rrrproject3.asv

6自由度机器人仿真程序

if isnumeric(val) & length(val)==1 & val >= get(handles.sliderbase3y,'Min') & val <= get(handles.sliderbase3y,'Max')
    
    set(handles.sliderbase3y,'Value',val);
    Ypc = 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 = slideranglefai_Callback(h, eventdata, handles, varargin)

global fai S1 S2 S3

set(handles.editanglefai,'String',num2str(get(handles.slideranglefai,'Value')));

faidegree = get(handles.slideranglefai,'Value');

fai = (faidegree*pi)/180;
    if emptycheck
       varmakeup;
       RRRdrawing(S1,S2,S3)
       else
         RRRdrawing(S1,S2,S3)
       end



set(handles.editanglefai,'Value', fai);


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

global fai S1 S2 S3 

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

if isnumeric(val) & length(val)==1 & val >= get(handles.slideranglefai,'Min') & val <= get(handles.slideranglefai,'Max')
    
    set(handles.slideranglefai,'Value',val);
    fai = (val*pi)/180;

    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 = initialposition_pushbution_Callback(h, eventdata, handles, varargin)
global InVS

InVS = 0;

on = [handles.sliderbase1x,handles.sliderbase1y,handles.sliderbase2x,handles.sliderbase2y,...
        handles.sliderbase3x,handles.sliderbase3y,handles.editbase1x,handles.editbase1y,...
        handles.editbase2x,handles.editbase2y,handles.editbase3x,handles.editbase3y,...
        handles.textbase1x,handles.textbase1y,handles.textbase2x,handles.textbase2y,...
        handles.textbase3x,handles.textbase3y,handles.range,handles.pushbuttoninitialized,handles.edith,...
        handles.edita1,handles.editb1,handles.texth,handles.texta1,handles.textb1];

visibleon(on);
        
    



off = [handles.slideranglefai,handles.editanglefai,handles.textanglefai,handles.framesolutionleg1,...
       handles.radiobuttonsolution1forleg1,handles.radiobuttonsolution2forleg1,handles.textsetsolutionforleg1,...
       handles.framesolutionleg2,handles.radiobuttonsolution1forleg2,handles.radiobuttonsolution2forleg2,...
       handles.textsetsolutionforleg2,handles.framesolutionleg3,handles.radiobuttonsolution1forleg3,...
       handles.radiobuttonsolution2forleg3,handles.textsetsolutionforleg3,handles.sliderXg,handles.sliderYg,handles.editXg,handles.editYg, ...
       handles.textXg,handles.textYg,handles.togglebuttonclickinverse,handles.popupmenu_record];

visibleoff(off);



% --------------------------------------------------------------------
function varargout = InverseKinematics_pushbutton_Callback(h, eventdata, handles, varargin)
global fai S1 S2 S3
global Xg Yg
global AD
global InVS

if emptycheck;
    
    text(0.3,0.5,'You should finish initialization first!','fontsize',15);
else

InVS = 1;
on = [handles.slideranglefai,handles.editanglefai,handles.textanglefai,handles.framesolutionleg1,...
       handles.radiobuttonsolution1forleg1,handles.radiobuttonsolution2forleg1,handles.textsetsolutionforleg1,...
       handles.framesolutionleg2,handles.radiobuttonsolution1forleg2,handles.radiobuttonsolution2forleg2,...
       handles.textsetsolutionforleg2,handles.framesolutionleg3,handles.radiobuttonsolution1forleg3,...
       handles.radiobuttonsolution2forleg3,handles.textsetsolutionforleg3,handles.sliderXg,handles.sliderYg,handles.editXg,handles.editYg,...
       handles.textXg,handles.textYg,handles.togglebuttonclickinverse,handles.popupmenu_record];

visibleon(on);




off = [handles.sliderbase1x,handles.sliderbase1y,handles.sliderbase2x,handles.sliderbase2y,...
        handles.sliderbase3x,handles.sliderbase3y,handles.editbase1x,handles.editbase1y,...
        handles.editbase2x,handles.editbase2y,handles.editbase3x,handles.editbase3y,...
        handles.textbase1x,handles.textbase1y,handles.textbase2x,handles.textbase2y,...
        handles.textbase3x,handles.textbase3y,handles.range,handles.pushbuttoninitialized,handles.edith,...
        handles.edita1,handles.editb1,handles.texth,handles.texta1,handles.textb1];

visibleoff(off);

end




% --------------------------------------------------------------------
function varargout = radiobuttonsolution1forleg1_Callback(h, eventdata, handles, varargin)

global  fai S1 S2 S3
global  Xp Yp Xa Ya Xd Yd 
global  Xg Yg

off = [handles.radiobuttonsolution2forleg1];
mutual_exclude(off)
set(handles.radiobuttonsolution1forleg1,'Value',1);
S1 = get(handles.radiobuttonsolution1forleg1,'Value');

