cinematicadirecta2.m

Simulador de orientacion posicion de un brazo robotico de cuatro grados de libertad, en GUI de matla

function varargout = cinematicadirecta2(varargin)

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @cinematicadirecta2_OpeningFcn, ...
                   'gui_OutputFcn',  @cinematicadirecta2_OutputFcn, ...
                   'gui_LayoutFcn',  [] , ...
                   'gui_Callback',   []);
if nargin && ischar(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT


% --- Executes just before cinematicadirecta2 is made visible.
function cinematicadirecta2_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to cinematicadirecta2 (see VARARGIN)

% Choose default command line output for cinematicadirecta2
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes cinematicadirecta2 wait for user response (see UIRESUME)
% uiwait(handles.figure1);
%Q1
set(handles.Q1,'Value',0); 
set(handles.Q1edit,'String',0); 
%Q2
set(handles.Q2,'Value',0); 
set(handles.Q2edit,'String',0); 
%Q3
set(handles.Q3,'Value',0); 
set(handles.Q3edit,'String',0); 
%Q4
set(handles.Q4,'Value',0); 
set(handles.Q4edit,'String',0);


q1=str2double(get(handles.Q1edit,'string'));
q2=str2double(get(handles.Q2edit,'string'));
q3=str2double(get(handles.Q3edit,'string'));
q4=str2double(get(handles.Q4edit,'string'));

L1 = 1596;
L2 = 390;
L3 = 1220;
L4 = 1555;
L5 = 172;
dh = [pi/2,  L1,  L2, -pi/2, 0;
     -pi/2,   0,  L3,     0, 0;
      pi/2,   0,  L4,  pi/2, 0;
         0, -L5,   0,     0, 0];
         
q=[q1,q2,q3,q4]*pi/180;
A = directa(dh,q);


set(handles.nx,'String',(round((A(1,1))*100))/100);
set(handles.ny,'String',(round((A(2,1))*100))/100);
set(handles.nz,'String',(round((A(3,1))*100))/100);

set(handles.sx,'String',(round((A(1,2))*100))/100);
set(handles.sy,'String',(round((A(2,2))*100))/100);
set(handles.sz,'String',(round((A(3,2))*100))/100);

set(handles.ax,'String',(round((A(1,3))*100))/100);
set(handles.ay,'String',(round((A(2,3))*100))/100);
set(handles.az,'String',(round((A(3,3))*100))/100);

set(handles.Px,'String',(round((A(1,4))*100))/100);
set(handles.Py,'String',(round((A(2,4))*100))/100);
set(handles.Pz,'String',(round((A(3,4))*100))/100);
 

% --- Outputs from this function are returned to the command line.
function varargout = cinematicadirecta2_OutputFcn(hObject, eventdata, handles) 
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles.output;



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


% --- Executes during object creation, after setting all properties.
function Px_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Px (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 Py_Callback(hObject, eventdata, handles)
% hObject    handle to Py (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 Py as text
%        str2double(get(hObject,'String')) returns contents of Py as a double


% --- Executes during object creation, after setting all properties.
function Py_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Py (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 Pz_Callback(hObject, eventdata, handles)
% hObject    handle to Pz (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 Pz as text
%        str2double(get(hObject,'String')) returns contents of Pz as a double


% --- Executes during object creation, after setting all properties.
function Pz_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Pz (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 nx_Callback(hObject, eventdata, handles)
% hObject    handle to nx (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 nx as text
%        str2double(get(hObject,'String')) returns contents of nx as a double


% --- Executes during object creation, after setting all properties.
function nx_CreateFcn(hObject, eventdata, handles)
% hObject    handle to nx (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 ny_Callback(hObject, eventdata, handles)
% hObject    handle to ny (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 ny as text
%        str2double(get(hObject,'String')) returns contents of ny as a double


% --- Executes during object creation, after setting all properties.
function ny_CreateFcn(hObject, eventdata, handles)
% hObject    handle to ny (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 nz_Callback(hObject, eventdata, handles)
% hObject    handle to nz (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 nz as text
%        str2double(get(hObject,'String')) returns contents of nz as a double


% --- Executes during object creation, after setting all properties.
function nz_CreateFcn(hObject, eventdata, handles)
% hObject    handle to nz (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 Q4edit_Callback(hObject, eventdata, handles)

le=str2double(get(hObject,'String'));
if le>180
    errordlg('Valor incorrecto o fuera del rango en Q4 "Debe ser un valor entre -180 y 180"','ALERTA');
    set(handles.Q4,'Value',180);
    set(handles.Q4edit,'string',180);
end
if le<-180
    errordlg('Valor incorrecto o fuera del rango en Q4 "Debe ser un valor entre -180 y 180"','ALERTA');
    set(handles.Q4,'Value',-180);
    set(handles.Q4edit,'string',-180);
end
if le<=180 & le>=-180
    set(handles.Q4,'Value',str2double(get(hObject,'String')));
end

q1=str2double(get(handles.Q1edit,'string'));
q2=str2double(get(handles.Q2edit,'string'));
q3=str2double(get(handles.Q3edit,'string'));
q4=str2double(get(handles.Q4edit,'string'));

L1 = 1596;
L2 = 390;
L3 = 1220;
L4 = 1555;
L5 = 172;
dh = [pi/2,  L1,  L2, -pi/2, 0;
     -pi/2,   0,  L3,     0, 0;
      pi/2,   0,  L4,  pi/2, 0;
         0, -L5,   0,     0, 0];
         
q=[q1,q2,q3,q4]*pi/180;
A = directa(dh,q);

set(handles.nx,'String',(round((A(1,1))*100))/100);
set(handles.ny,'String',(round((A(2,1))*100))/100);
set(handles.nz,'String',(round((A(3,1))*100))/100);

set(handles.sx,'String',(round((A(1,2))*100))/100);
set(handles.sy,'String',(round((A(2,2))*100))/100);
set(handles.sz,'String',(round((A(3,2))*100))/100);

set(handles.ax,'String',(round((A(1,3))*100))/100);
set(handles.ay,'String',(round((A(2,3))*100))/100);
set(handles.az,'String',(round((A(3,3))*100))/100);

set(handles.Px,'String',(round((A(1,4))*100))/100);
set(handles.Py,'String',(round((A(2,4))*100))/100);
set(handles.Pz,'String',(round((A(3,4))*100))/100);

% --- Executes during object creation, after setting all properties.
function Q4edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Q4edit (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