利用MATLAB和Robot toolbox 做的一个简单的三轴机器人GUI

function varargout = SimpleRobotGui(varargin) % SIMPLEROBOTGUI MATLAB code for SimpleRobotGui.fig % SIMPLEROBOTGUI, by itself, creates a new SIMPLEROBOTGUI or raises the existing % singleton*. % % H = SIMPLEROBOTGUI returns the handle to a new SIMPLEROBOTGUI or the handle to % the existing singleton*. % % SIMPLEROBOTGUI('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in SIMPLEROBOTGUI.M with the given input arguments. % % SIMPLEROBOTGUI('Property','Value',...) creates a new SIMPLEROBOTGUI or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before SimpleRobotGui_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to SimpleRobotGui_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 SimpleRobotGui % Last Modified by GUIDE v2.5 19-Jun-2018 16:36:17 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @SimpleRobotGui_OpeningFcn, ... 'gui_OutputFcn', @SimpleRobotGui_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 SimpleRobotGui is made visible. function SimpleRobotGui_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 SimpleRobotGui (see VARARGIN) % Choose default command line output for SimpleRobotGui handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes SimpleRobotGui wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = SimpleRobotGui_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 Theta_1_Callback(hObject, eventdata, handles) % hObject handle to Theta_1 (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 Theta_1 as text % str2double(get(hObject,'String')) returns contents of Theta_1 as a double % --- Executes during object creation, after setting all properties. function Theta_1_CreateFcn(hObject, eventdata, handles) % hObject handle to Theta_1 (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 Theta_2_Callback(hObject, eventdata, handles) % hObject handle to Theta_2 (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 Theta_2 as text % str2double(get(hObject,'String')) returns contents of Theta_2 as a double % --- Executes during object creation, after setting all properties. function Theta_2_CreateFcn(hObject, eventdata, handles) % hObject handle to Theta_2 (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 Theta_3_Callback(hObject, eventdata, handles) % hObject handle to Theta_3 (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 Theta_3 as text % str2double(get(hObject,'String')) returns contents of Theta_3 as a double % --- Executes during object creation, after setting all properties. function Theta_3_CreateFcn(hObject, eventdata, handles) % hObject handle to Theta_3 (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 Pos_X_Callback(hObject, eventdata, handles) % hObject handle to Pos_X (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 Pos_X as text % str2double(get(hObject,'String')) returns contents of Pos_X as a double % --- Executes during object creation, after setting all properties. function Pos_X_CreateFcn(hObject, eventdata, handles) % hObject handle to Pos_X (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 Pos_Y_Callback(hObject, eventdata, handles) % hObject handle to Pos_Y (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 Pos_Y as text % str2double(get(hObject,'String')) returns contents of Pos_Y as a double % --- Executes during object creation, after setting all properties. function Pos_Y_CreateFcn(hObject, eventdata, handles) % hObject handle to Pos_Y (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 Pos_Z_Callback(hObject, eventdata, handles) % hObject handle to Pos_Z (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 Pos_Z as text % str2double(get(hObject,'String')) returns contents of Pos_Z as a double % --- Executes during object creation, after