RRRdrawing(S1,S2,S3);

% --------------------------------------------------------------------
function varargout = radiobuttonsolution2forleg1_Callback(h, eventdata, handles, varargin)

global fai S1 S2 S3
global  Xp Yp Xa Ya Xd Yd 
global  Xg Yg


off = [handles.radiobuttonsolution1forleg1];
mutual_exclude(off)
set(handles.radiobuttonsolution2forleg1,'Value',1);
s1 = get(handles.radiobuttonsolution2forleg1,'Value');
S1 = s1+1;


RRRdrawing(S1,S2,S3);

% --------------------------------------------------------------------
function varargout = radiobuttonsolution1forleg2_Callback(h, eventdata, handles, varargin)

global fai S1 S2 S3
off = [handles.radiobuttonsolution2forleg2];
mutual_exclude(off)
set(handles.radiobuttonsolution1forleg2,'Value',1);
S2 = get(handles.radiobuttonsolution1forleg2,'Value');

RRRdrawing(S1,S2,S3)

% --------------------------------------------------------------------
function varargout = radiobuttonsolution2forleg2_Callback(h, eventdata, handles, varargin)

global fai S1 S2 S3
off = [handles.radiobuttonsolution1forleg2];
mutual_exclude(off)
set(handles.radiobuttonsolution2forleg2,'Value',1);
s2 = get(handles.radiobuttonsolution2forleg2,'Value');
S2 = s2+1;

RRRdrawing(S1,S2,S3)

% --------------------------------------------------------------------
function varargout = radiobuttonsolution1forleg3_Callback(h, eventdata, handles, varargin)

global fai S1 S2 S3

off = [handles.radiobuttonsolution2forleg3];
mutual_exclude(off)
set(handles.radiobuttonsolution1forleg3,'Value',1);
S3 = get(handles.radiobuttonsolution1forleg3,'Value');

RRRdrawing(S1,S2,S3)

% --------------------------------------------------------------------
function varargout = radiobuttonsolution2forleg3_Callback(h, eventdata, handles, varargin)
global fai S1 S2 S3

off = [handles.radiobuttonsolution1forleg3];
mutual_exclude(off)
set(handles.radiobuttonsolution2forleg3,'Value',1);
s3 = get(handles.radiobuttonsolution2forleg3,'Value');
S3 = s3+1;

RRRdrawing(S1,S2,S3)
% --------------------------------------------------------------------
function mutual_exclude(off)

set(off,'Value',0);

% --------------------------------------------------------------------
function visibleoff(off)

set(off,'Visible','off');

% --------------------------------------------------------------------
function visibleon(on)

set(on,'Visible','on');


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

% Hint: slider controls usually have a light gray background, change
%       'usewhitebg' to 0 to use default.  See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
    set(hObject,'BackgroundColor',[.9 .9 .9]);
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end


% --- Executes on slider movement.
function  sliderXg_Callback(hObject, eventdata, handles)
% hObject    handle to sliderXg (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,'Value') returns position of slider
%        get(hObject,'Min') and get(hObject,'Max') to determine range of slider
global Xg S1 S2 S3

set(handles.editXg,'String',num2str(get(handles.sliderXg,'Value')));

Xg = get(handles.sliderXg,'Value');


RRRdrawing(S1,S2,S3);


set(handles.editXg,'Value', Xg);




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

% Hint: slider controls usually have a light gray background, change
%       'usewhitebg' to 0 to use default.  See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
    set(hObject,'BackgroundColor',[.9 .9 .9]);
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end


% --- Executes on slider movement.
function sliderYg_Callback(hObject, eventdata, handles)
% hObject    handle to sliderYg (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,'Value') returns position of slider
%        get(hObject,'Min') and get(hObject,'Max') to determine range of slider

global Yg S1 S2 S3
global theta11 theta12 theta21 theta22 theta31 theta32
global txAD txRD


set(handles.editYg,'String',num2str(get(handles.sliderYg,'Value')));

Yg = get(handles.sliderYg,'Value');


RRRdrawing(S1,S2,S3);

set(handles.editYg,'Value', Yg);


% --- Executes during object creation, after setting all properties.
function editXg_CreateFcn(hObject, eventdata, handles)
% hObject    handle to editXg (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



function editXg_Callback(hObject, eventdata, handles)
% hObject    handle to editXg (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 editXg as text
%        str2double(get(hObject,'String')) returns contents of editXg as a double
global Xg S1 S2 S3

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

if isnumeric(val) & length(val)==1 & val >= get(handles.sliderXg,'Min') & val <= get(handles.sliderXg,'Max')
    
    set(handles.sliderXg,'Value',val);
    Xg = val;

    RRRdrawing(S1,S2,S3);
    
else
    
    Warnd = text(-10,10,'\fontsize{16} The input is out of range. Try again!','color','r');
    set(Warnd,'visible','on') 
   
end