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基于MATLAB的一级倒立摆控制仿真,带GUI界面操作显示倒立摆动画，控制器控制输出

1.算法描述一个可以活动的小车上立着一根不稳定随时会倒下的杆。小车的轮子由电机控制，可以控制小车电机的转动力矩M。同时，也可以获取小车轮子转动的圈数N（可以精确到小数）和杆相对于垂直位置的倾角α. 不考虑车轮打滑, 小车所受力大小等于电机力矩乘车轮半径, 小车位置可以从转动圈数计算出, 小车可简化为最经典的一阶倒立摆: 对小车水平方向:Mx¨+bx˙+N=F对摆水平方向:N=md2dt(x+lsin⁡θ)即:N=mx¨+mlθ¨cos⁡θ¨−mlθ˙2sin⁡θ对摆垂直方向:P=mg+md2dt(lcos⁡θ)即:P=mg−mlθ¨sin⁡θ¨−mlθ˙2cos⁡θ关节力矩:−Plsin⁡θ−Nlcos⁡θ=Iθ¨令 ϕ=π+θ在工作点 θ≈0 进行线性化: sin⁡θ=0,cos⁡θ=1,θ˙2=0 经过一顿操作化简之后能得到:(I+ml2)ϕ¨−mglϕ=mlx¨ (M+m)x¨+bx˙−mlϕ¨=F=u2.仿真效果预览matlab2022a仿真如下：3.MATLAB核心程序% PENDULUM M-file for pendulum.fig % PENDULUM, by itself, creates a new PENDULUM or raises the existing % singleton*. % % H = PENDULUM returns the handle to a new PENDULUM or the handle to % the existing singleton*. % % PENDULUM('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in PENDULUM.M with the given input arguments. % % PENDULUM('Property','Value',...) creates a new PENDULUM or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before pendulum_OpeningFunction gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to pendulum_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 % Copyright 2002-2003 The MathWorks, Inc. % Edit the above text to modify the response to help pendulum % Last Modified by SHE on 15-Dec-2008 22:08:58 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @pendulum_OpeningFcn, ... 'gui_OutputFcn', @pendulum_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 pendulum is made visible. function pendulum_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 pendulum (see VARARGIN) % Choose default command line output for pendulum handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes pendulum wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = pendulum_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 edit1_Callback(hObject, eventdata, handles) % hObject handle to edit1 (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 edit1 as text % str2double(get(hObject,'String')) returns contents of edit1 as a double %以字符串的形式来存储数据文本框1的内容。如果字符串不是数字，则现实空白内容 input =str2double(get(hObject,'String')); %检查输入是否为空. 如果为空,则默认显示为0 if (isempty(input)) set(hObject,'String','0') end guidata(hObject, handles); % --- Executes during object creation, after setting all properties. function edit1_CreateFcn(hObject, eventdata, handles) % hObject handle to edit1 (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 set(hObject,'BackgroundColor','white'); else set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor')); end function edit2_Callback(hObject, eventdata, handles) % hObject handle to edit2 (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 edit2 as text % str2double(get(hObject,'String')) returns contents of edit2 as a double %以字符串的形式来存储数据文本框2的内容。如果字符串不是数字，则现实空白内容 input =str2double(get(hObject,'String')); %检查输入是否为空. 如果为空,则默认显示为0 if (isempty(input)) set(hObject,'String','0') end guidata(hObject, handles); % --- Executes during object creation, after setting all properties. function edit2_CreateFcn(hObject, eventdata, handles) % hObject handle to edit2 (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 set(hObject,'BackgroundColor','white'); else set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor')); end function edit3_Callback(hObject, eventdata, handles) % hObject handle to edit3 (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 edit3 as text % str2double(get(hObject,'String')) returns contents of edit3 as a double %以字符串的形式来存储数据文本框3的内容。如果字符串不是数字，则现实空白内容 input =str2double(get(hObject,'String')); %检查输入是否为空. 如果为空,则默认显示为0 if (isempty(input)) set(hObject,'String','0') end guidata(hObject, handles); % --- Executes during object creation, after setting all properties. function edit3_CreateFcn(hObject, eventdata, handles) % hObject handle to edit3 (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 set(hObject,'BackgroundColor','white'); else set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor')); end function edit4_Callback(hObject, eventdata, handles) % hObject handle to edit4 (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 edit4 as text % str2double(get(hObject,'String')) returns contents of edit4 as a double %以字符串的形式来存储数据文本框4的内容。