基于matlab串口通讯的机械臂控制程序

function varargout = guix(varargin) % GUIX MATLAB code for guix.fig % GUIX, by itself, creates a new GUIX or raises the existing % singleton*. % % H = GUIX returns the handle to a new GUIX or the handle to % the existing singleton*. % % GUIX('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in GUIX.M with the given input arguments. % % GUIX('Property','Value',...) creates a new GUIX or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before guix_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to guix_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 guix % Last Modified by GUIDE v2.5 04-Sep-2020 12:10:43 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @guix_OpeningFcn, ... 'gui_OutputFcn', @guix_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 guix is made visible. function guix_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 guix (see VARARGIN) % Choose default command line output for guix handles.output = hObject; clc; delete(instrfindall); global a; a=serial('COM3'); set(a,'BaudRate',9600,'DataBits', 8, 'Parity', 'none','StopBits', 1, 'FlowControl', 'none','Terminator','CR','Timeout',10); set(handles.slider4,'value',0.5); set(handles.slider3,'value',0.5); set(handles.slider2,'value',0.5); set(handles.slider1,'value',0); set(handles.slider5,'value',0.5); set(handles.slider6,'value',0.5); set(handles.edit1,'String',0); set(handles.edit2,'String',90); set(handles.edit3,'String',90); set(handles.edit4,'String',90); set(handles.edit5,'String',90); set(handles.edit6,'String',90); % Update handles structure guidata(hObject, handles); % UIWAIT makes guix wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = guix_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 auto. function auto_Callback(hObject, eventdata, handles) % hObject handle to auto (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) global a; fopen(a); pause(2); z1=0; x1=num2str(z1); n1='a'; m1=[n1,x1]; fprintf(a,m1); fclose(a); % --- Executes on button press in restar. function restar_Callback(hObject, eventdata, handles) % hObject handle to restar (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB %global a; global a; fopen(a); pause(2); z1=0; x1=num2str(z1); n1='f'; m1=[n1,x1]; fprintf(a,m1); fclose(a); set(handles.edit1,'String',0); set(handles.edit2,'String',90); set(handles.edit3,'String',90); set(handles.edit4,'String',90); set(handles.edit5,'String',90); set(handles.edit6,'String',90); set(handles.slider4,'value',0.5); set(handles.slider3,'value',0.5); set(handles.slider2,'value',0.5); set(handles.slider1,'value',0); set(handles.slider5,'value',0.5); set(handles.slider6,'value',0.5); % --- Executes on slider movement. function slider1_Callback(hObject, eventdata, handles) % hObject handle to slider1 (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 global a; fopen(a); pause(2); valuee1=get(hObject,'value'); y1=valuee1*180; set(handles.edit1,'String',y1); round(y1); x1=num2str(y1); n1='z'; m1=[n1,x1]; fprintf(a,m1); fclose(a); % --- Executes during object creation, after setting all properties. function slider1_CreateFcn(hObject, eventdata, handles) % hObject handle to slider1 (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. if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor',[.9 .9 .9]); end % --- Executes on slider movement. function slider2_Callback(hObject, eventdata, handles) % hObject handle to slider2 (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 global a; fopen(a); pause(2); valuee1=get(hObject,'value'); y1=valuee1*180; set(handles.edit2,'String',y1); round(y1); x1=num2str(y1); n1='x'; m1=[n1,x1]; fprintf(a,m1); fclose(a); % --- Executes during object creation, after setting all properties. function slider2_CreateFcn(hObject, eventdata, handles) % hObject handle to slider2 (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. if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor',[.9 .9 .9]); end % --- Executes on slider movement. function slider3_Callback(hObject, eventdata, handles) % hObject handle to slider3 (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 global a; fopen(a); pause(2); valuee1=get(hObject,'value'); y1=valuee1*180; set(handles.edit3,'String',y1); round(y1); x1=num2str(y1); n1='c'; m1=[n1,x1]; fprintf(a,m1); fclose(a); % --- Executes during object creation, after setting all properties. function slider3_CreateFcn(hObject, eventdata, handles) % hObject handle to slider3 (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. if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor',[.9 .9 .9]); end % --- Executes on slider movement. function slider4_Callback(hObject, eventdata, handles) % hObject handle to slider4 (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')