3.

3 CODE MATLAB

% CODE MATLAB code for CODE.fig

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

% Last Modified by GUIDE v2.5 12-Oct-2023 11:24:50

% Begin initialization code - DO NOT EDIT

gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @CODE_OpeningFcn, ...
'gui_OutputFcn', @CODE_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 CODE is made visible.

function CODE_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 CODE (see VARARGIN)

% Choose default command line output for CODE

handles.output = hObject;

% Update handles structure

guidata(hObject, handles);
axes(handles.axes2);
imshow('C:\Users\Neva Sophia\Desktop\Kythuanrobot\logotdmu.jpg');

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

% uiwait(handles.figure1);

% --- Outputs from this function are returned to the command line.
function varargout = CODE_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 slider movement.

function slider1_Callback(hObject, eventdata, handles)
ModelName = 'lapghep';

a1 = 145;
a2 = 90;
a3 = 105;
a4 = 78.25;

theta1=get(handles.slider1,'value');
set(handles.edit1,'string',num2str(theta1));
theta2=get(handles.slider2,'value');
set(handles.edit2,'string',num2str(theta2));
theta3=get(handles.slider3,'value');
set(handles.edit3,'string',num2str(theta3));
theta4=get(handles.slider4,'value');
set(handles.edit4,'string',num2str(theta4));

set_param([ModelName '/Slider Gain'],'Gain',num2str(theta1));

set_param([ModelName '/Slider Gain1'],'Gain',num2str(theta2));
set_param([ModelName '/Slider Gain2'],'Gain',num2str(theta3));
set_param([ModelName '/Slider Gain3'],'Gain',num2str(theta4));

T1 = [ cosd(theta1) 0 sind(theta1) 0;
sind(theta1) 0 -cosd(theta1) 0;
0 1 0 a1;
 0 0 0 1];

T2 = [ cosd(theta2) -sind(theta2) 0 a2*cosd(theta2);

sind(theta2) cosd(theta2) 0 a2*sind(theta2);
0 0 1 0;
0 0 0 1];

T3 = [ cosd(theta3) -sind(theta3) 0 a3*cosd(theta3);

sind(theta3) cosd(theta3) 0 a3*sind(theta3);
0 0 1 0;
0 0 0 1];

T4 = [ cosd(theta4) -sind(theta4) 0 a4*cosd(theta4);

sind(theta4) cosd(theta4) 0 a4*sind(theta4);
0 0 1 0;
0 0 0 1];

T = T1*T2*T3*T4;

px=T(1,4);
py=T(2,4);
pz=T(3,4);
set(handles.edit5,'string',num2str(px));
set(handles.edit6,'string',num2str(py));
set(handles.edit7,'string',num2str(pz));

function slider1_CreateFcn(hObject, eventdata, handles)

if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor',[.9 .9 .9]);
end
function slider2_Callback(hObject, eventdata, handles)
ModelName = 'lapghep';

a1 = 145;
a2 = 90;
a3 = 105;
a4 = 78.25;

theta1=get(handles.slider1,'value');
set(handles.edit1,'string',num2str(theta1));
theta2=get(handles.slider2,'value');
set(handles.edit2,'string',num2str(theta2));
theta3=get(handles.slider3,'value');
set(handles.edit3,'string',num2str(theta3));
theta4=get(handles.slider4,'value');
set(handles.edit4,'string',num2str(theta4));

set_param([ModelName '/Slider Gain'],'Gain',num2str(theta1));

set_param([ModelName '/Slider Gain1'],'Gain',num2str(theta2));
set_param([ModelName '/Slider Gain2'],'Gain',num2str(theta3));
set_param([ModelName '/Slider Gain3'],'Gain',num2str(theta4));
T1 = [ cosd(theta1) 0 sind(theta1) 0;
sind(theta1) 0 -cosd(theta1) 0;
0 1 0 a1;
0 0 0 1];

T2 = [ cosd(theta2) -sind(theta2) 0 a2*cosd(theta2);

sind(theta2) cosd(theta2) 0 a2*sind(theta2);
0 0 1 0;
0 0 0 1];

T3 = [ cosd(theta3) -sind(theta3) 0 a3*cosd(theta3);

sind(theta3) cosd(theta3) 0 a3*sind(theta3);
0 0 1 0;
0 0 0 1];

T4 = [ cosd(theta4) -sind(theta4) 0 a4*cosd(theta4);

sind(theta4) cosd(theta4) 0 a4*sind(theta4);
0 0 1 0;
0 0 0 1];

T = T1*T2*T3*T4;

px=T(1,4);
py=T(2,4);
pz=T(3,4);
set(handles.edit5,'string',num2str(px));
set(handles.edit6,'string',num2str(py));
set(handles.edit7,'string',num2str(pz));

function slider2_CreateFcn(hObject, eventdata, handles)

if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor',[.9 .9 .9]);
end

function slider3_Callback(hObject, eventdata, handles)

ModelName = 'lapghep';

a1 = 145;
a2 = 90;
a3 = 105;
a4 = 78.25;

theta1=get(handles.slider1,'value');
set(handles.edit1,'string',num2str(theta1));
theta2=get(handles.slider2,'value');
set(handles.edit2,'string',num2str(theta2));
theta3=get(handles.slider3,'value');
set(handles.edit3,'string',num2str(theta3));
theta4=get(handles.slider4,'value');
set(handles.edit4,'string',num2str(theta4));
set_param([ModelName '/Slider Gain'],'Gain',num2str(theta1));
set_param([ModelName '/Slider Gain1'],'Gain',num2str(theta2));
set_param([ModelName '/Slider Gain2'],'Gain',num2str(theta3));
set_param([ModelName '/Slider Gain3'],'Gain',num2str(theta4));

