function varargout = RR(varargin) % RR MATLAB code for RR.fig % RR, by itself, creates a new RR or raises the existing % singleton*. % % H = RR returns the handle to a new RR or the handle to % the existing singleton*. % % RR('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in RR.M with the given input arguments. % % RR('Property','Value',...) creates a new RR or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before RR_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to RR_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help RR % Last Modified by GUIDE v2.5 22-Dec-2013 14:14:22 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @RR_OpeningFcn, ... 'gui_OutputFcn', @RR_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 RR is made visible. function RR_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 RR (see VARARGIN) % Choose default command line output for RR handles.output = hObject; % Update handles structure guidata(hObject, handles); axis([-15 15 -15 15]) hold on % slider_step = [5 10]; set(handles.Theta11,'max',180,'min',0,'value',90); set(handles.Theta21,'max',180,'min',0,'value',90); set(handles.P11,'max',10,'min',0,'value',5); a=[0 0]; theta11=get(handles.Theta11,'Value'); theta21=get(handles.Theta21,'Value'); d11=get(handles.P11,'Value'); a11=5; a21=6; xe=a(1)+(a11*cos(theta11*(pi/180)))+((a21+d11)*cos(theta21*(pi/180))); ye=a(2)+(a11*sin(theta11*(pi/180)))+((a21+d11)*sin(theta21*(pi/180))); cla; plot([a(1) (a11*cos(theta11*(pi/180))) xe],[a(2) (a11*sin(theta11*(pi/180))) ye]) % UIWAIT makes RR wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = RR_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; % --- Executes on slider movement. function Theta11_Callback(hObject, eventdata, handles) % hObject handle to Theta11 (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 % axis([-50 50 -50 50]) % hold a=[0 0]; theta11=get(handles.Theta11,'Value') % set(handles.Theta11_Display,'string',double2str(theta11)); % while theta21==90 do theta21=get(handles.Theta21,'Value') d11=get(handles.P11,'Value') % end % set(handles.Theta21_Display,'string',double2str(theta21)); a11=5; a21=6; xe=a(1)+(a11*cos(theta11*(pi/180)))+((a21+d11)*cos(theta21*(pi/180))); ye=a(2)+(a11*sin(theta11*(pi/180)))+((a21+d11)*sin(theta21*(pi/180))); cla; plot([a(1) (a11*cos(theta11*(pi/180))) xe],[a(2) (a11*sin(theta11*(pi/180))) ye]) % --- Executes during object creation, after setting all properties. function Theta11_CreateFcn(hObject, eventdata, handles) % hObject handle to Theta11 (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. if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor',[.9 .9 .9]); end % --- Executes on slider movement. function Theta21_Callback(hObject, eventdata, handles) % hObject handle to Theta21 (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 % axis([-50 50 -50 50]) % hold a=[0 0]; theta11=get(handles.Theta11,'Value') % set(handles.Theta11_Display,'string',double2str(theta11)); theta21=get(handles.Theta21,'Value') d11=get(handles.P11,'Value') % set(handles.Theta21_Display,'string',double2str(theta21)); a11=5; a21=6; xe=a(1)+(a11*cos(theta11*(pi/180)))+((a21+d11)*cos(theta21*(pi/180))); ye=a(2)+(a11*sin(theta11*(pi/180)))+((a21+d11)*sin(theta21*(pi/180))); cla; plot([a(1) (a11*cos(theta11*(pi/180))) xe],[a(2) (a11*sin(theta11*(pi/180))) ye]) % --- Executes during object creation, after setting all properties. function Theta21_CreateFcn(hObject, eventdata, handles) % hObject handle to Theta21 (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. if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor',[.9 .9 .9]); end % --- Executes during object creation, after setting all properties. function Theta11_Display_CreateFcn(hObject, eventdata, handles) % hObject handle to Theta11_Display (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % --- Executes during object creation, after setting all properties. function Theta21_Display_CreateFcn(hObject, eventdata, handles) % hObject handle to Theta21_Display (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called function Theta11_Display_Callback(hObject, eventdata, handles) % hObject handle to Theta11_Display (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 Theta11_Display as text % str2double(get(hObject,'String')) returns contents of Theta11_Display as a double function Theta21_Display_Callback(hObject, eventdata, handles) % hObject handle to Theta21_Display (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 Theta21_Display as text % str2double(get(hObject,'String')) returns contents of Theta21_Display as a double % --- Executes on slider movement. function P11_Callback(hObject, eventdata, handles) % hObject handle to P11 (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 a=[0 0]; theta11=get(handles.Theta11,'Value') % set(handles.Theta11_Display,'string',double2str(theta11)); % while theta21==90 do theta21=get(handles.Theta21,'Value') d11=get(handles.P11,'Value') % end % set(handles.Theta21_Display,'string',double2str(theta21)); a11=5; a21=6; xe=a(1)+(a11*cos(theta11*(pi/180)))+((a21+d11)*cos(theta21*(pi/180))); ye=a(2)+(a11*sin(theta11*(pi/180)))+((a21+d11)*sin(theta21*(pi/180))); cla; plot([a(1) (a11*cos(theta11*(pi/180))) xe],[a(2) (a11*sin(theta11*(pi/180))) ye]) % --- Executes during object creation, after setting all properties. function P11_CreateFcn(hObject, eventdata, handles) % hObject handle to P11 (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. if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor',[.9 .9 .9]); end