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Commit ad6a4a5a authored by Vilde Rieker's avatar Vilde Rieker
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added GUI with buttons for two filters

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MatLab/Robot_GUI_exported.m 0 → 100644
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classdef Robot_GUI_exported < matlab.apps.AppBase
% Properties that correspond to app components
properties (Access = public)
UIFigure matlab.ui.Figure
GridLayout matlab.ui.container.GridLayout
% LEFT PANEL
LeftPanel matlab.ui.container.Panel
%Zero seeks pane
ZeroseeksLabel matlab.ui.control.Label
AbsoluteXTextArea matlab.ui.control.EditField
ZeroseekXButton matlab.ui.control.Button
AbsLamp_X matlab.ui.control.Lamp
AbsoluteYTextArea matlab.ui.control.EditField
ZeroseekYButton matlab.ui.control.Button
AbsLamp_Y matlab.ui.control.Lamp
AbsoluteZTextArea matlab.ui.control.EditField
ZeroseekZButton matlab.ui.control.Button
AbsLamp_Z matlab.ui.control.Lamp
%Limit switches pane
LimitswitchesLabel matlab.ui.control.Label
MinLabel matlab.ui.control.Label
MaxLabel matlab.ui.control.Label
XLabel matlab.ui.control.Label
AbsLamp_X_min matlab.ui.control.Lamp
AbsLamp_X_max matlab.ui.control.Lamp
YLabel matlab.ui.control.Label
AbsLamp_Y_min matlab.ui.control.Lamp
AbsLamp_Y_max matlab.ui.control.Lamp
ZLabel matlab.ui.control.Label
AbsLamp_Z_min matlab.ui.control.Lamp
AbsLamp_Z_max matlab.ui.control.Lamp
%Emergency button pane
Emergency_Button matlab.ui.control.Lamp
EmergencybuttonLabel matlab.ui.control.Label
%Stepper status pane
StepperStatusTextArea matlab.ui.control.EditField
StepperstatusLabel matlab.ui.control.Label
%Grabber status pane
GrabberstatusLabel matlab.ui.control.Label
GrabberstatusTextArea matlab.ui.control.TextArea
%Update status button
UpdatestatusButton matlab.ui.control.Button
%Temperatures pane
TemperaturesTextAreaLabel matlab.ui.control.Label
Tempprobe1CLabel matlab.ui.control.Label
TemperaturesTextArea matlab.ui.control.TextArea
Tempprobe2CLabel matlab.ui.control.Label
TemperaturesTextArea_2 matlab.ui.control.TextArea
GettemperaturesButton matlab.ui.control.Button
BlackLine matlab.ui.control.Label
BlacklineLabel_9 matlab.ui.control.Label
BlacklineLabel_8 matlab.ui.control.Label
BlacklineLabel_7 matlab.ui.control.Label
BlacklineLabel_6 matlab.ui.control.Label
BlacklineLabel_13 matlab.ui.control.Label
BlacklineLabel_10 matlab.ui.control.Label
BlacklineLabel_5 matlab.ui.control.Label
BlacklineLabel_4 matlab.ui.control.Label
BlacklineLabel matlab.ui.control.Label
%CENTER PANEL
CenterPanel matlab.ui.container.Panel
TabGroup matlab.ui.container.TabGroup
PlotsTab matlab.ui.container.Tab
PositionplotsLabel matlab.ui.control.Label
Image2 matlab.ui.control.Image
BlacklineLabel_11 matlab.ui.control.Label
UIAxes_6 matlab.ui.control.UIAxes
UIAxes_5 matlab.ui.control.UIAxes
UIAxes_4 matlab.ui.control.UIAxes
DebugTab matlab.ui.container.Tab
BlacklineLabel_12 matlab.ui.control.Label
DebugLabel matlab.ui.control.Label
RawHistory matlab.ui.control.ListBox
%RIGHT PANEL
RightPanel matlab.ui.container.Panel
ControlsLabel matlab.ui.control.Label
SelecttheholdertopickupLabel matlab.ui.control.Label
%Holder buttons
Panel matlab.ui.container.Panel
GridLayout2 matlab.ui.container.GridLayout
%GrabHolderButtons matlab.ui.container.ButtonGroup
GrabHolder_32 matlab.ui.control.StateButton
GrabHolder_31 matlab.ui.control.StateButton
GrabHolder_30 matlab.ui.control.StateButton
GrabHolder_29 matlab.ui.control.StateButton
GrabHolder_28 matlab.ui.control.StateButton
GrabHolder_27 matlab.ui.control.StateButton
GrabHolder_26 matlab.ui.control.StateButton
GrabHolder_25 matlab.ui.control.StateButton
GrabHolder_23 matlab.ui.control.StateButton
GrabHolder_12 matlab.ui.control.StateButton
GrabHolder_24 matlab.ui.control.StateButton
GrabHolder_22 matlab.ui.control.StateButton
GrabHolder_21 matlab.ui.control.StateButton
GrabHolder_20 matlab.ui.control.StateButton
GrabHolder_19 matlab.ui.control.StateButton
GrabHolder_18 matlab.ui.control.StateButton
GrabHolder_17 matlab.ui.control.StateButton
GrabHolder_16 matlab.ui.control.StateButton
GrabHolder_15 matlab.ui.control.StateButton
GrabHolder_14 matlab.ui.control.StateButton
GrabHolder_13 matlab.ui.control.StateButton
GrabHolder_11 matlab.ui.control.StateButton
GrabHolder_10 matlab.ui.control.StateButton
GrabHolder_09 matlab.ui.control.StateButton
GrabHolder_08 matlab.ui.control.StateButton
GrabHolder_07 matlab.ui.control.StateButton
GrabHolder_06 matlab.ui.control.StateButton
GrabHolder_05 matlab.ui.control.StateButton
GrabHolder_04 matlab.ui.control.StateButton
GrabHolder_03 matlab.ui.control.StateButton
GrabHolder_02 matlab.ui.control.StateButton
GrabHolder_01 matlab.ui.control.StateButton
%Robot control
PutHolderInBeam matlab.ui.control.Button
BringbackholderButton matlab.ui.control.Button
%Filter pane
BlackLine1 matlab.ui.control.Label
BlackLine2 matlab.ui.control.Label
BlackLine3 matlab.ui.control.Label
FilterLabel1 matlab.ui.control.Label
Filter1INButton matlab.ui.control.Button
Filter1OUTButton matlab.ui.control.Button
FilterLabel2 matlab.ui.control.Label
Filter2INButton matlab.ui.control.Button
Filter2OUTButton matlab.ui.control.Button
%Last command
LastCommandTextArea matlab.ui.control.TextArea
LastCommandTextAreaLabel matlab.ui.control.Label
%C-robot image
Image matlab.ui.control.Image
XpositioninbeammmEditField matlab.ui.control.NumericEditField
XpositioninbeammmEditFieldLabel matlab.ui.control.Label
BlacklineLabel_3 matlab.ui.control.Label
StatusandChecksLabel matlab.ui.control.Label
end
% Properties that correspond to apps with auto-reflow
properties (Access = private)
onePanelWidth = 576;
twoPanelWidth = 768;
end
properties (Access = private)
conn = [];
Pos_hold_idx = NaN;
Pos_hold_X = NaN;
Pos_hold_Y = NaN;
Pos_hold_Z = NaN;
StepperIsMoving = NaN;
Pos_holders = [225 200 2200; ...
225 1825 2200; ...
717 200 2200; ...
717 1825 2200; ...
1198 200 2200; ...
1198 1825 2200; ...
1679 200 2200; ...
1679 1825 2200; ...
2160 200 2200; ...
2160 1825 2200; ...
2641 200 2200; ...
2641 1825 2200; ...
3122 200 2200; ...
3122 1825 2200; ...
