'Position',[0.95 0.375 0.03 0.25],'min',-90,'max',90, ...
      'Value',0,'Callback',s2,'visible','off','BackgroundColor',[.8 .9 .2]);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
s1 = ['T1 = get(gco,''Value'');' ...		% defines T1 as slider value
      'forkin;' ...
   	'setplot;'];			% calls setplot to figure
slider1=uicontrol(fig,'Style','slider','Units','normalized', ...
   	'Position',[0.95 0.05 0.03 0.25],'min',-90,'max',90, ...
      'Value',0,'Callback',s1,'visible','off','BackgroundColor',[.2 .8 .2]);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
P1 = ['option(1,4);'];	
PushBut1=uicontrol(fig,'Style','pushbutton','Units','normalized', ...
   	'Position',[0.10 .02 0.17125 0.05],'string','Position-Sliders', ...
      'Callback',P1,'visible','on','BackgroundColor',[0.8 0.8 0.8]);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
P2 = ['option(2,0)'];
PushBut2=uicontrol(fig,'Style','pushbutton','Units','normalized', ...
   	'Position',[0.30125 .02 0.17125 0.05],'string','Click on Target', ...
      'Callback',P2,'visible','on','BackgroundColor',[0.8 0.8 0.8]);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
P3 = ['option(3,0);'];	
PushBut3=uicontrol(fig,'Style','pushbutton','Units','normalized', ...
   	'Position',[0.5025 .02 0.17125 0.05],'string','Click and Drag', ...
      'Callback',P3,'visible','on','BackgroundColor',[0.8 0.8 0.8]);   
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
P4 = ['option(4,4)'];
PushBut4=uicontrol(fig,'Style','pushbutton','Units','normalized', ...
   	'Position',[0.70375 .02 0.17125 0.05],'string', 'Angle-Sliders', ...
      'Callback',P4,'visible','on','BackgroundColor',[0.8 0.8 0.8]);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
P5 = ['close;'];	
PushBut5=uicontrol(fig,'Style','pushbutton','Units','normalized', ...
   	'Position',[0.1 .92 0.17 0.05],'string','EXIT', ...
      'Callback',P5,'visible','on','BackgroundColor',[0.8 0.8 0.8]);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
HELP=0;
P6 = ['if HELP==0;' ...
      'set(Help,''visible'',''on'');' ...
      'set(Help_mes,''visible'',''on'');' ...   
   	'set(pF1,''visible'',''off'');' ...    
  		'set(pF2,''visible'',''off'');' ...  
   	'set(pF3,''visible'',''off'');' ... 
   	'set(C2,''visible'',''off'');' ... 
      'set(C3,''visible'',''off'');' ... 
      'set(Ct,''visible'',''off'');' ... 
      'set(J2,''visible'',''off'');' ... 
      'set(J3,''visible'',''off'');' ... 
      'set(Jt,''visible'',''off'');' ...
   	'set(dis,''visible'',''off'');' ...   
   	'set(PushBut6,''string'',''HIDE HELP'');' ...
   	'HELP=1;' ...
   	'else;' ...
      'set(Help,''visible'',''off'');' ...
      'set(Help_mes,''visible'',''off'');' ...   
      'set(pF1,''visible'',''on'');' ...    
  		'set(pF2,''visible'',''on'');' ...  
   	'set(pF3,''visible'',''on'');' ... 
   	'set(C2,''visible'',''on'');' ... 
      'set(C3,''visible'',''on'');' ... 
      'set(Ct,''visible'',''on'');' ... 
      'set(J2,''visible'',''on'');' ... 
      'set(J3,''visible'',''on'');' ... 
      'set(Jt,''visible'',''on'');' ... 
      'set(dis,''visible'',''on'');' ... 
      'set(PushBut6,''string'',''HELP'');' ...
      'HELP=0;' ...
      'end;'];	
PushBut6=uicontrol(fig,'Style','pushbutton','Units','normalized', ...
   	'Position',[0.70375 .92 0.17 0.05],'string','HELP', ...
      'Callback',P6,'visible','on','BackgroundColor',[0.8 0.8 0.8]);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
figure(1)
title('Three Link Planar Robot','FontSize',14)
%xlabel('X-Position(in)')
%ylabel('Y-Position(in)')
axis([-25 25 -3 25])	% axis limits
axis manual					% set axis to exact manual value(i.e [-25 25 -10 25])
axis equal					% x-scale=y-scale
hold on						% does not erase previous graphs 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
arc=(0:1:180)*pi/180;		% plot desired workspace
arc2=(180:-1:0)*pi/180;
plot([rmax*cos(arc) rmin*cos(arc2) rmax],[rmax*sin(arc) rmin*sin(arc2) 0], ...
   'Color',[.8 .4 .2])
legend('Workspace')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
grid off						% turns on grid
% manual grid so that axis will be black and grid gray

% minor grid lines
for y=0:1:24
   plot([-24.9 25],[y y],'Color',[.97,.97,.97])
end  
for x=-24:1:24
   plot([x x],[0 25],'Color',[.97,.97,.97])
end 
% major grid lines
for y=0:5:20
   plot([-24.9 25],[y y],'Color',[0.9 0.9 0.9])
end  
for x=-20:5:20
   plot([x x],[0 25],'Color',[.9,.9,.9])
end   
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
plot([rmax*cos(arc) rmin*cos(arc2) rmax],[rmax*sin(arc) rmin*sin(arc2) 0], ...
