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gui.m
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108 lines (93 loc) · 7.92 KB
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function gui(num)
% it set up the mian gui ,it dynamicly sets up a mian GUI denpened on degree of freedoms
% num:the degree of freedoms
% Example:
% gui(6)
%
% NOTE: it position is auto to the mian figure
%
% Email: 498143049@qq.com
% Website: https://github.com/498143049/robotSimulate
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% log:
% 2016-04-21: Complete
% Main_figure = figure('Name','robot','color',[0.9,0.9,0.9],'Unit','normalized','Position', [ 0.4538 0.4664 0.2031 0.1424]);
% set(gcf,'menubar','none');
set(gcf,'Position',[0.05,0.05,0.9,0.9]);
%create four panel to display four block
picAxes=uicontrol(gcf,'unit','normalized','FontName','MicrosoftYaHei','FontUnits','normalized','style','text','String','Robot','Position',[0.033 0.935 0.7 0.04],'FontSize',0.8,'BackgroundColor',[ 0.2745 0.5608 0.8706],'ForegroundColor','white','FontWeight','bold');
K_pic = uipanel(gcf,'BackgroundColor','white','units','normalized','Position',[0.033 0.025 0.7 0.91],'FontSize',11,'ShadowColor','white');
uicontrol(gcf,'unit','normalized','FontName','MicrosoftYaHei','FontUnits','normalized','style','text','String','DH Parametes','Position',[0.764 0.935 0.2 0.04],'FontSize',0.7,'BackgroundColor',[ 0.2745 0.5608 0.8706],'ForegroundColor','white');
K_DH = uipanel(gcf,'BackgroundColor','white','units','normalized','Position',[0.764 0.735 0.20 0.2],'FontSize',11,'ShadowColor','white');
uicontrol(gcf,'unit','normalized','FontName','MicrosoftYaHei','FontUnits','normalized','style','text','String','Kinematics','Position',[0.764 0.665 0.2 0.04],'FontSize',0.7,'BackgroundColor',[ 0.2745 0.5608 0.8706],'ForegroundColor','white');
K_p = uipanel(gcf,'BackgroundColor','white','units','normalized','Position',[0.764 0.415 0.20 0.25],'FontSize',11,'ShadowColor','white');
uicontrol(gcf,'unit','normalized','FontName','MicrosoftYaHei','FontUnits','normalized','style','text','String','Inverse Kinematics','Position',[0.764 0.335 0.2 0.04],'FontSize',0.7,'BackgroundColor',[ 0.2745 0.5608 0.8706],'ForegroundColor','white');
K_N = uipanel(gcf,'BackgroundColor','white','units','normalized','Position',[0.764 0.075 0.20 0.27],'FontSize',11,'ShadowColor','white');
%This is pic
h_axes=axes('parent',K_pic,'unit','normalized','FontUnits','normalized','FontSize',0.02,'FontName','MicrosoftYaHei'); %»³ö×ø±êÖáÏß
% h_text(1)= uicontrol('parent',K_pic,'unit','normalized','FontName','MicrosoftYaHei','FontUnits','normalized','style','text','Position',[0.78 0.9 0.18 0.05],'FontSize',0.8,'BackgroundColor',[ 0.2196 0.4510 0.6980]);
h_text(2)= uicontrol('parent',K_pic,'unit','normalized','FontName','MicrosoftYaHei','FontUnits','normalized','style','pushbutton','String','Observed','Position',[0.782 0.903 0.176 0.044],'FontSize',0.8,'BackgroundColor',[ 0.2745 0.5608 0.8706],'ForegroundColor','white');
set(h_axes,'position',[0.04,0.04,0.92,0.92]);
hold on
daspect([2 2 1]) ; % Setting the aspect ratio
xlabel('X'),ylabel('Y'),zlabel('Z');
% axis([-1000 1000 -1000 1000 0 1000]);
% axis AUTO
set(h_axes,'Box','off');
grid on;
%calculate pix in order to dynamic arrangement；
pix=2*num-1;
if(pix>9)
pix=0.1;
blankpix=(0.9-num*pix)/(num-1);
else
pix=0.9/pix;
blankpix=pix;
end
%kinenamatics
% Dh=zeros(num,4);
% t1_min=zeros(num);
% t_slider=zeros(num);
% t1_max=zeros(num);
% t1_edit=zeros(num);
for i=1:num
for j=1:4
Dh(i,j)=uicontrol(K_DH,'unit','normalized','FontUnits','normalized','style','text','String','0','Position',[0.05+0.25*(j-1) 0.95-(blankpix)*(i-1)-pix*i 0.15 pix],'FontSize',0.7,'BackgroundColor','white');
end
t1_min(i) = uicontrol(K_p,'FontUnits','normalized','unit','normalized','style','text','String',100,'Position',[0.05 0.95-(blankpix)*(i-1)-pix*i 0.11 pix],'FontSize',0.5,'BackgroundColor','white');