3603 200 2200; ...
3603 1825 2200; ...
4084 200 2200; ...
4084 1825 2200; ...
4565 200 2200; ...
4565 1825 2200; ...
5046 200 2200; ...
5046 1825 2200; ...
5527 200 2200; ...
5527 1825 2200; ...
6008 200 2200; ...
6008 1825 2200; ...
6489 200 2200; ...
6489 1825 2200; ...
6970 200 2200; ...
6970 1825 2200; ...
7451 200 2200; ...
7451 1825 2200; ...
7932 200 2200; ...
8413 1825 2200];
%List of all holder buttons,
% not possible to generate programattically in AppDesigner
% so it has to be manually maintained (to be sure it's in the right order)...
grabHolderButts = [];
end
methods (Access = private)
function robotCallBack(app,stepper,grabber,temp, filters)
disp(['UPDATE: stepper=',num2str(stepper), ...
', grabber=',num2str(grabber), ...
', temp=', num2str(temp), ...
', filter 1=', num2str(filters(1)), ...
', filter 2=', num2str(filters(2))]);
disp(app.conn)
if temp
app.TemperaturesTextArea.Value = num2str(app.conn.temps(1));
app.TemperaturesTextArea_2.Value = num2str(app.conn.temps(2));
end
if stepper
%Local copies of state variables for easy referencing
Pos_X = app.conn.stepperPos(1);
Pos_Y = app.conn.stepperPos(2);
Pos_Z = app.conn.stepperPos(3);
Abs_X = app.conn.stepperAbs(1);
Abs_Y = app.conn.stepperAbs(2);
Abs_Z = app.conn.stepperAbs(3);
LimLo_X = app.conn.stepperLimLo(1);
LimLo_Y = app.conn.stepperLimLo(2);
LimLo_Z = app.conn.stepperLimLo(3);
LimHi_X = app.conn.stepperLimHi(1);
LimHi_Y = app.conn.stepperLimHi(2);
LimHi_Z = app.conn.stepperLimHi(3);
app.StepperIsMoving = app.conn.stepperIsMoving;
%LastCommand
app.LastCommandTextArea.Value = num2str(app.conn.lastCommand);
%Plotting the position
axes(app.UIAxes_6);
scatter(app.UIAxes_6,Pos_X, Pos_Z,100,"red",'filled');
rectangle(app.UIAxes_6,'Position', [0 1400 8000 1600],'FaceColor',[1, .8, .8, 0.5],'EdgeColor','r','LineWidth',1)
text(app.UIAxes_6,2600,1750,'X/Y interlock region')
text(app.UIAxes_6,2600,2400,'Storage/Beam tank')
rectangle(app.UIAxes_6,'Position', [0 2000 8000 1000],'FaceColor',[0, 1, 1, 0.5],'EdgeColor','blue','LineWidth',1)
axes(app.UIAxes_5);
scatter(app.UIAxes_5,Pos_X, Pos_Y,100,"red",'filled');
rectangle(app.UIAxes_5,'Position', [0 0 8000 2000],'FaceColor',[0, 1, 1, 0.5],'EdgeColor','blue','LineWidth',1)
text(app.UIAxes_5,3000,1000,'Storage tank')
rectangle(app.UIAxes_5,'Position', [0 5280 8000 2720],'FaceColor',[0, 1, 1, 0.5],'EdgeColor','blue','LineWidth',1)
text(app.UIAxes_5,3000,6750,'Beam tank')
axes(app.UIAxes_4);
scatter(app.UIAxes_4,Pos_Y, Pos_Z,100,"red",'filled');
rectangle(app.UIAxes_4,'Position', [0 2000 2000 1000],'FaceColor',[0, 1, 1, 0.5],'EdgeColor','blue','LineWidth',1)
text(app.UIAxes_4,450,2500,'Storage')
rectangle(app.UIAxes_4,'Position', [5280 2000 2720 1000],'FaceColor',[0, 1, 1, 0.5],'EdgeColor','blue','LineWidth',1)
text(app.UIAxes_4,6200,2500,'Beam')
rectangle(app.UIAxes_4,'Position', [0 1400 8000 1600],'FaceColor',[1, .8, .8, 0.5],'EdgeColor','r','LineWidth',1)
text(app.UIAxes_4,2600,1750,'X/Y interlock region')
% axes(app.UIAxes_3);
%
% plot3(app.UIAxes_3,app.Pos_X,app.Pos_Y, app.Pos_Z,'.','Color','r','MarkerSize',40)
%
% app.UIAxes_3.View = [90 45];
% app.UIAxes_3.Projection = 'perspective';
% H=[0 8000 0 8000 0 8000 0 8000; 0 0 2000 2000 0 0 2000 2000; 3000 3000 3000 3000 1500 1500 1500 1500]; %Vertices of the cube
% S=[1 2 4 3; 1 2 6 5; 1 3 7 5; 3 4 8 7; 2 4 8 6; 5 6 8 7]; %Surfaces of the cube
% hold(app.UIAxes_3,"on")
% for i=1:size(S,1)
% Si=S(i,:);
% fill3(app.UIAxes_3,H(1,Si),H(2,Si),H(3,Si),[0, 1, 1],'facealpha',0.6)
% end
%
% H=[0 8000 0 8000 0 8000 0 8000; 6000 6000 8000 8000 6000 6000 8000 8000; 3000 3000 3000 3000 1500 1500 1500 1500]; %Vertices of the cube
% S=[1 2 4 3; 1 2 6 5; 1 3 7 5; 3 4 8 7; 2 4 8 6; 5 6 8 7]; %Surfaces of the cube
% hold(app.UIAxes_3,"on")
% for i=1:size(S,1)
% Si=S(i,:);
% fill3(app.UIAxes_3,H(1,Si),H(2,Si),H(3,Si),[0, 1, 1],'facealpha',0.6)
% end
% hold(app.UIAxes_3,"off")
%Light and text for Absolute/Relative
if Abs_X == 1
app.AbsoluteXTextArea.Value = "Absolute";
app.AbsLamp_X.Color = 'green';
else
app.AbsoluteXTextArea.Value = "Relative";
app.AbsLamp_X.Color = 'red';
end
if Abs_Y == 1
app.AbsoluteYTextArea.Value = "Absolute";
app.AbsLamp_Y.Color = 'green';
else
app.AbsoluteYTextArea.Value = "Relative";
app.AbsLamp_Y.Color = 'red';
end
if Abs_Z == 1
app.AbsoluteZTextArea.Value = "Absolute";
app.AbsLamp_Z.Color = 'green';
else
app.AbsoluteZTextArea.Value = "Relative";
app.AbsLamp_Z.Color = 'red';
end
%Stepper is moving Text area
if app.conn.stepperIsMoving == 1
app.StepperStatusTextArea.Value = "X stepper is moving";
end
if app.conn.stepperIsMoving == 2
app.StepperStatusTextArea.Value = "Y stepper is moving";
end
if app.conn.stepperIsMoving == 3
app.StepperStatusTextArea.Value = "Z stepper is moving";
end
if app.StepperIsMoving == 0
app.StepperStatusTextArea.Value = "Stepper is not moving";
end
%Light for limit switches
if LimLo_X == 1
app.AbsLamp_X_min.Color = 'green';
else
app.AbsLamp_X_min.Color = [0.8 0.8 0.8];
end
if LimLo_Y == 1
app.AbsLamp_Y_min.Color = 'green';
else
app.AbsLamp_Y_min.Color = [0.8 0.8 0.8];
end
if LimLo_Z == 1
app.AbsLamp_Z_min.Color = 'green';
else
app.AbsLamp_Z_min.Color = [0.8 0.8 0.8];
end
if LimHi_X == 1
app.AbsLamp_X_max.Color = 'green';
else
app.AbsLamp_X_max.Color = [0.8 0.8 0.8];
end
if LimHi_Y == 1
app.AbsLamp_Y_max.Color = 'green';
else
app.AbsLamp_Y_max.Color = [0.8 0.8 0.8];
end
if LimHi_Z == 1
app.AbsLamp_Z_max.Color = 'green';
else
app.AbsLamp_Z_max.Color = [0.8 0.8 0.8];
end
%Light for Emergency Button
if app.conn.isEmergencyStopped == 1
app.Emergency_Button.Color = 'green';
else
app.Emergency_Button.Color = [0.8 0.8 0.8];
end
end
%Status of the grabber
if grabber
if app.conn.grabberPos == app.conn.grabberOpenPos
app.GrabberstatusTextArea.Value = "Open";
elseif app.conn.grabberPos == app.conn.grabberClosedPos
app.GrabberstatusTextArea.Value = "Close";
else
app.GrabberstatusTextArea.Value = num2str(app.conn.grabberPos);
end
end
%Status of the filters
if filters(1)
if app.conn.filterPos(1) == app.conn.filterInPos(1)
