RRP - Robot Kolun Matlab Kodları

 

Revolute - Revolute - Prismatic eklemlere sahip robotun ileri kinematik ve ters kinematik denklemleri ile robot kolun matlab ortamın da görselleştirilmesi.

Yörünge planlaması ile başlangıç v bitiş konumları kaydedilen noktalar arası belirli sürelerde hareket mevcuttur. 

Farklı bir çalışmaya ihtiyaç duymanız halinde ücret karşılığın da yardımcı olabilirim, bana iletişim kısmından ulaşabilirsiniz...

Kodları aşağıya bırakıyorum iyi çalışmalar...

function varargout = ali_ahmet_tuncay(varargin)
% ALI_AHMET_TUNCAY MATLAB code for ali_ahmet_tuncay.fig
%      ALI_AHMET_TUNCAY, by itself, creates a new ALI_AHMET_TUNCAY or raises the existing
%      singleton*.
%
%      H = ALI_AHMET_TUNCAY returns the handle to a new ALI_AHMET_TUNCAY or the handle to
%      the existing singleton*.
%
%      ALI_AHMET_TUNCAY('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in ALI_AHMET_TUNCAY.M with the given input arguments.
%
%      ALI_AHMET_TUNCAY('Property','Value',...) creates a new ALI_AHMET_TUNCAY or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before ali_ahmet_tuncay_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to ali_ahmet_tuncay_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 ali_ahmet_tuncay

% Last Modified by GUIDE v2.5 14-Jan-2019 12:53:36

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @ali_ahmet_tuncay_OpeningFcn, ...
                   'gui_OutputFcn',  @ali_ahmet_tuncay_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 ali_ahmet_tuncay is made visible.
function ali_ahmet_tuncay_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 ali_ahmet_tuncay (see VARARGIN)

% Choose default command line output for ali_ahmet_tuncay
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);
clear all
clc

% axes(handles.axes1)%AXES1 İN ÖZELLİKLERİNE ERİŞ
axis([-3,3,-3,3,0,3])
xlabel('X EKSENİ');
ylabel('Y EKSENİ');
zlabel('Z EKSENİ');
title('MAKİNE');

global h1 l2 d2 q1 q2 d3 q1s q2s d3s
h1=1;
l2=1;
d2=1;
q1=0;
q2=0;
d3=0;

%MAKİNEMİZİN SON KONUMUNU TUTAN DEGİŞKENLER
q1s=0;
q2s=0;
d3s=0;

t01=[cosd(q1) -sind(q1) 0 0;sind(q1) cosd(q1) 0 0;0 0 1 h1;0 0 0 1];
t12=[cosd(q2) -sind(q2) 0 0;0 0 -1 -d2;sind(q2) cosd(q2) 0 0;0 0 0 1];
t23=[1 0 0 0;0 0 1 (l2+d3);0 -1 0 0;0 0 0 1];

T01=t01;
T02=t01*t12;
T03=t01*t12*t23;

x=[0 T01(1,4)];
y=[0 T01(2,4)];
z=[0 T01(3,4)];

x01_02=[T01(1,4) T02(1,4)];
y01_02=[T01(2,4) T02(2,4)];
z01_02=[T01(3,4) T02(3,4)];

x02_03=[T02(1,4) T03(1,4)];
y02_03=[T02(2,4) T03(2,4)];
z02_03=[T02(3,4) T03(3,4)];


line(x,y,z,'LineWidth',5,'Color','b');
line(x01_02,y01_02,z01_02,'LineWidth',5,'Color','r');
line(x02_03,y02_03,z02_03,'LineWidth',5,'Color','g');



% UIWAIT makes ali_ahmet_tuncay wait for user response (see UIRESUME)
% uiwait(handles.figure1);


% --- Outputs from this function are returned to the command line.
function varargout = ali_ahmet_tuncay_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 ileri_kinematik.
function ileri_kinematik_Callback(hObject, eventdata, handles)
% hObject    handle to ileri_kinematik (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global h1 l2 d2 q1s q2s d3s

q1=str2double(get(handles.edit1,'String'));
q2=str2double(get(handles.edit2,'String'));
d3=str2double(get(handles.edit3,'String'));

t01=[cosd(q1) -sind(q1) 0 0;sind(q1) cosd(q1) 0 0;0 0 1 h1;0 0 0 1];
t12=[cosd(q2) -sind(q2) 0 0;0 0 -1 -d2;sind(q2) cosd(q2) 0 0;0 0 0 1];
t23=[1 0 0 0;0 0 1 (l2+d3);0 -1 0 0;0 0 0 1];

t03=t01*t12*t23;

set(handles.edit13,'String',t03(1,4));
set(handles.edit14,'String',t03(2,4));
set(handles.edit15,'String',t03(3,4));

set(handles.edit4,'String',t03(1,1));
set(handles.edit5,'String',t03(2,1));
set(handles.edit6,'String',t03(3,1));

set(handles.edit7,'String',t03(1,2));
set(handles.edit8,'String',t03(2,2));
set(handles.edit9,'String',t03(3,2));

set(handles.edit10,'String',t03(1,3));
set(handles.edit11,'String',t03(2,3));
set(handles.edit12,'String',t03(3,3));

