetaf as text
%        str2double(get(hObject,'String')) returns contents of edittetaf as a double

Tetaf = str2num(get(handles.edittetaf,'String'));
if(Tetaf<-360 || Tetaf>360)
   errordlg('耼gulo Invalido:Digite um valor entre -360?e 360?','Erro','on')
   set(handles.edittetaf,'String',' '); %limpar a caixa
end

% --- Executes during object creation, after setting all properties.
function edittetaf_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edittetaf (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 && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function edittetap_Callback(hObject, eventdata, handles)
% hObject    handle to edittetap (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 edittetap as text
%        str2double(get(hObject,'String')) returns contents of edittetap as a double
Tetap = str2num(get(handles.edittetap,'String'));
if(Tetap<-90 || Tetap>90)