app.Filter1INButton(1).BackgroundColor = 'green';
app.Filter1OUTButton(1).BackgroundColor = 'red';
elseif app.conn.filterPos(1) == app.conn.filterOutPos(1)
app.Filter1INButton(1).BackgroundColor = 'red';
app.Filter1OUTButton(1).BackgroundColor = 'green';
end
end
if filters(2)
if app.conn.filterPos(2) == app.conn.filterInPos(2)
app.Filter2INButton(2).BackgroundColor = 'green';
app.Filter2OUTButton(2).BackgroundColor = 'red';
elseif app.conn.filterPos(2) == app.conn.filterOutPos(2)
app.Filter2INButton(2).BackgroundColor = 'red';
app.Filter2OUTButton(2).BackgroundColor = 'green';
end
end
end
function textCallBack(app,textLine)
txt = convertStringsToChars(textLine);
if isempty(app.RawHistory.Items) || isempty(app.RawHistory.Items{1})
app.RawHistory.Items{1} = txt;
else
app.RawHistory.Items{end+1} = txt;
end
scroll(app.RawHistory,'bottom');
end
function grabHolder(app,Pos_h_X,Pos_h_Y,Pos_h_Z)
app.conn.updateGrabberStatus
app.conn.grabberOpen;
app.conn.stepperGo('Z',50);
app.conn.stepperGo('X',Pos_h_X);
app.conn.stepperGo('Y',Pos_h_Y);
app.conn.stepperGo('Z',Pos_h_Z);
app.conn.grabberClose;
app.conn.updateGrabberStatus
end
end
% Callbacks that handle component events
methods (Access = private)
% Code that executes after component creation
function startupFcn(app)
app.conn = robotConnector("172.18.211.7",@(obj,stepper,grabber,temp,filters) app.robotCallBack(stepper,grabber,temp,filters),@(obj,textLine) app.textCallBack(textLine));
%List of all holder buttons,
% not possible to generate programattically in AppDesigner
% so it has to be manually maintained (to be sure it's in the right order)...
% Also, it cannot be made earlier because the GUI must first create itself...
app.grabHolderButts = [app.GrabHolder_01, app.GrabHolder_02, app.GrabHolder_03, ...
app.GrabHolder_04, app.GrabHolder_05, app.GrabHolder_06, ...
app.GrabHolder_07, app.GrabHolder_08, app.GrabHolder_09, ...
app.GrabHolder_10, app.GrabHolder_11, app.GrabHolder_12, ...
app.GrabHolder_13, app.GrabHolder_14, app.GrabHolder_15, ...
app.GrabHolder_16, app.GrabHolder_17, app.GrabHolder_18, ...
app.GrabHolder_19, app.GrabHolder_20, app.GrabHolder_21, ...
app.GrabHolder_22, app.GrabHolder_23, app.GrabHolder_24, ...
app.GrabHolder_25, app.GrabHolder_26, app.GrabHolder_27, ...
app.GrabHolder_28, app.GrabHolder_29, app.GrabHolder_30, ...
app.GrabHolder_31, app.GrabHolder_32];
end
% Changes arrangement of the app based on UIFigure width
function updateAppLayout(app, event)
currentFigureWidth = app.UIFigure.Position(3);
if(currentFigureWidth <= app.onePanelWidth)
% Change to a 3x1 grid
app.GridLayout.RowHeight = {816, 816, 816};
app.GridLayout.ColumnWidth = {'1x'};
app.CenterPanel.Layout.Row = 1;
app.CenterPanel.Layout.Column = 1;
app.LeftPanel.Layout.Row = 2;
app.LeftPanel.Layout.Column = 1;
app.RightPanel.Layout.Row = 3;
app.RightPanel.Layout.Column = 1;
elseif (currentFigureWidth > app.onePanelWidth && currentFigureWidth <= app.twoPanelWidth)
% Change to a 2x2 grid
app.GridLayout.RowHeight = {816, 816};
app.GridLayout.ColumnWidth = {'1x', '1x'};
app.CenterPanel.Layout.Row = 1;
app.CenterPanel.Layout.Column = [1,2];
app.LeftPanel.Layout.Row = 2;
app.LeftPanel.Layout.Column = 1;
app.RightPanel.Layout.Row = 2;
app.RightPanel.Layout.Column = 2;
else
% Change to a 1x3 grid
app.GridLayout.RowHeight = {'1x'};
app.GridLayout.ColumnWidth = {220, '1x', 224};
app.LeftPanel.Layout.Row = 1;
app.LeftPanel.Layout.Column = 1;
app.CenterPanel.Layout.Row = 1;
app.CenterPanel.Layout.Column = 2;
app.RightPanel.Layout.Row = 1;
app.RightPanel.Layout.Column = 3;
end
end
% Button pushed function: ZeroseekXButton
function ZeroseekXButtonPushed(app, event)
app.conn.stepperZeroseek('X');
end
% Button pushed function: ZeroseekYButton
function ZeroseekYButtonPushed(app, event)
app.conn.stepperZeroseek('Y');
end
% Button pushed function: ZeroseekZButton
function ZeroseekZButtonPushed(app, event)
app.conn.stepperZeroseek('Z');
end
% Callback function: GettemperaturesButton, TemperaturesTextArea,
% TemperaturesTextArea_2
function GettempsButtonPushed(app, event)
app.conn.updateTemp;
end
% Button pushed function: PutHolderInBeam
function PutHolderInBeamPushed(app, event)
app.conn.updateGrabberStatus
app.conn.stepperGo('Z',50);
app.conn.stepperGo('Y',7210);
app.conn.stepperGo('X',app.XpositioninbeammmEditField.Value*7803/460+95*7803/460);
app.conn.stepperGo('Z',2340);
%Disable itself, enable bringback button
app.BringbackholderButton.Enable = true;
%Disable off all storage position buttons when in beam
for i = 1:length(app.grabHolderButts)
app.grabHolderButts(i).Enable = false;
end
end
% Button pushed function: BringbackholderButton
function BringbackholderButtonPushed(app, event)
if isnan(app.Pos_hold_idx)
error('No known holder position to bringback to?')
end
app.conn.stepperGo('Z',50);
app.conn.stepperGo('Y',app.Pos_hold_Y);
app.conn.stepperGo('X',app.Pos_hold_X);
app.conn.stepperGo('Z',app.Pos_hold_Z);
app.conn.grabberOpen;
app.conn.updateGrabberStatus()
app.Pos_hold_idx = NaN;
app.Pos_hold_X = NaN;
app.Pos_hold_Y = NaN;
app.Pos_hold_Z = NaN;
%Turn off all storage position buttons
for i = 1:length(app.grabHolderButts)
app.grabHolderButts(i).Value = false;
app.grabHolderButts(i).Enable = true;
end
%Disable itself
app.BringbackholderButton.Enable=false;
end
% Button pushed function: UpdatestatusButton
function UpdatestatusButtonPushed(app, event)
app.conn.updateStepperStatus;
app.conn.updateGrabberStatus
end
% Value changed function: GrabHolder_01, GrabHolder_02,
% GrabHolder_03, GrabHolder_04, GrabHolder_05, GrabHolder_06,
% GrabHolder_07, GrabHolder_08, GrabHolder_09, GrabHolder_10,
% GrabHolder_11, GrabHolder_12, GrabHolder_13, GrabHolder_14,
% GrabHolder_15, GrabHolder_16, GrabHolder_17, GrabHolder_18,
% GrabHolder_19, GrabHolder_20, GrabHolder_21, GrabHolder_22,
% GrabHolder_23, GrabHolder_24, GrabHolder_25, GrabHolder_26,
% GrabHolder_27, GrabHolder_28, GrabHolder_29, GrabHolder_30,
% GrabHolder_31, GrabHolder_32
function GrabHolder_ValueChanged(app, event)
%This function is called for ALL the GrabHolder_* buttons.
