rrrproject3.asv

6自由度机器人仿真程序

% This Project is to simulate the 3RRR robot
% Created by Gan Tao          [e-mail]
% Graduate Student of SUNY Buffalo
% Date: Jan.2004
% rrrproject3.m is the main programme.
% Contain the subfunctions : angledisply.m 
%                            varmakeup.m 
%                            emptycheck.m
%                            RRRdrawing.m
%                            clickInverse.m
%                            pathtrack.m
%                            startpathtrack.m
%                            stoppathtrack.m
%                            nothingfcn.m
%                            RRRproject3.fig


function varargout = RRRproject3(varargin)

global fig
global CC k
global InVS
% global Rec_Movie

% global Rec_Movie
% RRRPROJECT3 Application M-file for RRRproject3.fig
%    FIG = RRRPROJECT3 launch RRRproject3 GUI.
%    RRRPROJECT3('callback_name', ...) invoke the named callback.

% Last Modified by GUIDE v2.5 13-Feb-2004 13:15:30

% global frameAD
CC = 0;
k  = 1;
InVS= 0;
% Rec_Movie = 0;



if nargin == 0  % LAUNCH GUI
     
%     fig = figure(1)
	fig = openfig(mfilename,'reuse');
    set(fig,'WindowButtonDownFcn',@startpathtrack);
%     set(fig,'WindowButtonMotionFcn',@pathtrack);
    set(fig,'WindowButtonUpFcn',@stoppathtrack);
	% Generate a structure of handles to pass to callbacks, and store it. 
	handles = guihandles(fig);
    handles.number_errors = 0;
	guidata(fig, handles);

	if nargout > 0
		varargout{1} = fig;
	end

elseif ischar(varargin{1}) % INVOKE NAMED SUBFUNCTION OR CALLBACK

	try
		if (nargout)
			[varargout{1:nargout}] = feval(varargin{:}); % FEVAL switchyard
		else
			feval(varargin{:}); % FEVAL switchyard
		end
	catch
		disp(lasterr);
	end

end
% frameAD =uicontrol(fig,'Style','frame','Units','characters', ...
%    	'Position',[9.8 0.9 91.8 7.54],'visible','off');
% frameAD =uicontrol(fig,'Style','frame','Units','characters', ...
%                    'visible','off');

%| ABOUT CALLBACKS:
%| GUIDE automatically appends subfunction prototypes to this file, and 
%| sets objects' callback properties to call them through the FEVAL 
%| switchyard above. This comment describes that mechanism.
%|
%| Each callback subfunction declaration has the following form:
%| <SUBFUNCTION_NAME>(H, EVENTDATA, HANDLES, VARARGIN)
%|
%| The subfunction name is composed using the object's Tag and the 
%| callback type separated by '_', e.g. 'slider2_Callback',
%| 'figure1_CloseRequestFcn', 'axis1_ButtondownFcn'.
%|
%| h is the callback object's handle (obtained using GCBO).
%|
%| EVENTDATA is empty, but reserved for future use.
%|
%| HANDLES is a structure containing handles of components in GUI using
%| tags as fieldnames, e.g. handles.figure1, handles.slider2. This
%| structure is created at GUI startup using GUIHANDLES and stored in
%| the figure's application data using GUIDATA. A copy of the structure
%| is passed to each callback.  You can store additional information in
%| this structure at GUI startup, and you can change the structure
%| during callbacks.  Call guidata(h, handles) after changing your
%| copy to replace the stored original so that subsequent callbacks see
%| the updates. Type "help guihandles" and "help guidata" for more
%| information.
%|
%| VARARGIN contains any extra arguments you have passed to the
%| callback. Specify the extra arguments by editing the callback
%| property in the inspector. By default, GUIDE sets the property to:
%| <MFILENAME>('<SUBFUNCTION_NAME>', gcbo, [], guidata(gcbo))
%| Add any extra arguments after the last argument, before the final
%| closing parenthesis.



% --------------------------------------------------------------------
function varargout = sliderbase1x_Callback(h, eventdata, handles, varargin)

global  Xp Yp
global S1 S2 S3
global Ypb Ypc Xpb Xpc 
global Xg Yg fai
global H a1 b1

set(handles.editbase1x,'String',num2str(get(handles.sliderbase1x,'Value')));
Xp = get(handles.sliderbase1x,'Value');


if emptycheck
    varmakeup;
    RRRdrawing(S1,S2,S3)
else
    RRRdrawing(S1,S2,S3)
end

% --------------------------------------------------------------------
function varargout = sliderbase1y_Callback(h, eventdata, handles, varargin)

global  Xp Yp k12                                                        % coordinates of each point of the limb1
global  S1 S2 S3
global  AD

set(handles.editbase1y,'String',num2str(get(handles.sliderbase1y,'Value')));
Yp = get(handles.sliderbase1y,'Value');


if emptycheck
    varmakeup;
    RRRdrawing(S1,S2,S3)
else
    RRRdrawing(S1,S2,S3)
end



% --------------------------------------------------------------------
function varargout = sliderbase2x_Callback(h, eventdata, handles, varargin)
global  Xpb Ypb k21
global  S1 S2 S3
set(handles.editbase2x,'String',num2str(get(handles.sliderbase2x,'Value')));
Xpb = get(handles.sliderbase2x,'Value');

if emptycheck
    varmakeup;
    RRRdrawing(S1,S2,S3)
else
    RRRdrawing(S1,S2,S3)
end