如果字符串不是数字，则现实空白内容 input =str2double(get(hObject,'String')); %检查输入是否为空. 如果为空,则默认显示为0 if (isempty(input)) set(hObject,'String','0') end guidata(hObject, handles); % --- Executes during object creation, after setting all properties. function edit4_CreateFcn(hObject, eventdata, handles) % hObject handle to edit4 (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 set(hObject,'BackgroundColor','white'); else set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor')); end function edit5_Callback(hObject, eventdata, handles) % hObject handle to edit5 (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 edit5 as text % str2double(get(hObject,'String')) returns contents of edit5 as a double %以字符串的形式来存储数据文本框5的内容。如果字符串不是数字，则现实空白内容 input =str2double(get(hObject,'String')); %检查输入是否为空. 如果为空,则默认显示为0 if (isempty(input)) set(hObject,'String','0') end guidata(hObject, handles); % --- Executes during object creation, after setting all properties. function edit5_CreateFcn(hObject, eventdata, handles) % hObject handle to edit5 (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 set(hObject,'BackgroundColor','white'); else set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor')); end % --- Executes on selection change in popupmenu1. function popupmenu1_Callback(hObject, eventdata, handles) % hObject handle to popupmenu1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: contents = get(hObject,'String') returns popupmenu1 contents as cell array % contents{get(hObject,'Value')} returns selected item from popupmenu1 popup_sel_index = get(handles.popupmenu1, 'Value'); popup_sel_index = get(handles.popupmenu1, 'Value'); switch popup_sel_index case 1 set(handles.text10 ,'String','期望极点'); set(handles.text11 ,'String',' -10 -10'); set(handles.text12 ,'String','-2+2*sqrt(3)*i -2-2*sqrt(3)*i'); case 2 set(handles.text10 ,'String','加权矩阵'); set(handles.text11 ,'String','Q=[1 0 0 0; 0 0 0 0; 0 0 1 0;0 0 0 0];'); set(handles.text12 ,'String',' R=1'); case 3 set(handles.text10 ,'String','参考输入'); set(handles.text11 ,'String',' y_r=0.2*U(t)'); set(handles.text12 ,'String',' '); case 4 set(handles.text10 ,'String','PID'); set(handles.text11 ,'String',' P=5，I=0.001，D=1'); set(handles.text12 ,'String',' '); end % --- Executes during object creation, after setting all properties. function popupmenu1_CreateFcn(hObject, eventdata, handles) % hObject handle to popupmenu1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: popupmenu controls usually have a white background on Windows. % See ISPC and COMPUTER. if ispc set(hObject,'BackgroundColor','white'); else set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor')); end % --- Executes on button press in pushbutton1. function pushbutton1_Callback(hObject, eventdata, handles) % hObject handle to pushbutton1 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) warning off M = str2double(get(handles.edit1, 'String'));%小车质量 m = str2double(get(handles.edit2, 'String'));%摆杆质量 b = str2double(get(handles.edit3, 'String'));%小车阻尼 I = str2double(get(handles.edit4, 'String'));%摆杆转动惯量 l = str2double(get(handles.edit5, 'String'));%摆杆长度 g=9.8; %重力加速度 %%%%%%%%%%%%%%%%%%%%%%%%计算系统状态矩阵%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% A=[ 0 1 0 0;... (M+m)*m*g*l/((M+m)*I+M*m*l^2) 0 0 m*l*b/((M+m)*I+M*m*l^2);... 0 0 0 1;... -m^2*l^2*g/((M+m)*I+M*m*l^2) 0 0 -(I+m*l^2)*b/((M+m)*I+M*m*l^2)]; B=[0;-m*l/(((M+m)*I+M*m*l^2));0;(I+m*l^2)/((M+m)*I+M*m*l^2)]; C=[0 0 1 0;1 0 0 0]; D=zeros(2,1); E=zeros(4,1); %%%%%%%%%%%%%%%%%%%%将状态矩阵转存到状态空间%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% assignin('base','A',A); assignin('base','B',B); assignin('base','C',C); assignin('base','D',D); assignin('base','E',E); %%%%%%%%%%%%%%%%%%%%%%选择倒立摆的控制方式%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% popup_sel_index = get(handles.popupmenu1, 'Value'); switch popup_sel_index case 1 %%极点配置法 Qc=ctrb(A,B); EA=[-10 0 0 0;... 