% It basically emulates a Toggle button group,
% but lets us set the position of the buttons freely.
% Note that only a physical user click on the button generates
% this callback, not just a .Value change (even if MATLAB says so)
%Which one was clicked?
idx = find(event.Source==app.grabHolderButts);
if isempty(idx)
error('Internal error: Could not find button in array')
end
value = event.Source.Value;
%Ignore button presses (incl. programmatical ones) to "off".
if value ~= 1
if idx == app.Pos_hold_idx
%Disp cannot turn off the active holder!
app.grabHolderButts(idx).Value = 1;
end
return;
end
%Turn off all other buttons
for i = 1:length(app.grabHolderButts)
if i == idx
continue
end
app.grabHolderButts(i).Value = 0;
end
%Update GUI class status
app.Pos_hold_idx = idx;
app.Pos_hold_X = app.Pos_holders(idx,1);
app.Pos_hold_Y = app.Pos_holders(idx,2);
app.Pos_hold_Z = app.Pos_holders(idx,3);
%Actually move the robot
app.conn.updateGrabberStatus();
app.conn.grabberOpen();
app.conn.stepperGo('Z',50);
app.conn.stepperGo('X',app.Pos_hold_X);
app.conn.stepperGo('Y',app.Pos_hold_Y);
app.conn.stepperGo('Z',app.Pos_hold_Z);
app.conn.grabberClose();
app.conn.updateGrabberStatus();
end
% Button pushed function: FilterINButton
function FilterINButtonPushed(app, event)
app.conn.filterIn;
end
% Button pushed function: FilterOUTButton
function FilterOUTButtonPushed(app, event)
app.conn.filterOut;
end
end
% Component initialization
methods (Access = private)
% Create UIFigure and components
function createComponents(app)
% Create UIFigure and hide until all components are created
app.UIFigure = uifigure('Visible', 'off');
app.UIFigure.AutoResizeChildren = 'off';
app.UIFigure.Color = [1 1 1];
app.UIFigure.Position = [100 100 883 816];
app.UIFigure.Name = 'MATLAB App';
app.UIFigure.SizeChangedFcn = createCallbackFcn(app, @updateAppLayout, true);
% Create GridLayout
app.GridLayout = uigridlayout(app.UIFigure);
app.GridLayout.ColumnWidth = {220, '1x', 224};
app.GridLayout.RowHeight = {'1x'};
app.GridLayout.ColumnSpacing = 0;
app.GridLayout.RowSpacing = 0;
app.GridLayout.Padding = [0 0 0 0];
app.GridLayout.Scrollable = 'on';
% Create LeftPanel
app.LeftPanel = uipanel(app.GridLayout);
app.LeftPanel.Layout.Row = 1;
app.LeftPanel.Layout.Column = 1;
% Create StatusandChecksLabel
app.StatusandChecksLabel = uilabel(app.UIFigure);
app.StatusandChecksLabel.HorizontalAlignment = 'center';
app.StatusandChecksLabel.FontSize = 20;
app.StatusandChecksLabel.FontWeight = 'bold';
app.StatusandChecksLabel.Position = [20 767 180 43];
app.StatusandChecksLabel.Text = 'Status and Checks';
% Create BlacklineLabel
app.BlacklineLabel = uilabel(app.LeftPanel);
app.BlacklineLabel.BackgroundColor = [0 0 0];
app.BlacklineLabel.FontSize = 2;
app.BlacklineLabel.Position = [1 769 218 2];
app.BlacklineLabel.Text = 'Black line';
% Create ZeroseeksLabel
app.ZeroseeksLabel = uilabel(app.LeftPanel);
app.ZeroseeksLabel.HorizontalAlignment = 'center';
app.ZeroseeksLabel.FontSize = 14;
app.ZeroseeksLabel.FontWeight = 'bold';
app.ZeroseeksLabel.Position = [58 727 103 41];
app.ZeroseeksLabel.Text = 'Zero seeks';
% Create ZeroseekXButton
app.ZeroseekXButton = uibutton(app.LeftPanel, 'push');
app.ZeroseekXButton.ButtonPushedFcn = createCallbackFcn(app, @ZeroseekXButtonPushed, true);
app.ZeroseekXButton.Position = [12 689 98 46];
app.ZeroseekXButton.Text = 'Zero seek X';
% Create ZeroseekYButton
app.ZeroseekYButton = uibutton(app.LeftPanel, 'push');
app.ZeroseekYButton.ButtonPushedFcn = createCallbackFcn(app, @ZeroseekYButtonPushed, true);
app.ZeroseekYButton.Position = [12 637 98 46];
app.ZeroseekYButton.Text = 'Zero seek Y';
% Create ZeroseekZButton
app.ZeroseekZButton = uibutton(app.LeftPanel, 'push');
app.ZeroseekZButton.ButtonPushedFcn = createCallbackFcn(app, @ZeroseekZButtonPushed, true);
app.ZeroseekZButton.Position = [12 585 98 46];
app.ZeroseekZButton.Text = 'Zero seek Z';
% Create AbsLamp_X
app.AbsLamp_X = uilamp(app.LeftPanel);
app.AbsLamp_X.Position = [192 701 20 20];
% Create AbsLamp_Z
app.AbsLamp_Z = uilamp(app.LeftPanel);
app.AbsLamp_Z.Position = [192 598 20 20];
% Create AbsLamp_Y
app.AbsLamp_Y = uilamp(app.LeftPanel);
app.AbsLamp_Y.Position = [192 649 20 20];
% Create GrabberstatusTextArea
app.GrabberstatusTextArea = uitextarea(app.LeftPanel);
app.GrabberstatusTextArea.HorizontalAlignment = 'center';
app.GrabberstatusTextArea.Position = [47 218 128 24];
% Create AbsoluteXTextArea
app.AbsoluteXTextArea = uieditfield(app.LeftPanel, 'text');
app.AbsoluteXTextArea.HorizontalAlignment = 'center';
app.AbsoluteXTextArea.Position = [118 700 65 22];
% Create AbsoluteYTextArea
app.AbsoluteYTextArea = uieditfield(app.LeftPanel, 'text');
app.AbsoluteYTextArea.HorizontalAlignment = 'center';
app.AbsoluteYTextArea.Position = [118 648 65 22];
% Create AbsoluteZTextArea
app.AbsoluteZTextArea = uieditfield(app.LeftPanel, 'text');
app.AbsoluteZTextArea.HorizontalAlignment = 'center';
app.AbsoluteZTextArea.Position = [118 597 65 22];
% Create StepperstatusLabel
app.StepperstatusLabel = uilabel(app.LeftPanel);
app.StepperstatusLabel.HorizontalAlignment = 'center';
app.StepperstatusLabel.FontSize = 14;
app.StepperstatusLabel.FontWeight = 'bold';
app.StepperstatusLabel.Position = [58 312 103 41];
app.StepperstatusLabel.Text = 'Stepper status';
% Create StepperStatusTextArea
app.StepperStatusTextArea = uieditfield(app.LeftPanel, 'text');
app.StepperStatusTextArea.HorizontalAlignment = 'center';
app.StepperStatusTextArea.FontSize = 14;
app.StepperStatusTextArea.FontWeight = 'bold';
app.StepperStatusTextArea.FontColor = [1 0 0];
app.StepperStatusTextArea.Position = [26 290 168 24];
% Create LimitswitchesLabel
app.LimitswitchesLabel = uilabel(app.LeftPanel);
app.LimitswitchesLabel.HorizontalAlignment = 'center';
app.LimitswitchesLabel.FontSize = 14;
app.LimitswitchesLabel.FontWeight = 'bold';
app.LimitswitchesLabel.Position = [59 543 102 41];
app.LimitswitchesLabel.Text = 'Limit switches';
% Create AbsLamp_X_min
app.AbsLamp_X_min = uilamp(app.LeftPanel);
app.AbsLamp_X_min.Position = [73 497 16 16];
app.AbsLamp_X_min.Color = [0.8 0.8 0.8];
% Create MinLabel