   'Color',[.8 .4 .2])
pos=[15,20];
lg=legend('Workspace',1); % plot workspace or grid
set(lg,'Position',[0.66 0.815 0.203571 0.0492857])
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
set(gca,'GridLineStyle','-')   	% solid lines
set(gca,'YColor',[0,0,0]) 	% y axis color
set(gca,'XColor',[0,0,0]) 	% y axis color
set(gca,'XTick',[-25:5:25])		% numbers on y-axis
set(gca,'YTick',[0:5:25])			% numbers onf x-axis
set(gca,'Color',[1,1,1]) 			% plot background color
set(gca,'FontSize',8);				
set(gcf,'Color',[.95,.95,.95])	% edge background color
set(gca,'Position',[0.10 0.11 0.775 0.815])	% size of data windown
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
BF=fill(B(1,:),B(2,:),'r');					% color fill base
set(BF,'FaceColor',[.8 .3 .3]);
pF1=fill(L1(1,:),L1(2,:),'g', 'erasemode','xor');	% color fill link1
set(pF1,'FaceColor',[.2 .8 .2]);
pF2=fill(L2(1,:),L2(2,:),'y', 'erasemode','xor');	% color fill link2
set(pF2,'FaceColor',[.8 .9 .2]);
pF3=fill(L3(1,:),L3(2,:),'b','erasemode','xor');	% color fill link3
set(pF3,'FaceColor',[.2 .2 .8]);
plot(x1,y1,'om');					% circle at joint '1'
C2=plot(x2,y2,'ob', 'erasemode','xor');		% circle at joint '2'
C3=plot(x3,y3,'oy', 'erasemode','xor');		% circle at joint '3'
Ct=plot(xt,yt,'oy', 'erasemode','xor');		% circle at joint 'T'
plot(x1,y1,'+m');					% plus at joint '1'
J2=plot(x2,y2,'+b', 'erasemode','xor');		% plus at joint '2'
J3=plot(x3,y3,'+y', 'erasemode','xor');		% plus at joint '3'
Jt=plot(xt,yt,'+y', 'erasemode','xor');		% plus at joint 'T'
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
dis(1)=fill([-15.5 -15.5 15.5 15.5 -15.5],[-9 -4 -4 -9 -9],'w'); % plot a white box
dis(2)=plot([-15.5 -15.5 15.5 15.5 -15.5],[-9 -4 -4 -9 -9],'k');	% box's black outline
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
yrange = axis;
vspace = (yrange(4) - yrange(3))/20;
px=-14;
py=-5.5;
dis(3)=text(px, py,            	mat2str(S1),'erasemode','xor');			% theta 1
dis(4)=text(px,(py-1.2*vspace), 	mat2str(S2),'erasemode','xor');		% xt
dis(5)=text(px+11, py,            	mat2str(S3),'erasemode','xor');		% theta2
dis(6)=text(px+11,(py-1.2*vspace), mat2str(S4),'erasemode','xor');		% yt
dis(7)=text(px+21, py,            	mat2str(S5),'erasemode','xor');		% theta3
dis(8)=text(px+21,(py-1.05*vspace), mat2str(S6),'erasemode','xor');		% phi
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
px=-24;
py=24;
text(px, py,'Matthew Kontz','FontSize',8);			
text(px,(py-1*vspace),'Walla Walla College','FontSize',8);		
text(px,(py-2*vspace),'February 2001','FontSize',8);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
set(gco,'BackingStore','off')					% for realtime inverse kinematics
set(gco,'Units','data')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Help(1)=fill([-20 20 20 -20 -20 ],[20 20 -10 -10 20],'w'); % plot a white box
Help(2)=plot([-20 20 20 -20 -20 ],[20 20 -10 -10 20],'k');	% box's black outline
set(Help,'visible','off')
Help_mes(1)=text(-19,19,'There are four different ways you can manipulate this');
Help_mes(2)=text(-19,17,'three link planar robot.  Here are your choices.');
Help_mes(3)=text(-19,15,'Position sliders: For this option you can change r and \phi ');
Help_mes(4)=text(-19,13,'   by moving the sliders. (r and \phi are the polar coordinate');
Help_mes(5)=text(-19,11,'   equivalent of x and y in Cartesian coordinates.)');
Help_mes(6)=text(-19,9,'Click on Target: You click on any point inside the work-');
Help_mes(7)=text(-19,7,'   space and watch the robot move into that position.');
Help_mes(8)=text(-19,5,'Click and Drag:  Simply hold down your mouse button');
Help_mes(9)=text(-19,3,'   and drag the end of the robot around the workspace');
Help_mes(10)=text(-19,1,'   for real-time graphical inverse kinematics.');
Help_mes(11)=text(-19,-1,'Angle sliders: This allow you to manually change each');
Help_mes(12)=text(-19,-3,'   link and watch how the robot moves.');
Help_mes(13)=text(-19,-9,'To make a selection, click on one of the buttons below.');
Help_mes(14)=text(-19,-5,'NOTE:  \theta_{1},\theta_{2}, and \theta_{3} are joints space angles.  X_{t},Y_{t},');
Help_mes(15)=text(-19,-7,'   and \phi_{t} are the position and angle of the tool frame.');
set(Help_mes,'visible','off')