t_slider(i) =uicontrol(K_p,'style','slider','unit','normalized','Max',100,'Min',0,'Value',0,'SliderStep',[0.05 0.2],'Position',[0.185 0.95-(blankpix)*(i-1)-pix*i 0.4 pix],'BackgroundColor','white');
t1_max(i) = uicontrol(K_p,'FontUnits','normalized','unit','normalized','style','text','String',100,'Position',[0.585 0.95-(blankpix)*(i-1)-pix*i 0.15 pix],'FontSize',0.5,'BackgroundColor','white');
uicontrol(K_p,'FontUnits','normalized','unit','normalized','style','text','String','V:','Position',[0.705 0.95-(blankpix)*(i-1)-pix*i 0.1 pix],'BackgroundColor','white','FontSize',0.7);
t1_edit(i) = uicontrol(K_p,'FontUnits','normalized','unit','normalized','style','edit','String',0,'Position',[0.805 0.95-(blankpix)*(i-1)-pix*i 0.18 pix],'FontSize',0.5,'BackgroundColor','white');
end
%select axes part
axes(h_axes);
%inverse kinematics
Load_button = uicontrol(K_N,'FontUnits','normalized','Style','pushbutton','Unit','normalized','Position',[0.3 0.05 0.4 0.15],'String','Start','FontSize',0.8,'BackgroundColor',[0.2745 0.5608 0.8706],'ForegroundColor','white');
uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','text','String','Crruent','Position',[0 0.805 1 0.12],'FontSize',0.8,'ForegroundColor',[0.1333 0.2627 0.3922],'BackgroundColor','white');
uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','text','String','X :','Position',[0.05 0.675 0.09 0.10],'FontSize',0.8,'BackgroundColor','white');
KN_editold(1)=uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','text','String','0.0010','Position',[0.14 0.675 0.21 0.10],'FontSize',0.8,'BackgroundColor','white');
uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','text','String','Y:','Position',[0.35 0.675 0.09 0.1],'FontSize',0.8,'BackgroundColor','white');
KN_editold(2)=uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','text','String','100','Position',[0.44 0.675 0.21 0.10],'FontSize',0.8,'BackgroundColor','white');
uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','text','String','Z:','Position',[0.65 0.675 0.09 0.10],'FontSize',0.8,'BackgroundColor','white');
KN_editold(3)=uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','text','String','100','Position',[0.74 0.675 0.21 0.10],'FontSize',0.8,'BackgroundColor','white');
uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','text','String','Setting','Position',[0 0.44 1 0.12],'FontSize',0.8,'ForegroundColor',[0.1333 0.2627 0.3922],'BackgroundColor','white');
uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','text','String','X:','Position',[0.05 0.285 0.09 0.10],'FontSize',0.8,'BackgroundColor','white');
KN_editnow(1)=uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','edit','String','0','Position',[0.14 0.285 0.21 0.10],'FontSize',0.8,'BackgroundColor','white');
uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','text','String','Y:','Position',[0.35 0.285 0.09 0.10],'FontSize',0.8,'BackgroundColor','white');
KN_editnow(2)=uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','edit','String','0','Position',[0.44 0.285 0.21 0.10],'FontSize',0.8,'BackgroundColor','white');
uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','text','String','Z:','Position',[0.65 0.285 0.09 0.10],'FontSize',0.8,'BackgroundColor','white');
KN_editnow(3)=uicontrol(K_N,'FontUnits','normalized','unit','normalized','style','edit','String','0','Position',[0.74 0.285 0.21 0.10],'FontSize',0.8,'BackgroundColor','white');
%save object
setappdata(0,'KN_editnow',KN_editnow);
setappdata(0,'KN_editold',KN_editold);
setappdata(0,'t_slider',t_slider); %保存其句柄的值
setappdata(0,'t1_edit',t1_edit); %编辑句柄
setappdata(0,'t1_min',t1_min); %编辑句柄
setappdata(0,'t1_max',t1_max); %编辑句柄
setappdata(0,'Dh',Dh); %数字显示句柄
setappdata(0,'Load_button',Load_button);
setappdata(0,'picAxes',picAxes); %Add pictitle
setappdata(0,'h_text',h_text); %Add contral
end