app.MinLabel = uilabel(app.LeftPanel);
app.MinLabel.HorizontalAlignment = 'center';
app.MinLabel.Position = [64 513 34 41];
app.MinLabel.Text = 'Min';
% Create MaxLabel
app.MaxLabel = uilabel(app.LeftPanel);
app.MaxLabel.HorizontalAlignment = 'center';
app.MaxLabel.Position = [119 513 34 41];
app.MaxLabel.Text = 'Max';
% Create XLabel
app.XLabel = uilabel(app.LeftPanel);
app.XLabel.HorizontalAlignment = 'center';
app.XLabel.Position = [22 485 34 41];
app.XLabel.Text = 'X';
% Create YLabel
app.YLabel = uilabel(app.LeftPanel);
app.YLabel.HorizontalAlignment = 'center';
app.YLabel.Position = [22 452 34 41];
app.YLabel.Text = 'Y';
% Create ZLabel
app.ZLabel = uilabel(app.LeftPanel);
app.ZLabel.HorizontalAlignment = 'center';
app.ZLabel.Position = [22 418 34 41];
app.ZLabel.Text = 'Z';
% Create AbsLamp_Y_min
app.AbsLamp_Y_min = uilamp(app.LeftPanel);
app.AbsLamp_Y_min.Position = [73 464 16 16];
app.AbsLamp_Y_min.Color = [0.8 0.8 0.8];
% Create AbsLamp_Z_min
app.AbsLamp_Z_min = uilamp(app.LeftPanel);
app.AbsLamp_Z_min.Position = [73 431 16 16];
app.AbsLamp_Z_min.Color = [0.8 0.8 0.8];
% Create AbsLamp_X_max
app.AbsLamp_X_max = uilamp(app.LeftPanel);
app.AbsLamp_X_max.Position = [128 497 16 16];
app.AbsLamp_X_max.Color = [0.8 0.8 0.8];
% Create AbsLamp_Y_max
app.AbsLamp_Y_max = uilamp(app.LeftPanel);
app.AbsLamp_Y_max.Position = [128 464 16 16];
app.AbsLamp_Y_max.Color = [0.8 0.8 0.8];
% Create AbsLamp_Z_max
app.AbsLamp_Z_max = uilamp(app.LeftPanel);
app.AbsLamp_Z_max.Position = [128 431 16 16];
app.AbsLamp_Z_max.Color = [0.8 0.8 0.8];
% Create GrabberstatusLabel
app.GrabberstatusLabel = uilabel(app.LeftPanel);
app.GrabberstatusLabel.HorizontalAlignment = 'center';
app.GrabberstatusLabel.FontSize = 14;
app.GrabberstatusLabel.FontWeight = 'bold';
app.GrabberstatusLabel.Position = [58 238 105 41];
app.GrabberstatusLabel.Text = 'Grabber status';
% Create BlacklineLabel_4
app.BlacklineLabel_4 = uilabel(app.LeftPanel);
app.BlacklineLabel_4.BackgroundColor = [0 0 0];
app.BlacklineLabel_4.FontSize = 2;
app.BlacklineLabel_4.Position = [1 578 218 1];
app.BlacklineLabel_4.Text = 'Black line';
% Create GettemperaturesButton
app.GettemperaturesButton = uibutton(app.LeftPanel, 'push');
app.GettemperaturesButton.ButtonPushedFcn = createCallbackFcn(app, @GettempsButtonPushed, true);
app.GettemperaturesButton.Tag = 'button_temps';
app.GettemperaturesButton.Position = [67 6 86 36];
app.GettemperaturesButton.Text = {'Get '; 'temperatures'};
% Create BlacklineLabel_5
app.BlacklineLabel_5 = uilabel(app.LeftPanel);
app.BlacklineLabel_5.BackgroundColor = [0 0 0];
app.BlacklineLabel_5.FontSize = 2;
app.BlacklineLabel_5.Position = [1 415 218 1];
app.BlacklineLabel_5.Text = 'Black line';
% Create Tempprobe1CLabel
app.Tempprobe1CLabel = uilabel(app.LeftPanel);
app.Tempprobe1CLabel.Position = [9 87 104 22];
app.Tempprobe1CLabel.Text = 'Temp probe 1 (°C)';
% Create Tempprobe2CLabel
app.Tempprobe2CLabel = uilabel(app.LeftPanel);
app.Tempprobe2CLabel.Position = [9 49 104 22];
app.Tempprobe2CLabel.Text = 'Temp probe 2 (°C)';
% Create BlacklineLabel_6
app.BlacklineLabel_6 = uilabel(app.LeftPanel);
app.BlacklineLabel_6.BackgroundColor = [0 0 0];
app.BlacklineLabel_6.FontSize = 2;
app.BlacklineLabel_6.Position = [1 276 218 1];
app.BlacklineLabel_6.Text = 'Black line';
% Create BlacklineLabel_7
app.BlacklineLabel_7 = uilabel(app.LeftPanel);
app.BlacklineLabel_7.BackgroundColor = [0 0 0];
app.BlacklineLabel_7.FontSize = 2;
app.BlacklineLabel_7.Position = [1 148 218 1];
app.BlacklineLabel_7.Text = 'Black line';
% Create BlacklineLabel_8
app.BlacklineLabel_8 = uilabel(app.LeftPanel);
app.BlacklineLabel_8.BackgroundColor = [0.8 0.8 0.8];
app.BlacklineLabel_8.FontSize = 2;
app.BlacklineLabel_8.Position = [45 546 129 1];
app.BlacklineLabel_8.Text = 'Black line';
% Create BlacklineLabel_9
app.BlacklineLabel_9 = uilabel(app.LeftPanel);
app.BlacklineLabel_9.BackgroundColor = [0.8 0.8 0.8];
app.BlacklineLabel_9.FontSize = 2;
app.BlacklineLabel_9.Position = [65 520 99 1];
app.BlacklineLabel_9.Text = 'Black line';
% Create TemperaturesTextArea_2
app.TemperaturesTextArea_2 = uitextarea(app.LeftPanel);
app.TemperaturesTextArea_2.ValueChangedFcn = createCallbackFcn(app, @GettempsButtonPushed, true);
app.TemperaturesTextArea_2.Editable = 'off';
app.TemperaturesTextArea_2.HorizontalAlignment = 'center';
app.TemperaturesTextArea_2.Position = [120 48 93 24];
% Create TemperaturesTextArea
app.TemperaturesTextArea = uitextarea(app.LeftPanel);
app.TemperaturesTextArea.ValueChangedFcn = createCallbackFcn(app, @GettempsButtonPushed, true);
app.TemperaturesTextArea.Editable = 'off';
app.TemperaturesTextArea.HorizontalAlignment = 'center';
app.TemperaturesTextArea.Position = [119 85 93 24];
% Create TemperaturesTextAreaLabel
app.TemperaturesTextAreaLabel = uilabel(app.LeftPanel);
app.TemperaturesTextAreaLabel.HorizontalAlignment = 'right';
app.TemperaturesTextAreaLabel.FontSize = 14;
app.TemperaturesTextAreaLabel.FontWeight = 'bold';
app.TemperaturesTextAreaLabel.Position = [62 123 97 22];
app.TemperaturesTextAreaLabel.Text = 'Temperatures';
% Create UpdatestatusButton
app.UpdatestatusButton = uibutton(app.LeftPanel, 'push');
app.UpdatestatusButton.ButtonPushedFcn = createCallbackFcn(app, @UpdatestatusButtonPushed, true);
app.UpdatestatusButton.FontSize = 18;
app.UpdatestatusButton.Position = [49 164 127 29];
app.UpdatestatusButton.Text = 'Update status';
% Create BlacklineLabel_10
app.BlacklineLabel_10 = uilabel(app.LeftPanel);
app.BlacklineLabel_10.BackgroundColor = [0 0 0];
app.BlacklineLabel_10.FontSize = 2;
app.BlacklineLabel_10.Position = [1 209 218 1];
app.BlacklineLabel_10.Text = 'Black line';
% Create BlacklineLabel_13
app.BlacklineLabel_13 = uilabel(app.LeftPanel);
app.BlacklineLabel_13.BackgroundColor = [0 0 0];
app.BlacklineLabel_13.FontSize = 2;
app.BlacklineLabel_13.Position = [1 353 218 1];
app.BlacklineLabel_13.Text = 'Black line';
% Create EmergencybuttonLabel
app.EmergencybuttonLabel = uilabel(app.LeftPanel);
app.EmergencybuttonLabel.HorizontalAlignment = 'center';
app.EmergencybuttonLabel.FontSize = 14;
