rrrproject3.asv

6自由度机器人仿真程序

% --- Executes during object creation, after setting all properties.
function editYg_CreateFcn(hObject, eventdata, handles)
% hObject    handle to editYg (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 editYg_Callback(hObject, eventdata, handles)
% hObject    handle to editYg (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 editYg as text
%        str2double(get(hObject,'String')) returns contents of editYg as a double
global Yg S1 S2 S3

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

if isnumeric(val) & length(val)==1 & val >= get(handles.sliderYg,'Min') & val <= get(handles.sliderYg,'Max')
    
    set(handles.sliderYg,'Value',val);
    Yg = val;
    
%     set(handles.textangle12,'Visible','on','String',num2str(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

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

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

% Hint: popupmenu 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 selection change in popupmenuangledisplay.
function popupmenuangledisplay_Callback(hObject, eventdata, handles)
% hObject    handle to popupmenuangledisplay (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 popupmenuangledisplay contents as cell array
%        contents{get(hObject,'Value')} returns selected item from popupmenuangledisplay
global S1 S2 S3
global theta11 theta12 theta21 theta22 theta31 theta32
global diaota1 diaota2 diaota3
global txAD txRD AD
% global frameAD
val = get(hObject,'Value');
% [x,y]=get(hObject,'Currentpoint')
switch val
case 1
% The user selected the first item
    if AD==2
    AD = 1;

    set(txAD,'Visible','off')
    elseif AD==3
    AD =1;
    set(txRD,'Visible','off')
    elseif AD==1
        AD=1;
    end
case 2
    if AD==1
    AD = 2;
    set(txAD,'Visible','on')
    elseif AD==3
    AD=2;
    set(txAD,'Visible','on')
    set(txRD,'Visible','off')
    elseif AD==2
        AD=2;
    end

    angledisplay(AD)

case 3
    if AD==2
    AD = 3;
    angledisplay(AD)
    set(txAD,'Visible','off')
    set(txRD,'Visible','on')
    elseif AD==1
    AD=3;
    set(txRD,'Visible','on')
    elseif AD==3
        AD=3;
    end
end


% --- Executes during object creation, after setting all properties.
function edith_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edith (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 edith_Callback(hObject, eventdata, handles)
% hObject    handle to edith (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 edith as text
%        str2double(get(hObject,'String')) returns contents of edith as a double
global H 
global S1 S2 S3
val = str2double(get(handles.edith,'String'));

if isnumeric(val) & length(val)==1 & val >= -30 & val <= 30
      H = 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

% --- Executes during object creation, after setting all properties.
function edita1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edita1 (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 edita1_Callback(hObject, eventdata, handles)
% hObject    handle to edita1 (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 edita1 as text
%        str2double(get(hObject,'String')) returns contents of edita1 as a double
global a1 
global S1 S2 S3
val = str2double(get(handles.edita1,'String'));

if isnumeric(val) & length(val)==1 & val >= -15 & val <= 15
      a1 = 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

% --- Executes during object creation, after setting all properties.
function editb1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to editb1 (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 editb1_Callback(hObject, eventdata, handles)
% hObject    handle to editb1 (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 editb1 as text
%        str2double(get(hObject,'String')) returns contents of editb1 as a double
global b1 
global S1 S2 S3
val = str2double(get(handles.editb1,'String'));

if isnumeric(val) & length(val)==1 & val >= -15 & val <= 15
      b1 = 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


    


% --- Executes on button press in pushbuttoninitialized.
function pushbuttoninitialized_Callback(hObject, eventdata, handles)
% hObject    handle to pushbuttoninitialized (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global H a1 b1 
global Yp Xp Ypb Xpb Ypc Xpc
global Xg Yg fai
global S1 S2 S3
H=[];
a1=[];
b1=[];
Yp=[];
Xp=[];
Ypb=[];
Xpb=[];
Ypc=[];
Xpc=[];
Xg =[];
Yg =[];
fai=[];
S1 =[];
S2 =[];
S3 =[];
varmakeup;
RRRdrawing(S1,S2,S3)
hold on
text(-14,13,'This Software is Created for the 3-RRR Robot.',     'FontSize',8,'color','b');
text(-14,11,'Made by Gan Tao.',                                  'FontSize',8,'color','b');
text(-14,9, 'Graduate Student of University at Buffalo',         'FontSize',8,'color','b');
text(-14,7, 'Any Problem Please Contact: [e-mail]','FontSize',8,'color','b');
text(-14,-7,'Factory Data:',                                     'FontSize',12,'color','r');
text(-14,-9,'H=3',                                               'FontSize',8,'color','r');
text(-14,-11,'\phi=pi/4,  Link1=5,   Link2=4',                   'FontSize',8,'color','r');
text(-14,-13,'Coordinate for Base1,2,3 =[-1.5 -8.4] [6.9 -1.2] [-6.6 2.1]','FontSize',8,'color','r');
text(0,   1.5, 'H',                                              'FontSize',10,'color','b');
text(0,  -7, 'Link1',                                            'FontSize',10,'color','b');
text(1,  -3, 'Link2',                                            'FontSize',10,'color','b');
hold off



% --- Executes on button press in togglebuttonclickinverse.
function togglebuttonclickinverse_Callback(hObject, eventdata, handles)
% hObject    handle to togglebuttonclickinverse (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 togglebuttonclickinverse
global CInverCK
global InVS

InVS = 1;

CInverCK = get(hObject,'Value');

if CInverCK == 1
set(handles.togglebuttonclickinverse,'String','Point');
elseif CInverCK == 0
    set(handles.togglebuttonclickinverse,'String','Path');
end

    


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

% Hint: popupmenu 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 selection change in popupmenu_record.
function popupmenu_record_Callback(hObject, eventdata, handles)
% hObject    handle to popupmenu_record (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 popupmenu_record contents as cell array
%        contents{get(hObject,'Value')} returns selected item from popupmenu_record
global Rec_Movie

val = get(hObject,'Value');
switch val
case 1
   Rec_Movie = 0;
case 2

   Rec_Movie = 1;
end