0 -10 0 0;... 0 0 -2-2*sqrt(3)*i 0;... 0 0 0 -2+2*sqrt(3)*i]; PP=polyvalm(poly(EA),A); Ks=[0 0 0 1]*inv(Qc)*PP; %%计算反馈矩阵 [t,x,y]=sim('jwgcqp.mdl'); %%调用降维观测器的simulink模块 axes(handles.axes1); plot(t,y(:,1)); axes(handles.axes2); plot(t,y(:,3)); axes(handles.axes3) plot([-0.02;0.02],[-0.8;-0.8],'color','k','linestyle','-','linewidth',2); axis([-0.02 0.02 -1.2 1.2]); car1=line([-0.004;0.004],[-0.5;-0.5],'color','k','linestyle','-','erasemode','xor','linewidth',25); car21=line(-0.004,-0.72,'color','k','linestyle','-','erasemode','xor','markersize',40); car22=line( 0.004,-0.72,'color','k','linestyle','-','erasemode','xor','markersize',40); pendulum1=line([0;0],[-0.3;0.6],'color','r','linestyle','-','erasemode','xor','linewidth',10); pendulum2=line(0,-0.27,'color','g','linestyle','-','erasemode','xor','markersize',30); for s=1:length(t) set(car21,'xdata',-0.004+y(s,3),'ydata',-0.72); set(car22,'xdata', 0.004+y(s,3),'ydata',-0.72); set(car1,'xdata',[-0.004+y(s,3);0.004+y(s,3)],'ydata',[-0.5;-0.5]); set(pendulum2,'xdata',y(s,3),'ydata',-0.27); set(pendulum1,'xdata',[y(s,3);sin(y(s,1))+y(s,3)],'ydata',[-0.3;-0.3+cos(y(s,1))]); drawnow; end case 2 %%LQR最优控制器 QQ=diag([1,0,1,0]); RR=1; Ks=lqr(A,B,QQ,RR); %%计算反馈矩阵 [t,x,y]=sim('jwgcql.mdl'); %%调用降维观测器的simulink模块 % figure(2) % subplot(4,2,1) % plot(t,y(:,1)) % title('系统状态变化') % subplot(4,2,2) % plot(t,y(:,5)) % title('降维观测器结果') % subplot(4,2,3) % plot(t,y(:,2)) % subplot(4,2,4) % plot(t,y(:,6)) % subplot(4,2,5) % plot(t,y(:,3)) % subplot(4,2,6) % plot(t,y(:,7)) % subplot(4,2,7) % plot(t,y(:,4)) % subplot(4,2,8) % plot(t,y(:,8)) axes(handles.axes1); plot(t,y(:,1)); axes(handles.axes2); plot(t,y(:,3)); axes(handles.axes3); plot([-0.3;0.3],[-0.8;-0.8],'color','k','linestyle','-','linewidth',2); axis([-0.3 0.3 -1.2 1.2]); car1=line([-0.06;0.06],[-0.5;-0.5],'color','k','linestyle','-','erasemode','xor','linewidth',25); car21=line(-0.06,-0.72,'color','k','linestyle','-','erasemode','xor','markersize',40); car22=line( 0.06,-0.72,'color','k','linestyle','-','erasemode','xor','markersize',40); pendulum1=line([0;0],[-0.3;0.6],'color','r','linestyle','-','erasemode','xor','linewidth',10); pendulum2=line(0,-0.27,'color','g','linestyle','-','erasemode','xor','markersize',30); for s=1:length(t) set(car21,'xdata',-0.06+y(s,3),'ydata',-0.72); set(car22,'xdata', 0.06+y(s,3),'ydata',-0.72); set(car1,'xdata',[-0.06+y(s,3);0.06+y(s,3)],'ydata',[-0.5;-0.5]); set(pendulum2,'xdata',y(s,3),'ydata',-0.27); set(pendulum1,'xdata',[y(s,3);sin(y(s,1))+y(s,3)],'ydata',[-0.3;-0.3+cos(y(s,1))]); drawnow; end case 3 % A=[ 0 1 0 0;... % (M+m)*m*g*l/((M+m)*I+M*m*l^2) 0 0 m*l*b/((M+m)*I+M*m*l^2);... % 0 0 0 1;... % -m^2*l^2*g/((M+m)*I+M*m*l^2) 0 0 -(I+m*l^2)*b/((M+m)*I+M*m*l^2)]; % B=[0;-m*l/(((M+m)*I+M*m*l^2));0;(I+m*l^2)/((M+m)*I+M*m*l^2)]; % C=[0 0 1 0;1 0 0 0]; % p=[-10,-7,-1.901,-1.9]; % Kysw=place(A,B,p); [x,y]=sim('pedulumpid.mdl'); axes(handles.axes1); plot(t,y(:,1)); axes(handles.axes2); plot(t,y(:,3)); axes(handles.axes3); plot([-0.3;0.3],[-0.8;-0.8],'color','k','linestyle','-','linewidth',2); axis([-0.3 0.3 -1.2 1.2]); car1=line([-0.06;0.06],[-0.5;-0.5],'color','k','linestyle','-','erasemode','xor','linewidth',25); car21=line(-0.06,-0.72,'color','k','linestyle','-','erasemode','xor','markersize',40); car22=line( 0.06,-0.72,'color','k','linestyle','-','erasemode','xor','markersize',40); pendulum1=line([0;0],[-0.3;0.6],'color','r','linestyle','-','erasemode','xor','linewidth',10); pendulum2=line(0,-0.27,'color','g','linestyle','-','erasemode','xor','markersize',30); for s=1:length(t) set(car21,'xdata',-0.06+y(s,3),'ydata',-0.72); set(car22,'xdata', 0.06+y(s,3),'ydata',-0.72); set(car1,'xdata',[-0.06+y(s,3);0.06+y(s,3)],'ydata',[-0.5;-0.5]); set(pendulum2,'xdata',y(s,3),'ydata',-0.27); set(pendulum1,'xdata',[y(s,3);sin(y(s,1))+y(s,3)],'ydata',[-0.3;-0.3+cos(y(s,1))]); drawnow; end end % --- Executes on button press in pushbutton4. function pushbutton4_Callback(hObject, eventdata, handles) % hObject handle to pushbutton4 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) pause; % --- Executes on button press in pushbutton5. function pushbutton5_Callback(hObject, eventdata, handles) % hObject handle to pushbutton5 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) close(gcbf); clc,clear,close all A87