app.EmergencybuttonLabel.FontWeight = 'bold';
app.EmergencybuttonLabel.Position = [45 378 128 41];
app.EmergencybuttonLabel.Text = 'Emergency button';
% Create Emergency_Button
app.Emergency_Button = uilamp(app.LeftPanel);
app.Emergency_Button.Position = [99 362 20 20];
% Create CenterPanel
app.CenterPanel = uipanel(app.GridLayout);
app.CenterPanel.Layout.Row = 1;
app.CenterPanel.Layout.Column = 2;
% Create TabGroup
app.TabGroup = uitabgroup(app.CenterPanel);
app.TabGroup.TabLocation = 'bottom';
app.TabGroup.Position = [7 1 425 808];
% Create PlotsTab
app.PlotsTab = uitab(app.TabGroup);
app.PlotsTab.Title = 'Plots';
% Create UIAxes_4
app.UIAxes_4 = uiaxes(app.PlotsTab);
title(app.UIAxes_4, 'Position Z/Y')
xlabel(app.UIAxes_4, 'Y (steps)')
ylabel(app.UIAxes_4, 'Z (steps)')
zlabel(app.UIAxes_4, 'Z')
app.UIAxes_4.Toolbar.Visible = 'off';
app.UIAxes_4.XLim = [0 8000];
app.UIAxes_4.YLim = [0 3000];
app.UIAxes_4.YDir = 'reverse';
app.UIAxes_4.XTick = [0 2000 4000 6000 8000];
app.UIAxes_4.XTickLabel = {'0'; '2000'; '4000'; '6000'; '8000'};
app.UIAxes_4.YTick = [0 500 1000 1500 2000 2500 3000];
app.UIAxes_4.YTickLabel = {'0'; '500'; '1000'; '1500'; '2000'; '2500'; '3000'};
app.UIAxes_4.XGrid = 'on';
app.UIAxes_4.YGrid = 'on';
app.UIAxes_4.FontSize = 12;
app.UIAxes_4.Position = [13 6 403 236];
% Create UIAxes_5
app.UIAxes_5 = uiaxes(app.PlotsTab);
title(app.UIAxes_5, 'Position Y/X')
xlabel(app.UIAxes_5, 'X (steps)')
ylabel(app.UIAxes_5, 'Y (steps)')
zlabel(app.UIAxes_5, 'Z')
app.UIAxes_5.Toolbar.Visible = 'off';
app.UIAxes_5.XLim = [0 8000];
app.UIAxes_5.YLim = [0 8000];
app.UIAxes_5.XTick = [0 2000 4000 6000 8000];
app.UIAxes_5.XTickLabel = {'0'; '2000'; '4000'; '6000'; '8000'};
app.UIAxes_5.YTick = [0 2000 4000 6000 8000];
app.UIAxes_5.YTickLabel = {'0'; '2000'; '4000'; '6000'; '8000'};
app.UIAxes_5.XGrid = 'on';
app.UIAxes_5.YGrid = 'on';
app.UIAxes_5.FontSize = 12;
app.UIAxes_5.Position = [13 496 403 238];
% Create UIAxes_6
app.UIAxes_6 = uiaxes(app.PlotsTab);
title(app.UIAxes_6, 'Position Z/X')
xlabel(app.UIAxes_6, 'X (steps)')
ylabel(app.UIAxes_6, 'Z (steps)')
zlabel(app.UIAxes_6, 'Z')
app.UIAxes_6.Toolbar.Visible = 'off';
app.UIAxes_6.XLim = [0 8000];
app.UIAxes_6.YLim = [0 3000];
app.UIAxes_6.YDir = 'reverse';
app.UIAxes_6.XTick = [0 2000 4000 6000 8000];
app.UIAxes_6.XTickLabel = {'0'; '2000'; '4000'; '6000'; '8000'};
app.UIAxes_6.YTick = [0 500 1000 1500 2000 2500 3000];
app.UIAxes_6.YTickLabel = {'0'; '500'; '1000'; '1500'; '2000'; '2500'; '3000'};
app.UIAxes_6.XGrid = 'on';
app.UIAxes_6.YGrid = 'on';
app.UIAxes_6.FontSize = 12;
app.UIAxes_6.Position = [13 253 403 238];
% Create PositionplotsLabel
app.PositionplotsLabel = uilabel(app.PlotsTab);
app.PositionplotsLabel.HorizontalAlignment = 'center';
app.PositionplotsLabel.FontSize = 20;
app.PositionplotsLabel.FontWeight = 'bold';
app.PositionplotsLabel.Position = [118 745 180 43];
app.PositionplotsLabel.Text = 'Position plots';
% Create BlacklineLabel_11
app.BlacklineLabel_11 = uilabel(app.PlotsTab);
app.BlacklineLabel_11.BackgroundColor = [0 0 0];
app.BlacklineLabel_11.FontSize = 2;
app.BlacklineLabel_11.Position = [-3 744 418 2];
app.BlacklineLabel_11.Text = 'Black line';
% Create Image2
app.Image2 = uiimage(app.PlotsTab);
app.Image2.Position = [13 649 53 77];
app.Image2.ImageSource = 'e_beam.png';
% Create DebugTab
app.DebugTab = uitab(app.TabGroup);
app.DebugTab.Title = 'Debug';
% Create RawHistory
app.RawHistory = uilistbox(app.DebugTab);
app.RawHistory.Items = {};
app.RawHistory.FontSize = 10.4;
app.RawHistory.Position = [7 9 409 721];
app.RawHistory.Value = {};
% Create DebugLabel
app.DebugLabel = uilabel(app.DebugTab);
app.DebugLabel.HorizontalAlignment = 'center';
app.DebugLabel.FontSize = 20;
app.DebugLabel.FontWeight = 'bold';
app.DebugLabel.Position = [118 745 180 43];
app.DebugLabel.Text = 'Debug';
% Create BlacklineLabel_12
app.BlacklineLabel_12 = uilabel(app.DebugTab);
app.BlacklineLabel_12.BackgroundColor = [0 0 0];
app.BlacklineLabel_12.FontSize = 2;
app.BlacklineLabel_12.Position = [-5 745 435 2];
app.BlacklineLabel_12.Text = 'Black line';
% Create RightPanel
app.RightPanel = uipanel(app.GridLayout);
app.RightPanel.Layout.Row = 1;
app.RightPanel.Layout.Column = 3;
% Create BringbackholderButton
app.BringbackholderButton = uibutton(app.RightPanel, 'push');
app.BringbackholderButton.ButtonPushedFcn = createCallbackFcn(app, @BringbackholderButtonPushed, true);
app.BringbackholderButton.FontWeight = 'bold';
app.BringbackholderButton.Enable = 'off';
app.BringbackholderButton.Position = [51 223 132 38];
app.BringbackholderButton.Text = 'Bring back holder';
% Create SelecttheholdertopickupLabel
app.SelecttheholdertopickupLabel = uilabel(app.RightPanel);
app.SelecttheholdertopickupLabel.HorizontalAlignment = 'center';
app.SelecttheholdertopickupLabel.FontSize = 14;
app.SelecttheholdertopickupLabel.FontWeight = 'bold';
app.SelecttheholdertopickupLabel.Position = [24 725 188 38];
app.SelecttheholdertopickupLabel.Text = 'Select the holder to pick up';
% Create ControlsLabel
app.ControlsLabel = uilabel(app.RightPanel);
app.ControlsLabel.HorizontalAlignment = 'center';
app.ControlsLabel.FontSize = 20;
app.ControlsLabel.FontWeight = 'bold';
app.ControlsLabel.Position = [22 767 180 43];
app.ControlsLabel.Text = 'Controls';
% Create BlacklineLabel_3
app.BlacklineLabel_3 = uilabel(app.RightPanel);
app.BlacklineLabel_3.BackgroundColor = [0 0 0];
app.BlacklineLabel_3.FontSize = 2;
app.BlacklineLabel_3.Position = [1 769 218 2];
app.BlacklineLabel_3.Text = 'Black line';
% Create PutHolderInBeam
app.PutHolderInBeam = uibutton(app.RightPanel, 'push');
app.PutHolderInBeam.ButtonPushedFcn = createCallbackFcn(app, @PutHolderInBeamPushed, true);
app.PutHolderInBeam.FontWeight = 'bold';
app.PutHolderInBeam.Position = [55 269 124 38];
app.PutHolderInBeam.Text = 'Put holder in beam';
% Create XpositioninbeammmEditFieldLabel
app.XpositioninbeammmEditFieldLabel = uilabel(app.RightPanel);
app.XpositioninbeammmEditFieldLabel.HorizontalAlignment = 'center';
app.XpositioninbeammmEditFieldLabel.Position = [49 318 80 28];
app.XpositioninbeammmEditFieldLabel.Text = {'X position '; 'in beam (mm)'};