% time=str2double(get(handles.edit16,'String'));
% %animasyon kodları
% %1. bag için kodlar
% t10=q1s;
% t1f=q1;
% 
% s10=q1s;
% s12=(3/time^2)*(t1f-t10);
% s13=(-2/time^3)*(t1f-t10);
% %2.bag için kodlar
% t20=q2s;
% t2f=q2;
% 
% s20=q2s;
% s22=(3/time^2)*(t2f-t10);
% s23=(-2/time^3)*(t2f-t10);
% %3. bag için kodlar
% t10=q1s;
% t1f=q1;
% 
% s10=q1s;
% s12=(3/time^2)*(t1f-t10);
% s13=(-2/time^3)*(t1f-t10);
% %s0 s2 s3 lerin hesplamasının sonu

Q1=(q1-q1s)/360;
Q2=(q2-q2s)/360;
D3=(d3-d3s)/360;

for i=1:360
    
    q1s=q1s+Q1;
    q2s=q2s+Q2;
    d3s=d3s+D3;

    t01=[cosd(q1s) -sind(q1s) 0 0;sind(q1s) cosd(q1s) 0 0;0 0 1 h1;0 0 0 1];
    t12=[cosd(q2s) -sind(q2s) 0 0;0 0 -1 -d2;sind(q2s) cosd(q2s) 0 0;0 0 0 1];
    t23=[1 0 0 0;0 0 1 (l2+d3s);0 -1 0 0;0 0 0 1];

    T01=t01;
    T02=t01*t12;
    T03=t01*t12*t23;

    x=[0 T01(1,4)];
    y=[0 T01(2,4)];
    z=[0 T01(3,4)];

    x01_02=[T01(1,4) T02(1,4)];
    y01_02=[T01(2,4) T02(2,4)];
    z01_02=[T01(3,4) T02(3,4)];

    x02_03=[T02(1,4) T03(1,4)];
    y02_03=[T02(2,4) T03(2,4)];
    z02_03=[T02(3,4) T03(3,4)];
   
    line(x,y,z,'LineWidth',5,'Color','b');
    line(x01_02,y01_02,z01_02,'LineWidth',5,'Color','r');
    line(x02_03,y02_03,z02_03,'LineWidth',5,'Color','g');
    
    pause(0.001)
    if i<360
        cla
    end
end


% --- Executes on button press in ters_kinematik.
function ters_kinematik_Callback(hObject, eventdata, handles)
% hObject    handle to ters_kinematik (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global h1 l2 d2 q1s q2s d3s

px=str2double(get(handles.edit13,'String'));
py=str2double(get(handles.edit14,'String'));
pz=str2double(get(handles.edit15,'String'));

q1(1)=atan2d(px,-py)+atan2d(sqrt(px^2+py^2-d2^2),d2);
q1(2)=atan2d(px,-py)+atan2d(-sqrt(px^2+py^2-d2^2),d2);

q2(1)=atan2d(-cosd(q1(1))*px-sind(q1(1))*py,pz-h1);
q2(2)=atan2d(-cosd(q1(1))*px-sind(q1(1))*py,-pz+h1);

q2(3)=atan2d(-cosd(q1(2))*px-sind(q1(2))*py,pz-h1);
q2(4)=atan2d(-cosd(q1(2))*px-sind(q1(2))*py,-pz+h1);

d3(1)=-sind(q2(1))*(cosd(q1(1))*px+sind(q1(1))*py)+cosd(q2(1))*(pz-h1)-l2;
d3(2)=-sind(q2(2))*(cosd(q1(1))*px+sind(q1(1))*py)+cosd(q2(2))*(pz-h1)-l2;

% d3(3)=-sind(q2(3))*(cosd(q1(2))*px+sind(q1(2))*py)+cosd(q2(3))*(pz-h1)-l2;
% d3(4)=-sind(q2(4))*(cosd(q1(2))*px+sind(q1(2))*py)+cosd(q2(4))*(pz-h1)-l2

t=1;

for i=1:2
    for j=1:4
        for k=1:2
            sonuc=kontrol(q1(i),q2(j),d3(k));
            if (px<=sonuc(1)+0.01 && px>=sonuc(1)-0.01) && (py<=sonuc(2)+0.01 && py>=sonuc(2)-0.01) && (pz<=sonuc(3)+0.01 && pz>=sonuc(3)-0.01)
               aci(t,1)=q1(i);
               aci(t,2)=q2(j);
               aci(t,3)=d3(k);
               t=t+1;
            end
        end
    end
end
aci;
set(handles.edit1,'String',aci(1,1));
set(handles.edit2,'String',aci(1,2));
set(handles.edit3,'String',aci(1,3));