基于Qlearning强化学习的机器人路线规划仿真

1.算法概述假设我们的行为准则已经学习好了, 现在我们处于状态s1, 我在写作业, 我有两个行为 a1, a2, 分别是看电视和写作业, 根据我的经验, 在这种 s1 状态下, a2 写作业带来的潜在奖励要比 a1 看电视高, 这里的潜在奖励我们可以用一个有关于 s 和 a 的 Q 表格代替, 在我的记忆Q表格中, Q(s1, a1)=-2 要小于 Q(s1, a2)=1, 所以我们判断要选择 a2 作为下一个行为. 现在我们的状态更新成 s2 , 我们还是有两个同样的选择, 重复上面的过程, 在行为准则Q 表中寻找 Q(s2, a1) Q(s2, a2) 的值, 并比较他们的大小, 选取较大的一个. 接着根据 a2 我们到达 s3 并在此重复上面的决策过程. Q learning 的方法也就是这样决策的. 看完决策, 我看在来研究一下这张行为准则 Q 表是通过什么样的方式更改, 提升的. 机器学习算法可以分为3种：有监督学习（Supervised Learning）、无监督学习（Unsupervised Learning）和强化学习（Reinforcement Learning），如下图所示：有监督学习、无监督学习、强化学习具有不同的特点：有监督学习是有一个label（标记）的，这个label告诉算法什么样的输入对应着什么样的输出，常见的算法是分类、回归等；无监督学习则是没有label（标记），常见的算法是聚类；强化学习强调如何基于环境而行动，以取得最大化的预期利益。主要学习内容：强化学习是什么，奖励思想。强化学习的三种途径。深度强化学习的“深”是什么意思Q-Learning的QTable标签更新公式：Q-Learning的计算步骤:1.判断在当前位置可以有几种操作；2.根据当前位置允许的操作选择一个操作；3.根据选择的操作进行奖赏；4.修改当前行为的本次操作权重；2.仿真效果预览matlab2022a仿真结果如下：3.核心MATLAB代码预览% 移动机器人路径规划仿真平台接口：仿真平台提供了机器人工作环境的仿真界面，利用inf=load('inf'),sp=inf.StartPoint, % EP=inf.EndPoint,WS=inf.env得到机器人工作环境的出发点、目标点位置及障碍物位置信息，工作空间边界及障碍物区域设置为1，自由空间 %设置为0。 gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @Simulation_OpeningFcn, ... 'gui_OutputFcn', @Simulation_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 GridSimulation is made visible. function Simulation_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 GridSimulation (see VARARGIN) % Choose default command line output for GridSimulation handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes GridSimulation wait for user response (see UIRESUME) % uiwait(handles.mainfig); %cd D:\Simulation\EvolvingPath\path cla grid on xlabel('X'); ylabel('Y'); %初始化，获取各对象句柄 handles.StartPoint=findobj('tag','StartPoint'); %获取“设置开始点”按钮句柄 handles.EndPoint=findobj('tag','EndPoint'); %获取“设置目标点”按钮句柄 handles.Obstacle=findobj('tag','Obstacle'); %获取“设置障碍物”按钮句柄 handles.Start=findobj('tag','Start'); %获取“开始运行”按钮句柄 handles.OldEnv=findobj('tag','OldEnv'); %获取“还原环境”按钮句柄 handles.MainAxes=findobj('tag','MainAxes'); %获取主坐标句柄 handles.MainFigure=findobj('tag','MainFigure'); %获取主窗口句柄 %初始化，设置各按钮显示状态 set(handles.StartPoint,'Enable','on') %“设置开始点”按钮可用 set(handles.EndPoint,'Enable','off') %“设置目标点”按钮禁用 set(handles.Obstacle,'Enable','off') %“设置障碍物”按钮禁用 set(handles.Start,'Enable','off') %“开始运行”按钮禁用 set(handles.OldEnv,'Enable','off') %“还原环境”按钮可用 set(handles.MainFigure,'WindowButtonDownFcn',''); % set(handles.MainFigure,'WindowButtonUpFcn',''); % set(handles.MainAxes,'ButtonDownFcn',''); % set(handles.MainAxes,'ButtonDownFcn',''); % inf=load('inf'); %打开环境信息文件，inf.mat由save命令创建，存储了开始点、目标点、障碍物信息等 XLim=20; %x轴最大取值 YLim=20; %y轴最大取值 BreakTask=0; %初始化终止任务变量 for i=1:XLim %将边界设置成障碍物 for j=1:YLim if ((i==1)|(i==XLim)|(j==1)|(j==YLim)) ws(i,j)=1; end end end save('inf','ws','-append'); save('inf','BreakTask','-append'); % --- Outputs from this function are returned to the command line. function varargout = Simulation_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 button press in StartPoint. function StartPoint_Callback(hObject, eventdata, handles) % hObject handle to StartPoint (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) set(handles.StartPoint,'Enable','off') set(handles.EndPoint,'Enable','on') set(handles.Obstacle,'Enable','off') set(handles.Start,'Enable','off') flag=0; save('inf','flag','-append'); set(handles.MainFigure,'WindowButtonDownFcn',''); set(handles.MainFigure,'WindowButtonUpFcn',''); set(handles.MainAxes,'ButtonDownFcn','PathPlanning(''MainAxes_ButtonDownFcn'',gcbo,[],guidata(gcbo))'); % --- Executes on button press in EndPoint. function EndPoint_Callback(hObject, eventdata, handles) % hObject handle to EndPoint (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) set(handles.StartPoint,'Enable','off') set(handles.EndPoint,'Enable','off') set(handles.Obstacle,'Enable','on') set(handles.Start,'Enable','on') flag=1; save('inf','flag','-append'); %set(handles.MainFigure,'WindowButtonDownFcn',''); %set(handles.MainFigure,'WindowButtonUpFcn',''); set(handles.MainAxes,'ButtonDownFcn','PathPlanning(''MainAxes_ButtonDownFcn'',gcbo,[],guidata(gcbo))'); % --- Executes on mouse press over axes background. function MainAxes_ButtonDownFcn(hObject, eventdata, handles) % hObject handle to MainAxes (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) inf=load('inf'); flag=inf.flag; start_end=inf.start_end; p=get(handles.MainAxes,'CurrentPoint'); hold on; if(flag==0) p=round(p); start_end(1,1)=p(1,1);start_end(1,2)=p(1,2); %记录起点信息，给inf.mat文件赋值 StartPoint(1,1)=p(1,1);StartPoint(1,2)=p(1,2); %为当前点赋值，当前点为起点的位置信息 save('inf','StartPoint','-append'); HRobot=plot(start_end(1,1),start_end(1,2),'pentagram'); %画开始点位置 text(start_end(1,1)-.5,start_end(1,2)-.5,'Start'); RobotDirection=inf.RobotDirection;%机器人方向应该是传递参数 x=start_end(1,1); y=start_end(1,2); RobotPosX=x; RobotPosY=y; save('inf','RobotPosX','-append'); save('inf','RobotPosY','-append'); else p=round(p); start_end(2,1)=p(1,1);start_end(2,2)=p(1,2); EndPoint(1,1)=p(1,1);EndPoint(1,2)=p(1,2); %为当前点赋值，当前点为结束点的位置信息 EndPoint=round(EndPoint); save('inf','EndPoint','-append'); plot(start_end(2,1),start_end(2,2),'*','color','r') text(start_end(2,1)-.5,start_end(2,2)+.5,'Goal'); end save('inf','start_end','-append'); set(handles.MainAxes,'ButtonDownFcn',''); set(handles.MainAxes,'ButtonDownFcn',''); % --- Executes on button press in Obstacle. function Obstacle_Callback(hObject, eventdata, handles) % hObject handle to Obstacle (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) env=zeros(50); save('inf','env','-append'); set(handles.StartPoint,'Enable','off') set(handles.EndPoint,'Enable','off') set(handles.Obstacle,'Enable','on') set(handles.Start,'Enable','on') set(handles.OldEnv,'Enable','on') %“开始运行”按钮禁用 set(handles.MainFigure,'WindowButtonDownFcn','PathPlanning(''MainFigure_WindowButtonDownFcn'',gcbo,[],guidata(gcbo))'); %set(handles.MainFigure,'WindowButtonUpFcn','PathPlanning(''MainFigure_WindowButtonUpFcn'',gcbo,[],guidata(gcbo))'); function MainFigure_WindowButtonDownFcn(hObject, eventdata, handles) % hObject handle to MainFigure (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) inf=load('inf'); ws=inf.env; Pos=get(handles.MainAxes,'CurrentPoint'); Pos=round(Pos); XPos=Pos(1,1);YPos=Pos(1,2); %当前点坐标 X=[XPos-.5,XPos-.5,XPos+.5,XPos+.5]; Y=[YPos-.5,YPos+.5,YPos+.5,YPos-.5]; fill(X,Y,[0 0 0]) %画障碍物 text(13-.2,12,'B','color',[1 1 1]); text(7-.2,8,'A','color',[1 1 1]); % for i=XPos-1:XPos+1 % for j=YPos-1:YPos+1 % if((i>0)&(i<=XLim)) %防止出现环境矩阵元素下标为零 % if((j>0)&(j<=YLim)) ws(XPos,YPos)=1; % end % end % end %end env=ws; save('inf','env','-append'); % --- Executes on button press in SensorChecked. function SensorChecked_Callback(hObject, eventdata, handles) % hObject handle to SensorChecked (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hint: get(hObject,'Value') returns toggle state of SensorChecked function RobotVelocity_Callback(hObject, eventdata, handles) %设置机器人运行速度 % hObject handle to RobotVelocity (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 RobotVelocity as text % str2double(get(hObject,'String')) returns contents of RobotVelocity as a double function RobotRadius_Callback(hObject, eventdata, handles) %设置机器人半径 % hObject handle to RobotRadius (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 RobotRadius as text % str2double(get(hObject,'String')) returns contents of RobotRadius as a double % --- Executes during object creation, after setting all properties. function SensorMaxValue_Callback(hObject, eventdata, handles) %设置传感器测量范围 % hObject handle to SensorMaxValue (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 SensorMaxValue as text % str2double(get(hObject,'String')) returns contents of SensorMaxValue as a double function Handbook_Callback(hObject, eventdata, handles) %系统简介 % hObject handle to Handbook (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) uiopen('系统简介.txt',1) function ClearScreen_Callback(hObject, eventdata, handles) %重新开始 % hObject handle to ClearScreen (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) set(handles.StartPoint,'Enable','on') %“设置开始点”按钮可用 set(handles.EndPoint,'Enable','off') %“设置目标点”按钮禁用 set(handles.Obstacle,'Enable','off') %“设置障碍物”按钮禁用 set(handles.Start,'Enable','off') %“开始运行”按钮禁用 cla clear all % --- Executes on button press in OldEnv. function OldEnv_Callback(hObject, eventdata, handles) % hObject handle to OldEnv (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) XLim=20; %x轴最大取值 YLim=20; %y轴最大取值 inf=load('inf'); ws=inf.env; %得到障碍物信息 SP=inf.StartPoint; %出发点位置 EP=inf.EndPoint; %目标点位置 set(handles.StartPoint,'Enable','off') set(handles.EndPoint,'Enable','off') set(handles.Obstacle,'Enable','off') set(handles.Start,'Enable','on') HandleStart=line([SP(1,1) SP(1,1)],[SP(1,2) SP(1,2)]); %设置开始点 text(SP(1,1)-.5,SP(1,2)-.5,'Start'); HandleTarget=line([EP(1,1) EP(1,1)],[EP(1,2) EP(1,2)]); %设置目标点 text(EP(1,1)-.5,EP(1,2)+.5,'Goal'); set(HandleStart,'marker','pentagram') set(HandleTarget,'marker','*','color','r') for i=1:XLim %将边界设置成障碍物 for j=1:YLim if ((i==1)|(i==XLim)|(j==1)|(j==YLim)) ws(i,j)=1; end end end for i=2:XLim-1 %还原障碍物信息 for j=2:YLim-1 if((ws(i,j)==1)) X=[i-.5,i-.5,i+.5,i+.5]; Y=[j-.5,j+.5,j+.5,j-.5]; fill(X,Y,[0 0 0]); %设置障碍物 end end end X=[1-.5,1-.5,1+.5,1+.5]; Y=[6-.5,6+.5,6+.5,6-.5]; fill(X,Y,[0 0 0]); %设置障碍物 X=[1-.5,1-.5,1+.5,1+.5]; Y=[14-.5,14+.5,14+.5,14-.5]; fill(X,Y,[0 0 0]); %设置障碍物 X=[10-.5,10-.5,10+.5,10+.5]; Y=[1-.5,1+.5,1+.5,1-.5]; fill(X,Y,[0 0 0]); %设置障碍物 text(13-.2,12,'B','color',[1 1 1]); text(7-.2,8,'A','color',[1 1 1]); X=[0,0,.5,.5]; Y=[0,YLim,YLim,0]; fill(X,Y,[0 0 0]); %设置边界为障碍物 X=[XLim-.5,XLim-.5,XLim,XLim]; Y=[0,YLim,YLim,0]; fill(X,Y,[0 0 0]); %设置边界为障碍物 X=[0,0,XLim,XLim]; Y=[YLim-.5,YLim,YLim,YLim-.5]; fill(X,Y,[0 0 0]); %设置边界为障碍物 X=[0,0,XLim,XLim]; Y=[0,.5,.5,0]; fill(X,Y,[0 0 0]); %设置边界为障碍物 %axis([0 20 0 20]) %机器人当前位置设置为开始位置 RobotPosX=SP(1,1); RobotPosY=SP(1,2); save('inf','RobotPosX','-append'); save('inf','RobotPosY','-append'); function RobotSingleLength_Callback(hObject, eventdata, handles) %设置单步运行距离 % hObject handle to RobotSingleLength (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 RobotSingleLength as text % str2double(get(hObject,'String')) returns contents of RobotSingleLength as a double function BreakTask_Callback(hObject, eventdata, handles) % hObject handle to BreakTask (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) BreakTask=1; inf=load('inf'); save('inf','BreakTask','-append'); function SaveAs_Callback(hObject, eventdata, handles) % hObject handle to SaveAs (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) %saveas(hObject,'g.bmp'); %print(gcf, '-depsc','-tiff','-r600','test.eps') %saveas(gcf, 'test.eps', 'psc2') %pause axes(handles.MainAxes); %取得axes１的句柄 if isempty(handles.MainAxes) return; end newFig = figure;%由于直接保存axes1上的图像有困难，所以保存在新建的figure中的谱图 set(newFig,'Visible','off','color',[1,1,1])%设置新建的figure为不可见 newAxes = copyobj(handles.MainAxes,newFig); %将axes1中的图复制到新建的figure中 set(newAxes,'Units','default','Position','default'); % 设置图显示的位置 [filename,pathname] = uiputfile({ '*.tif','figure type(*.tif)'}, '结果另存为'); if isequal(filename,0)||isequal(pathname,0)%如果用户选择“取消”，则退出 return; else fpath=fullfile(pathname,filename); end f = getframe(newFig); f = frame2im(f); imwrite(f, fpath); %saveas(newFig,'filename.eps') %close(newFig) %移动机器人路径规划仿真平台程序 END END END END END END END END END END END END END END END END END END END % -------------------------------------------------------------------- function MainFigure_WindowButtonMotionFcn(hObject, eventdata, handles) % hObject handle to MainFigure (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) %h=get(handles.MainFigure,'SelectionType') function RobotRadius_CreateFcn(hObject, eventdata, handles) % hObject handle to RobotRadius (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 mainfig_CreateFcn(hObject, eventdata, handles) % hObject handle to mainfig (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 MainFigure_CreateFcn(hObject, eventdata, handles) % hObject