% --------------------------------------------------------------------
function varargout = slider4_Callback(h, eventdata, handles, varargin)
global  Xpb Ypb k22
global  S1 S2 S3
set(handles.editbase2y,'String',num2str(get(handles.sliderbase2y,'Value')));
Ypb = get(handles.sliderbase2y,'Value');

if emptycheck
    varmakeup;
    RRRdrawing(S1,S2,S3)
else
    RRRdrawing(S1,S2,S3)
end
k22 =1;
% --------------------------------------------------------------------
function varargout = slider5_Callback(h, eventdata, handles, varargin)
global  Xpc Ypc k31
global  S1 S2 S3
set(handles.editbase3x,'String',num2str(get(handles.sliderbase3x,'Value')));
Xpc = get(handles.sliderbase3x,'Value');

if emptycheck
    varmakeup;
    RRRdrawing(S1,S2,S3)
else
    RRRdrawing(S1,S2,S3)
end
k31 = 1;
% --------------------------------------------------------------------
function varargout = slider6_Callback(h, eventdata, handles, varargin)
global  Xpc Ypc k32
global  S1 S2 S3
set(handles.editbase3y,'String',num2str(get(handles.sliderbase3y,'Value')));
Ypc = get(handles.sliderbase3y,'Value');

if emptycheck
    varmakeup;
    RRRdrawing(S1,S2,S3)
else
    RRRdrawing(S1,S2,S3)
end

k32 = 1;

% --------------------------------------------------------------------
function varargout = editbase1x_Callback(h, eventdata, handles, varargin)
global  Xp Yp Xa Ya Xd Yd k11                                             % coordinates of each point of the limb1
global  S1 S2 S3
k11 = 1;
val = str2double(get(handles.editbase1x,'String'));

if isnumeric(val) & length(val)==1 & val >= get(handles.sliderbase1x,'Min') & val <= get(handles.sliderbase1x,'Max')
    
    set(handles.sliderbase1x,'Value',val);
    Xp = val;
    
    if emptycheck
    varmakeup;
    RRRdrawing(S1,S2,S3)
    else
      RRRdrawing(S1,S2,S3)
    end

else
    Warnd = text(-10,10,'\fontsize{16} The input is out of range. Try again!','color','r');
    set(Warnd,'visible','on') 

end



% --------------------------------------------------------------------
function varargout = editbase1y_Callback(h, eventdata, handles, varargin)
global  Xp Yp Xa Ya Xd Yd k12                                             % coordinates of each point of the limb1
global  S1 S2 S3
k12 = 1;
val = str2double(get(handles.editbase1y,'String'));

if isnumeric(val) & length(val)==1 & val >= get(handles.sliderbase1y,'Min') & val <= get(handles.sliderbase1y,'Max')
    
    set(handles.sliderbase1y,'Value',val);
    Yp = val;
    if emptycheck
    varmakeup;
    RRRdrawing(S1,S2,S3)
      else
      RRRdrawing(S1,S2,S3)
     end
else
    
    Warnd = text(-10,10,'\fontsize{16} The input is out of range. Try again!','color','r');
    set(Warnd,'visible','on') 
   
end


% --------------------------------------------------------------------
function varargout = edit3_Callback(h, eventdata, handles, varargin)

global  Xpb Ypb k21
global  S1 S2 S3
k21 = 1;

val = str2double(get(handles.editbase2x,'String'));

if isnumeric(val) & length(val)==1 & val >= get(handles.sliderbase2x,'Min') & val <= get(handles.sliderbase2x,'Max')
    
    set(handles.sliderbase2x,'Value',val);
    Xpb = val;
    if emptycheck
    varmakeup;
    RRRdrawing(S1,S2,S3)
     else
      RRRdrawing(S1,S2,S3)
     end
else
    
    Warnd = text(-10,10,'\fontsize{16} The input is out of range. Try again!','color','r');
    set(Warnd,'visible','on') 
   
end


% --------------------------------------------------------------------
function varargout = edit4_Callback(h, eventdata, handles, varargin)

global  Xpb Ypb k22
global  S1 S2 S3
k22 = 1;

val = str2double(get(handles.editbase2y,'String'));

if isnumeric(val) & length(val)==1 & val >= get(handles.sliderbase2y,'Min') & val <= get(handles.sliderbase2y,'Max')
    
    set(handles.sliderbase2y,'Value',val);
    Ypb = val;
    if emptycheck
    varmakeup;
    RRRdrawing(S1,S2,S3)
      else
      RRRdrawing(S1,S2,S3)
    end
else
    
    Warnd = text(-10,10,'\fontsize{16} The input is out of range. Try again!','color','r');
    set(Warnd,'visible','on') 
   
end


% --------------------------------------------------------------------
function varargout = edit5_Callback(h, eventdata, handles, varargin)

global  Xpc Ypc k31
global  S1 S2 S3
k31 = 1;

val = str2double(get(handles.editbase3x,'String'));

if isnumeric(val) & length(val)==1 & val >= get(handles.sliderbase3x,'Min') & val <= get(handles.sliderbase3x,'Max')
    
    set(handles.sliderbase3x,'Value',val);
    Xpc = val;
    if emptycheck
    varmakeup;
    RRRdrawing(S1,S2,S3)
       else
       RRRdrawing(S1,S2,S3)
       end
else
    
    Warnd = text(-10,10,'\fontsize{16} The input is out of range. Try again!','color','r');
    set(Warnd,'visible','on') 
   
end


% --------------------------------------------------------------------
function varargout = edit6_Callback(h, eventdata, handles, varargin)

global  Xpc Ypc k32
global  S1 S2 S3
k32 = 1;

val = str2double(get(handles.editbase3y,'String'));