%animasyon kodları
q1=aci(1,1);
q2=aci(1,2);
d3=aci(1,3);

Q1=(q1-q1s)/360;
Q2=(q2-q2s)/360;
D3=(d3-d3s)/360;


for i=1:360
    
    q1s=q1s+Q1;
    q2s=q2s+Q2;
    d3s=d3s+D3;
    
    t01=[cosd(q1s) -sind(q1s) 0 0;sind(q1s) cosd(q1s) 0 0;0 0 1 h1;0 0 0 1];
    t12=[cosd(q2s) -sind(q2s) 0 0;0 0 -1 -d2;sind(q2s) cosd(q2s) 0 0;0 0 0 1];
    t23=[1 0 0 0;0 0 1 (l2+d3s);0 -1 0 0;0 0 0 1];

    T01=t01;
    T02=t01*t12;
    T03=t01*t12*t23;

    x=[0 T01(1,4)];
    y=[0 T01(2,4)];
    z=[0 T01(3,4)];

    x01_02=[T01(1,4) T02(1,4)];
    y01_02=[T01(2,4) T02(2,4)];
    z01_02=[T01(3,4) T02(3,4)];

    x02_03=[T02(1,4) T03(1,4)];
    y02_03=[T02(2,4) T03(2,4)];
    z02_03=[T02(3,4) T03(3,4)];


    line(x,y,z,'LineWidth',5,'Color','b');
    line(x01_02,y01_02,z01_02,'LineWidth',5,'Color','r');
    line(x02_03,y02_03,z02_03,'LineWidth',5,'Color','g');
    
    pause(0.001)
    if i<360
        cla
    end
end


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


% --- 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 && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
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


% --- 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 && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
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


% --- 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 && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
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


% --- 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 && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
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


% --- 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 && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function edit6_Callback(hObject, eventdata, handles)
% hObject    handle to edit6 (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 edit6 as text
%        str2double(get(hObject,'String')) returns contents of edit6 as a double


% --- Executes during object creation, after setting all properties.
function edit6_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit6 (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 edit7_Callback(hObject, eventdata, handles)
% hObject    handle to edit7 (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 edit7 as text
%        str2double(get(hObject,'String')) returns contents of edit7 as a double


% --- Executes during object creation, after setting all properties.
function edit7_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit7 (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 edit8_Callback(hObject, eventdata, handles)
% hObject    handle to edit8 (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 edit8 as text
%        str2double(get(hObject,'String')) returns contents of edit8 as a double


% --- Executes during object creation, after setting all properties.
function edit8_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit8 (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 edit9_Callback(hObject, eventdata, handles)
% hObject    handle to edit9 (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 edit9 as text
%        str2double(get(hObject,'String')) returns contents of edit9 as a double


% --- Executes during object creation, after setting all properties.
function edit9_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit9 (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 edit10_Callback(hObject, eventdata, handles)
% hObject    handle to edit10 (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 edit10 as text
%        str2double(get(hObject,'String')) returns contents of edit10 as a double


% --- Executes during object creation, after setting all properties.
function edit10_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit10 (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 edit11_Callback(hObject, eventdata, handles)
% hObject    handle to edit11 (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 edit11 as text
%        str2double(get(hObject,'String')) returns contents of edit11 as a double


% --- Executes during object creation, after setting all properties.
function edit11_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit11 (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 edit12_Callback(hObject, eventdata, handles)
% hObject    handle to edit12 (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 edit12 as text
%        str2double(get(hObject,'String')) returns contents of edit12 as a double


% --- Executes during object creation, after setting all properties.
function edit12_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit12 (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 edit13_Callback(hObject, eventdata, handles)
% hObject    handle to edit13 (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 edit13 as text
%        str2double(get(hObject,'String')) returns contents of edit13 as a double


% --- Executes during object creation, after setting all properties.
function edit13_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit13 (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 edit14_Callback(hObject, eventdata, handles)
% hObject    handle to edit14 (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 edit14 as text
%        str2double(get(hObject,'String')) returns contents of edit14 as a double


% --- Executes during object creation, after setting all properties.
function edit14_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit14 (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 edit15_Callback(hObject, eventdata, handles)
% hObject    handle to edit15 (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 edit15 as text
%        str2double(get(hObject,'String')) returns contents of edit15 as a double


% --- Executes during object creation, after setting all properties.
function edit15_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit15 (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 baslangic_konumunu_kaydet.
function baslangic_konumunu_kaydet_Callback(hObject, eventdata, handles)
% hObject    handle to baslangic_konumunu_kaydet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global q1s q2s d3s baslangic

baslangic(1)=q1s;
baslangic(2)=q2s;
baslangic(3)=d3s;
set(handles.baslangic_konumunu_kaydet,'backgroundcolor','green')