handle to MainFigure (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % --- Executes on button press in Start. % --- Executes during object creation, after setting all properties. function RobotSingleLength_CreateFcn(hObject, eventdata, handles) % hObject handle to RobotSingleLength (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 % --- Executes during object creation, after setting all properties. function SensorMaxValue_CreateFcn(hObject, eventdata, handles) % hObject handle to SensorMaxValue (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 % --- Executes during object creation, after setting all properties. function RobotVelocity_CreateFcn(hObject, eventdata, handles) % hObject handle to RobotVelocity (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 Sensor1Length_Callback(hObject, eventdata, handles) % hObject handle to Sensor1Length (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 Sensor1Length as text % str2double(get(hObject,'String')) returns contents of Sensor1Length as a double % --- Executes during object creation, after setting all properties. function Sensor1Length_CreateFcn(hObject, eventdata, handles) % hObject handle to Sensor1Length (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 Sensor2Length_Callback(hObject, eventdata, handles) % hObject handle to Sensor2Length (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 Sensor2Length as text % str2double(get(hObject,'String')) returns contents of Sensor2Length as a double % --- Executes during object creation, after setting all properties. function Sensor2Length_CreateFcn(hObject, eventdata, handles) % hObject handle to Sensor2Length (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 Sensor3Length_Callback(hObject, eventdata, handles) % hObject handle to Sensor3Length (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 Sensor3Length as text % str2double(get(hObject,'String')) returns contents of Sensor3Length as a double % --- Executes during object creation, after setting all properties. function Sensor3Length_CreateFcn(hObject, eventdata, handles) % hObject handle to Sensor3Length (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 Sensor4Length_Callback(hObject, eventdata, handles) % hObject handle to Sensor4Length (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 Sensor4Length as text % str2double(get(hObject,'String')) returns contents of Sensor4Length as a double % --- Executes during object creation, after setting all properties. function Sensor4Length_CreateFcn(hObject, eventdata, handles) % hObject handle to Sensor4Length (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 Sensor5Length_Callback(hObject, eventdata, handles) % hObject handle to Sensor5Length (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 Sensor5Length as text % str2double(get(hObject,'String')) returns contents of Sensor5Length as a double % --- Executes during object creation, after setting all properties. function Sensor5Length_CreateFcn(hObject, eventdata, handles) % hObject handle to Sensor5Length (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 Sensor6Length_Callback(hObject, eventdata, handles) % hObject handle to Sensor6Length (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 Sensor6Length as text % str2double(get(hObject,'String')) returns contents of Sensor6Length as a double % --- Executes during object creation, after setting all properties. function Sensor6Length_CreateFcn(hObject, eventdata, handles) % hObject handle to Sensor6Length (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 Sensor7Length_Callback(hObject, eventdata, handles) % hObject handle to Sensor7Length (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 Sensor7Length as text % str2double(get(hObject,'String')) returns contents of Sensor7Length as a double % --- Executes during object creation, after setting all properties. function Sensor7Length_CreateFcn(hObject, eventdata, handles) % hObject handle to Sensor7Length (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 