% Create XpositioninbeammmEditField
app.XpositioninbeammmEditField = uieditfield(app.RightPanel, 'numeric');
app.XpositioninbeammmEditField.HorizontalAlignment = 'center';
app.XpositioninbeammmEditField.Position = [135 321 54 22];
app.XpositioninbeammmEditField.Value = 200;
% Create Panel
app.Panel = uipanel(app.RightPanel);
app.Panel.Position = [20 363 194 364];
% Create GridLayout2
app.GridLayout2 = uigridlayout(app.Panel);
app.GridLayout2.ColumnWidth = {80, 80};
app.GridLayout2.RowHeight = {'1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x', '1x'};
app.GridLayout2.RowSpacing = 2;
app.GridLayout2.Padding = [10 0 0 0];
% Create GrabHolder_01
app.GrabHolder_01 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_01.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_01.Text = '1';
app.GrabHolder_01.Layout.Row = 1;
app.GrabHolder_01.Layout.Column = 1;
% Create GrabHolder_02
app.GrabHolder_02 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_02.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_02.Text = '2';
app.GrabHolder_02.Layout.Row = 1;
app.GrabHolder_02.Layout.Column = 2;
% Create GrabHolder_03
app.GrabHolder_03 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_03.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_03.Text = '3';
app.GrabHolder_03.Layout.Row = 2;
app.GrabHolder_03.Layout.Column = 1;
% Create GrabHolder_04
app.GrabHolder_04 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_04.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_04.Text = '4';
app.GrabHolder_04.Layout.Row = 2;
app.GrabHolder_04.Layout.Column = 2;
% Create GrabHolder_05
app.GrabHolder_05 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_05.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_05.Text = '5';
app.GrabHolder_05.Layout.Row = 3;
app.GrabHolder_05.Layout.Column = 1;
% Create GrabHolder_06
app.GrabHolder_06 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_06.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_06.Text = '6';
app.GrabHolder_06.Layout.Row = 3;
app.GrabHolder_06.Layout.Column = 2;
% Create GrabHolder_07
app.GrabHolder_07 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_07.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_07.Text = '7';
app.GrabHolder_07.Layout.Row = 4;
app.GrabHolder_07.Layout.Column = 1;
% Create GrabHolder_08
app.GrabHolder_08 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_08.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_08.Text = '8';
app.GrabHolder_08.Layout.Row = 4;
app.GrabHolder_08.Layout.Column = 2;
% Create GrabHolder_09
app.GrabHolder_09 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_09.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_09.Text = '9';
app.GrabHolder_09.Layout.Row = 5;
app.GrabHolder_09.Layout.Column = 1;
% Create GrabHolder_10
app.GrabHolder_10 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_10.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_10.Text = '10';
app.GrabHolder_10.Layout.Row = 5;
app.GrabHolder_10.Layout.Column = 2;
% Create GrabHolder_11
app.GrabHolder_11 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_11.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_11.Text = '11';
app.GrabHolder_11.Layout.Row = 6;
app.GrabHolder_11.Layout.Column = 1;
% Create GrabHolder_13
app.GrabHolder_13 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_13.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_13.Text = '13';
app.GrabHolder_13.Layout.Row = 7;
app.GrabHolder_13.Layout.Column = 1;
% Create GrabHolder_14
app.GrabHolder_14 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_14.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_14.Text = '14';
app.GrabHolder_14.Layout.Row = 7;
app.GrabHolder_14.Layout.Column = 2;
% Create GrabHolder_15
app.GrabHolder_15 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_15.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_15.Text = '15';
app.GrabHolder_15.Layout.Row = 8;
app.GrabHolder_15.Layout.Column = 1;
% Create GrabHolder_16
app.GrabHolder_16 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_16.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_16.Text = '16';
app.GrabHolder_16.Layout.Row = 8;
app.GrabHolder_16.Layout.Column = 2;
% Create GrabHolder_17
app.GrabHolder_17 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_17.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_17.Text = '17';
app.GrabHolder_17.Layout.Row = 9;
app.GrabHolder_17.Layout.Column = 1;
% Create GrabHolder_18
app.GrabHolder_18 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_18.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_18.Text = '18';
app.GrabHolder_18.Layout.Row = 9;
app.GrabHolder_18.Layout.Column = 2;
% Create GrabHolder_19
app.GrabHolder_19 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_19.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_19.Text = '19';
app.GrabHolder_19.Layout.Row = 10;
app.GrabHolder_19.Layout.Column = 1;
% Create GrabHolder_20
app.GrabHolder_20 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_20.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_20.Text = '20';
app.GrabHolder_20.Layout.Row = 10;
app.GrabHolder_20.Layout.Column = 2;
% Create GrabHolder_21
app.GrabHolder_21 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_21.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_21.Text = '21';
app.GrabHolder_21.Layout.Row = 11;
app.GrabHolder_21.Layout.Column = 1;
% Create GrabHolder_22
app.GrabHolder_22 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_22.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_22.Text = '22';
app.GrabHolder_22.Layout.Row = 11;
app.GrabHolder_22.Layout.Column = 2;
% Create GrabHolder_24
app.GrabHolder_24 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_24.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_24.Text = '24';
app.GrabHolder_24.Layout.Row = 12;
app.GrabHolder_24.Layout.Column = 2;
% Create GrabHolder_12
app.GrabHolder_12 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_12.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_12.Text = '12';