% --- Executes on button press in final_konumunu_kaydet.
function final_konumunu_kaydet_Callback(hObject, eventdata, handles)
% hObject    handle to final_konumunu_kaydet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global h1 l2 d2 q1s q2s d3s baslangic son
global x y z x01_02 y01_02 z01_02 x02_03 y02_03 z02_03

son(1)=q1s;
son(2)=q2s;
son(3)=d3s;

% Q1=(q1-q1s)/360;
% Q2=(q2-q2s)/360;
% D3=(d3-d3s)/360;

Q1=(baslangic(1)-son(1))/30;
Q2=(baslangic(2)-son(2))/30;
D3=(baslangic(3)-son(3))/30;

for i=1:30
    
    son(1)=son(1)+Q1;
    son(2)=son(2)+Q2;
    son(3)=son(3)+D3;

    q1s=son(1);
    q2s=son(2);
    d3s=son(3);
    
    t01=[cosd(q1s) -sind(q1s) 0 0;sind(q1s) cosd(q1s) 0 0;0 0 1 h1;0 0 0 1];
    t12=[cosd(q2s) -sind(q2s) 0 0;0 0 -1 -d2;sind(q2s) cosd(q2s) 0 0;0 0 0 1];
    t23=[1 0 0 0;0 0 1 (l2+d3s);0 -1 0 0;0 0 0 1];

    T01=t01;
    T02=t01*t12;
    T03=t01*t12*t23;

%     x(i)=[0 T01(1,4)];
%     y(i)=[0 T01(2,4)];
%     z(i)=[0 T01(3,4)];
    x(i,1)=0;
    x(i,2)=T01(1,4);

    y(i,1)=0;
    y(i,2)=T01(2,4);

    z(i,1)=0;
    z(i,2)=T01(3,4);

%     x01_02(i)=[T01(1,4) T02(1,4)];
%     y01_02(i)=[T01(2,4) T02(2,4)];
%     z01_02(i)=[T01(3,4) T02(3,4)];
    x01_02(i,1)=T01(1,4);
    x01_02(i,2)=T02(1,4);

    y01_02(i,1)=T01(2,4);
    y01_02(i,2)=T02(2,4);

    z01_02(i,1)=T01(3,4);
    z01_02(i,2)=T02(3,4);

%     x02_03(i)=[T02(1,4) T03(1,4)];
%     y02_03(i)=[T02(2,4) T03(2,4)];
%     z02_03(i)=[T02(3,4) T03(3,4)];
    x02_03(i,1)=T02(1,4);
    x02_03(i,2)=T03(1,4);

    y02_03(i,1)=T02(2,4);
    y02_03(i,2)=T03(2,4);

    z02_03(i,1)=T02(3,4);
    z02_03(i,2)=T03(3,4);


%     line(x,y,z,'LineWidth',5,'Color','b');
%     line(x01_02,y01_02,z01_02,'LineWidth',5,'Color','r');
%     line(x02_03,y02_03,z02_03,'LineWidth',5,'Color','g');
    
%     pause(0.001)
%     if i<360
%         cla
%     end
end

set(handles.final_konumunu_kaydet,'backgroundcolor','green')

function edit16_Callback(hObject, eventdata, handles)
% hObject    handle to edit16 (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 edit16 as text
%        str2double(get(hObject,'String')) returns contents of edit16 as a double


% --- Executes during object creation, after setting all properties.
function edit16_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit16 (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 animasyonu_baslat.
function animasyonu_baslat_Callback(hObject, eventdata, handles)
% hObject    handle to animasyonu_baslat (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global x y z x01_02 y01_02 z01_02 x02_03 y02_03 z02_03
time=str2double(get(handles.edit16,'String'));
t=(time/30)*0.5;
for i=1:30
    
    line(x(i,:),y(i,:),z(i,:),'LineWidth',5,'Color','b');
    line(x01_02(i,:),y01_02(i,:),z01_02(i,:),'LineWidth',5,'Color','r');
    line(x02_03(i,:),y02_03(i,:),z02_03(i,:),'LineWidth',5,'Color','g');
    
    pause(t)
    if i<30
        cla
    end
end

set(handles.final_konumunu_kaydet,'backgroundcolor','red')
set(handles.baslangic_konumunu_kaydet,'backgroundcolor','red')


% --- Executes during object creation, after setting all properties.
function baslangic_konumunu_kaydet_CreateFcn(hObject, eventdata, handles)
% hObject    handle to baslangic_konumunu_kaydet (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 final_konumunu_kaydet_CreateFcn(hObject, eventdata, handles)
% hObject    handle to final_konumunu_kaydet (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called