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

% Last Modified by GUIDE v2.5 27-May-2007 17:17:27

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

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

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes Robot wait for user response (see UIRESUME)

%global variable for switching specification.jpg
global h; 
h=0;
global p; 
p=1;
%end global

%Intializing and ploting home position of robot
z=get(handles.edit_z,'String');
l1=get(handles.edit_l1,'String');
l2=get(handles.edit_l2,'String');
z=str2double(z);
l1=str2double(l1);
l2=str2double(l2);
xo=[0 0 0 0];
yo=[0 0 0 0];
zo=[0 z z+l1 z+l1+l2];
set(handles.edit_ze,'String',(z+l1+l2));
axes(handles.axes2)
imshow('projsymbol.jpg')
axes(handles.axes1)
grid on;
plot3(xo,yo,zo, 'LineWidth', 8, 'Marker','o'), axis([-z*1.5 z*1.5 -z*1.5 z*1.5 0 z*3]), grid on, xlabel('x'), ylabel('y'), zlabel('z'); 
hold off;
cameratoolbar('NoReset');
%end homepos

% --- Outputs from this function are returned to the command line.
function varargout = Robot_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 edit_z_Callback(hObject, eventdata, handles)
% hObject    handle to edit_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 edit_z as text
%        str2double(get(hObject,'String')) returns contents of edit_z as a double
rob_posf;

% --- Executes during object creation, after setting all properties.
function edit_z_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_z (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 edit_l1_Callback(hObject, eventdata, handles)
% hObject    handle to edit_l1 (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 edit_l1 as text
%        str2double(get(hObject,'String')) returns contents of edit_l1 as a double
rob_posf;

% --- Executes during object creation, after setting all properties.
function edit_l1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_l1 (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 edit_l2_Callback(hObject, eventdata, handles)
% hObject    handle to edit_l2 (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 edit_l2 as text
%        str2double(get(hObject,'String')) returns contents of edit_l2 as a double
rob_posf;

% --- Executes during object creation, after setting all properties.
function edit_l2_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_l2 (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 edit_th1_Callback(hObject, eventdata, handles)
% hObject    handle to edit_th1 (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 edit_th1 as text
%        str2double(get(hObject,'String')) returns contents of edit_th1 as a double
NewStrTh = get(hObject, 'String');
NewTh = str2double(NewStrTh);
set(handles.slider_th1,'Value',NewTh);
rob_posf;

% --- Executes during object creation, after setting all properties.
function edit_th1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_th1 (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 edit_th2_Callback(hObject, eventdata, handles)
% hObject    handle to edit_th2 (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 edit_th2 as text
%        str2double(get(hObject,'String')) returns contents of edit_th2 as a double
NewStrTh = get(hObject, 'String');
NewTh = str2double(NewStrTh);
set(handles.slider_th2,'Value',NewTh);
rob_posf;

% --- Executes during object creation, after setting all properties.
function edit_th2_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_th2 (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 edit_phi1_Callback(hObject, eventdata, handles)
% hObject    handle to edit_phi1 (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 edit_phi1 as text
%        str2double(get(hObject,'String')) returns contents of edit_phi1 as a double

NewStrPhi = get(hObject, 'String');
NewPhi = str2double(NewStrPhi);
set(handles.slider_phi1,'Value',NewPhi);
rob_posf;

% --- Executes during object creation, after setting all properties.
function edit_phi1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_phi1 (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 edit_phi2_Callback(hObject, eventdata, handles)
% hObject    handle to edit_phi2 (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 edit_phi2 as text
%        str2double(get(hObject,'String')) returns contents of edit_phi2 as a double
NewStrPhi = get(hObject, 'String');
NewPhi = str2double(NewStrPhi);
set(handles.slider_phi2,'Value',NewPhi);
rob_posf;

% --- Executes during object creation, after setting all properties.
function edit_phi2_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_phi2 (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 slider movement.
function slider_th1_Callback(hObject, eventdata, handles)
% hObject    handle to slider_th1 (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,'Value') returns position of slider
%        get(hObject,'Min') and get(hObject,'Max') to determine range of slider
th = get(hObject, 'Value');
set(handles.edit_th1,'String',th);
rob_posf;


% --- Executes during object creation, after setting all properties.
function slider_th1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to slider_th1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: slider controls usually have a light gray background, change
%       'usewhitebg' to 0 to use default.  See ISPC and COMPUTER.
usewhitebg = 1;
if usewhitebg
    set(hObject,'BackgroundColor',[.9 .9 .9]);
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));