app.GrabHolder_12.Layout.Row = 6;
app.GrabHolder_12.Layout.Column = 2;
% Create GrabHolder_23
app.GrabHolder_23 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_23.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_23.Text = '23';
app.GrabHolder_23.Layout.Row = 12;
app.GrabHolder_23.Layout.Column = 1;
% Create GrabHolder_25
app.GrabHolder_25 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_25.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_25.Text = '25';
app.GrabHolder_25.Layout.Row = 13;
app.GrabHolder_25.Layout.Column = 1;
% Create GrabHolder_26
app.GrabHolder_26 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_26.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_26.Text = '26';
app.GrabHolder_26.Layout.Row = 13;
app.GrabHolder_26.Layout.Column = 2;
% Create GrabHolder_27
app.GrabHolder_27 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_27.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_27.Text = '27';
app.GrabHolder_27.Layout.Row = 14;
app.GrabHolder_27.Layout.Column = 1;
% Create GrabHolder_28
app.GrabHolder_28 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_28.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_28.Text = '28';
app.GrabHolder_28.Layout.Row = 14;
app.GrabHolder_28.Layout.Column = 2;
% Create GrabHolder_29
app.GrabHolder_29 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_29.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_29.Text = '29';
app.GrabHolder_29.Layout.Row = 15;
app.GrabHolder_29.Layout.Column = 1;
% Create GrabHolder_30
app.GrabHolder_30 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_30.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_30.Text = '30';
app.GrabHolder_30.Layout.Row = 15;
app.GrabHolder_30.Layout.Column = 2;
% Create GrabHolder_31
app.GrabHolder_31 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_31.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_31.Text = '31';
app.GrabHolder_31.Layout.Row = 16;
app.GrabHolder_31.Layout.Column = 1;
% Create GrabHolder_32
app.GrabHolder_32 = uibutton(app.GridLayout2, 'state');
app.GrabHolder_32.ValueChangedFcn = createCallbackFcn(app, @GrabHolder_ValueChanged, true);
app.GrabHolder_32.Text = '32';
app.GrabHolder_32.Layout.Row = 16;
app.GrabHolder_32.Layout.Column = 2;
app.BringbackholderButton.Position = [51 223 132 38];
filterLabelHalfWidth=40;
filterLabelHeight=20;
filterLabelPad=25;
panelMidPoint=109;
% Create line above filter label
app.BlackLine1 = uilabel(app.RightPanel);
app.BlackLine1.BackgroundColor = [0 0 0];
app.BlackLine1.FontSize = 1;
app.BlackLine1.Position = [1 210 panelMidPoint*2 2];
app.BlackLine1.Text = '-';
%filterLabelPos = [panelMidPoint-filterLabelPad-2*filterLabelWidth panelMidPoint+filterLabelPad ]; %horizontal positions
%for filter = 1:length(filterlabelPos) %length(app.grabHolderButts)
%Filter1
app.FilterLabel1 = uilabel(app.RightPanel);
app.FilterLabel1.HorizontalAlignment = 'center';
app.FilterLabel1.FontSize = 14;
app.FilterLabel1.FontWeight = 'bold';
app.FilterLabel1.Position = [panelMidPoint-filterLabelPad-2*filterLabelHalfWidth+15 185 2*filterLabelHalfWidth filterLabelHeight];
app.FilterLabel1.Text = 'Filter 1';
% Create FilterINButtons
app.Filter1INButton = uibutton(app.RightPanel, 'push');
app.Filter1INButton.ButtonPushedFcn = createCallbackFcn(app, @FilterINButtonPushed, true);
app.Filter1INButton.Position = [panelMidPoint-filterLabelPad-2*filterLabelHalfWidth+15 160 30 22];
app.Filter1INButton.Text = 'IN';
% Create FilterOUTButtons
app.Filter1OUTButton = uibutton(app.RightPanel, 'push');
app.Filter1OUTButton.ButtonPushedFcn = createCallbackFcn(app, @FilterOUTButtonPushed, true);
app.Filter1OUTButton.Position = [panelMidPoint-filterLabelPad-2*filterLabelHalfWidth+filterLabelHalfWidth+15 160 40 22];
app.Filter1OUTButton.Text = 'OUT';
%Filter2
app.FilterLabel2 = uilabel(app.RightPanel);
app.FilterLabel2.HorizontalAlignment = 'center';
app.FilterLabel2.FontSize = 14;
app.FilterLabel2.FontWeight = 'bold';
app.FilterLabel2.Position = [panelMidPoint+filterLabelPad 185 2*filterLabelHalfWidth filterLabelHeight];
app.FilterLabel2.Text = 'Filter 2';
% Create FilterINButton
app.Filter2INButton = uibutton(app.RightPanel, 'push');
app.Filter2INButton.ButtonPushedFcn = createCallbackFcn(app, @FilterINButtonPushed, true);
app.Filter2INButton.Position = [panelMidPoint+filterLabelPad 160 30 22];
app.Filter2INButton.Text = 'IN';
% Create FilterOUTButton
app.Filter2OUTButton = uibutton(app.RightPanel, 'push');
app.Filter2OUTButton.ButtonPushedFcn = createCallbackFcn(app, @FilterOUTButtonPushed, true);
app.Filter2OUTButton.Position = [panelMidPoint+filterLabelPad+filterLabelHalfWidth 160 40 22];
app.Filter2OUTButton.Text = 'OUT';
% Create line below filters
app.BlackLine3 = uilabel(app.RightPanel);
app.BlackLine3.BackgroundColor = [0 0 0];
app.BlackLine3.FontSize = 1;
app.BlackLine3.Position = [1 145 panelMidPoint*2 2];
app.BlackLine3.Text = '-';
% Create LastCommandTextAreaLabel
app.LastCommandTextAreaLabel = uilabel(app.RightPanel);
app.LastCommandTextAreaLabel.HorizontalAlignment = 'center';
app.LastCommandTextAreaLabel.Position = [10 110 61 28];
app.LastCommandTextAreaLabel.Text = {'Last'; 'Command'};
% Create LastCommandTextArea
app.LastCommandTextArea = uitextarea(app.RightPanel);
app.LastCommandTextArea.FontSize = 10;
app.LastCommandTextArea.Position = [74 110 134 20];
% Create Image
%app.Image = uiimage(app.RightPanel);
%app.Image.Position = [33 7 170 123];
%app.Image.ImageSource = 'C-ROBOT_v4.png';
% Show the figure after all components are created
app.UIFigure.Visible = 'on';
end
end
% App creation and deletion
methods (Access = public)
% Construct app
function app = Robot_GUI_exported
% Create UIFigure and components
createComponents(app)
% Register the app with App Designer
registerApp(app, app.UIFigure)
% Execute the startup function
runStartupFcn(app, @startupFcn)
if nargout == 0
clear app
end
end
% Code that executes before app deletion
function delete(app)
% Delete UIFigure when app is deleted
delete(app.UIFigure)
end
end
end
\ No newline at end of file
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