Sensor8Length_Callback(hObject, eventdata, handles) % hObject handle to Sensor8Length (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 Sensor8Length as text % str2double(get(hObject,'String')) returns contents of Sensor8Length as a double % --- Executes during object creation, after setting all properties. function Sensor8Length_CreateFcn(hObject, eventdata, handles) % hObject handle to Sensor8Length (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 RobotPosX_Callback(hObject, eventdata, handles) % hObject handle to RobotPosX (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 RobotPosX as text % str2double(get(hObject,'String')) returns contents of RobotPosX as a double % --- Executes during object creation, after setting all properties. function RobotPosX_CreateFcn(hObject, eventdata, handles) % hObject handle to RobotPosX (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 RobotPosY_Callback(hObject, eventdata, handles) % hObject handle to RobotPosY (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 RobotPosY as text % str2double(get(hObject,'String')) returns contents of RobotPosY as a double % --- Executes during object creation, after setting all properties. function RobotPosY_CreateFcn(hObject, eventdata, handles) % hObject handle to RobotPosY (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 % --- Executes on selection change in popupmenu6. function popupmenu6_Callback(hObject, eventdata, handles) % hObject handle to popupmenu6 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: contents = get(hObject,'String') returns popupmenu6 contents as cell array % contents{get(hObject,'Value')} returns selected item from popupmenu6 % --- Executes during object creation, after setting all properties. function popupmenu6_CreateFcn(hObject, eventdata, handles) % hObject handle to popupmenu6 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: popupmenu 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 RobotDirection_Callback(hObject, eventdata, handles) % hObject handle to RobotDirection (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 RobotDirection as text % str2double(get(hObject,'String')) returns contents of RobotDirection as a double % --- Executes during object creation, after setting all properties. function RobotDirection_CreateFcn(hObject, eventdata, handles) % hObject handle to RobotDirection (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 % --- Executes on button press in Start. function Start_Callback(hObject, eventdata, handles) % hObject handle to Start (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % --- Executes on selection change in Tasklistbox. function Tasklistbox_Callback(hObject, eventdata, handles) % hObject handle to Tasklistbox (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: contents = get(hObject,'String') returns Tasklistbox contents as cell array % contents{get(hObject,'Value')} returns selected item from Tasklistbox % --- Executes during object creation, after setting all properties. function Tasklistbox_CreateFcn(hObject, eventdata, handles) % hObject handle to Tasklistbox (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: listbox 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 % --- Executes on selection change in AlgorithmListBox. function AlgorithmListBox_Callback(hObject, eventdata, handles) % hObject handle to AlgorithmListBox (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Hints: contents = get(hObject,'String') returns AlgorithmListBox contents as cell array % contents{get(hObject,'Value')} returns selected item from AlgorithmListBox % --- Executes during object creation, after setting all properties. function AlgorithmListBox_CreateFcn(hObject, eventdata, handles) % hObject handle to AlgorithmListBox (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles empty - handles not created until after all CreateFcns called % Hint: listbox 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 A_006

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