robotSimulate/init_gui.m at master · 498143049/robotSimulate · GitHub

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function init_gui()
% it init Gui and set the init value to the GUI
%
% Example:
%  init_gui()
%
%
% Email: 498143049@qq.com
% Website: https://github.com/498143049/robotSimulate
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% log:
% 2016-04-28: Complete
   global robot;

   handles = getappdata(0,'picAxes');
   set(handles,'String',[robot.RobotName,'   robot']);
   %create Pic pannel
   Forward_kinmatics_caculate();
   draw();
   %create Parameters pannel
   Dh= getappdata(0,'Dh');
   t1_min= getappdata(0,'t1_min');
   t1_max= getappdata(0,'t1_max');
   t_slider= getappdata(0,'t_slider');
   t1_edit= getappdata(0,'t1_edit');
   button= getappdata(0,'Load_button');
   Text=getappdata(0,'h_text');
  for i=1:robot.ActionjointNum
  	filedsName=fieldnames(robot.link{1, robot.ActionjointNum(1)}.DHParametes); %get the filed of DH paramets
  	for j=1:length(filedsName)
  	   set(Dh(i,j),'String',getfield(robot.link{1, robot.Actionjoint(i)}.DHParametes,char(filedsName(j))))
    end

	set(t_slider(i),'Max',robot.link{1, robot.Actionjoint(i)}.RANGE.max,'Min',robot.link{1, robot.Actionjoint(i)}.RANGE.min);
	set(t1_min(i),'String',robot.link{1, robot.Actionjoint(i)}.RANGE.min);
	set(t1_max(i),'String',robot.link{1, robot.Actionjoint(i)}.RANGE.max);
  if strcmpi(robot.link{1, robot.Actionjoint(i)}.type,'rotating')
    set(t_slider(i),'Value',robot.link{1, robot.Actionjoint(i)}.DHParametes.theta);
    set(t1_edit(i),'String',robot.link{1, robot.Actionjoint(i)}.DHParametes.theta);
  else
    set(t_slider(i),'Value',robot.link{1, robot.Actionjoint(i)}.DHParametes.D);
    set(t1_edit(i),'String',robot.link{1, robot.Actionjoint(i)}.DHParametes.D);
  end
	set(t_slider(i),'callback',{@slider_button_press});
	set(t1_edit(i),'callback',{@edit_button_press});

  end
  set(button,'callback',{@inverse_button_press});
  set(Text(2),'callback',{@Control_button_press});

  %inserve kinematics
  KN_editold=getappdata(0,'KN_editold');
  for i=1:3
  	set(KN_editold(i),'String',robot.spoint(i));
  end
  axis([robot.axis.xmin robot.axis.xmax robot.axis.ymin robot.axis.ymax robot.axis.zmin robot.axis.zmax]);
  if isfield(robot,'defaultView')
    view(robot.defaultView.AZ,robot.defaultView.EI);
  else
    view(125,25);
  end
  if isfield(robot,'inversefun')
      eval([robot.inversefun,'(robot.spoint(1),robot.spoint(2),robot.spoint(3))',';']);
  end
end
function  draw()
  global robot
  L=zeros(length(robot.link));
  for i=1:length(robot.link)
    L(i)=patch('Faces',robot.link{1,i}.f,'Vertices',robot.link{1,i}.dot,'FaceColor',[robot.link{1,i}.color.r/255    robot.link{1,i}.color.g/255    robot.link{1,i}.color.b/255],'LineStyle','none','SpecularExponent',20);
  end
  H=plot3(0,0,0,'color',[robot.link{1,robot.ActionjointNum}.color.r/255    robot.link{1,robot.ActionjointNum }.color.g/255    robot.link{1,robot.ActionjointNum }.color.b/255],'LineWidth',2);
  setappdata(0,'patch_h',L);
  setappdata(0,'plot3',H);
end
function UpdatePanle()
 global robot;
 Dh= getappdata(0,'Dh');
 t_slider= getappdata(0,'t_slider');
 t1_edit= getappdata(0,'t1_edit');
  for i=1:robot.ActionjointNum
    if strcmpi(robot.link{1, robot.Actionjoint(i)}.type,'rotating')
      set(Dh(i,4),'String',robot.link{1, robot.Actionjoint(i)}.DHParametes.theta);
      set(t_slider(i),'Value',robot.link{1, robot.Actionjoint(i)}.DHParametes.theta);
      set(t1_edit(i),'String',robot.link{1, robot.Actionjoint(i)}.DHParametes.theta);
    else
      set(Dh(i,4),'String',robot.link{1, robot.Actionjoint(i)}.DHParametes.D);
      set(t_slider(i),'Value',robot.link{1, robot.Actionjoint(i)}.DHParametes.D);
      set(t1_edit(i),'String',robot.link{1, robot.Actionjoint(i)}.DHParametes.D);
    end
  end
  %update inserve kinematics
  KN_editold=getappdata(0,'KN_editold');
  for i=1:3
  	set(KN_editold(i),'String',robot.spoint(i));
  end
end
function slider_button_press(~,~)
  t_slider= getappdata(0,'t_slider');
  Target=get(t_slider,'Value');
  Target=cell2mat(Target);
  move(Target,10);
  UpdatePanle();
end
function edit_button_press(~,~)
	t1_edit= getappdata(0,'t1_edit');
	Target=get(t1_edit,'String');
	Target=str2num(char(Target));
	move(Target,10);
	UpdatePanle();
end
function inverse_button_press(~,~)
   global robot;
   setValue=getappdata(0,'KN_editnow');
   x=str2double(get(setValue(1),'String'));
   y=str2double(get(setValue(2),'String'));
   z=str2double(get(setValue(3),'String'));
   if isfield(robot,'inversefun')
      [cd,Status]=eval([robot.inversefun,'(x,y,z)']);
   else
    errordlg('No define function','Wanging');
    return;
    end
   if Status
     move(cd,10);
     UpdatePanle();
   else
      errordlg('There is no Answer,','Wanging');
   end
end
function Control_button_press(~,~)
  global Status;
  Text=getappdata(0,'h_text');
  if(Status==0)
    Status=1;
    set(Text(2),'BackgroundColor',[0.2196    0.4510    0.6980]);
    set(Text(2),'ForegroundColor','black');
    rotate3d on;
  else
    Status=0;
    set(Text(2),'BackgroundColor',[0.2745    0.5608    0.8706]);
    set(Text(2),'ForegroundColor','white');
    rotate3d off;
  end
end