T1 = [ cosd(theta1) 0 sind(theta1) 0;
sind(theta1) 0 -cosd(theta1) 0;
0 1 0 a1;
0 0 0 1];

T2 = [ cosd(theta2) -sind(theta2) 0 a2*cosd(theta2);

sind(theta2) cosd(theta2) 0 a2*sind(theta2);
0 0 1 0;
0 0 0 1];

T3 = [ cosd(theta3) -sind(theta3) 0 a3*cosd(theta3);

sind(theta3) cosd(theta3) 0 a3*sind(theta3);
0 0 1 0;
0 0 0 1];

T4 = [ cosd(theta4) -sind(theta4) 0 a4*cosd(theta4);

sind(theta4) cosd(theta4) 0 a4*sind(theta4);
0 0 1 0;
0 0 0 1];

T = T1*T2*T3*T4;

px=T(1,4);
py=T(2,4);
pz=T(3,4);
set(handles.edit5,'string',num2str(px));
set(handles.edit6,'string',num2str(py));
set(handles.edit7,'string',num2str(pz));

function slider3_CreateFcn(hObject, eventdata, handles)

if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor',[.9 .9 .9]);
end

function slider4_Callback(hObject, eventdata, handles)

ModelName = 'lapghep';

a1 = 145;
a2 = 90;
a3 = 105;
a4 = 78.25;

theta1=get(handles.slider1,'value');
set(handles.edit1,'string',num2str(theta1));
theta2=get(handles.slider2,'value');
set(handles.edit2,'string',num2str(theta2));
theta3=get(handles.slider3,'value');
set(handles.edit3,'string',num2str(theta3));
theta4=get(handles.slider4,'value');
set(handles.edit4,'string',num2str(theta4));

set_param([ModelName '/Slider Gain'],'Gain',num2str(theta1));

set_param([ModelName '/Slider Gain1'],'Gain',num2str(theta2));
set_param([ModelName '/Slider Gain2'],'Gain',num2str(theta3));
set_param([ModelName '/Slider Gain3'],'Gain',num2str(theta4));

T1 = [ cosd(theta1) 0 sind(theta1) 0;
sind(theta1) 0 -cosd(theta1) 0;
0 1 0 a1;
0 0 0 1];

T2 = [ cosd(theta2) -sind(theta2) 0 a2*cosd(theta2);

sind(theta2) cosd(theta2) 0 a2*sind(theta2);
0 0 1 0;
0 0 0 1];

T3 = [ cosd(theta3) -sind(theta3) 0 a3*cosd(theta3);

sind(theta3) cosd(theta3) 0 a3*sind(theta3);
0 0 1 0;
0 0 0 1];

T4 = [ cosd(theta4) -sind(theta4) 0 a4*cosd(theta4);

sind(theta4) cosd(theta4) 0 a4*sind(theta4);
0 0 1 0;
0 0 0 1];

T = T1*T2*T3*T4;

px=T(1,4);
py=T(2,4);
pz=T(3,4);
set(handles.edit5,'string',num2str(px));
set(handles.edit6,'string',num2str(py));
set(handles.edit7,'string',num2str(pz));

function slider4_CreateFcn(hObject, eventdata, handles)

if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor',[.9 .9 .9]);
end

function edit8_Callback(hObject, eventdata, handles)

px = get(handles.edit8,'string');
set(handles.slider5,'value',str2num(px));
function edit8_CreateFcn(hObject, eventdata, handles)
if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end

function edit9_Callback(hObject, eventdata, handles)

py = get(handles.edit9,'string');
set(handles.slider6,'value',str2num(py));

function edit9_CreateFcn(hObject, eventdata, handles)

if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end

function edit10_Callback(hObject, eventdata, handles)

pz = get(handles.edit10,'string');
set(handles.slider7,'value',str2num(pz));

function edit10_CreateFcn(hObject, eventdata, handles)

if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end

function slider6_Callback(hObject, eventdata, handles)

py = get(handles.slider6,'value');
set(handles.edit9,'string',num2str(py));

function slider6_CreateFcn(hObject, eventdata, handles)

if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor',[.9 .9 .9]);
end

function slider7_Callback(hObject, eventdata, handles)

pz = get(handles.slider7,'value');
set(handles.edit10,'string',num2str(pz));

function slider7_CreateFcn(hObject, eventdata, handles)

if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor',[.9 .9 .9]);
end

function edit1_Callback(hObject, eventdata, handles)

ModelName = 'lapghep';

a1 = 145;
a2 = 90;
a3 = 105;
a4 = 78.25;

thate1=get(handles.edit1,'string');
thate2=get(handles.edit2,'string');
thate3=get(handles.edit3,'string');
thate4=get(handles.edit4,'string');
theta1= str2num(thate1);
theta2= str2num(thate2);
theta3= str2num(thate3);
theta4= str2num(thate4);
set(handles.slider1,'value',theta1);
set(handles.slider2,'value',theta2);
set(handles.slider3,'value',theta3);
set(handles.slider4,'value',theta4);

set_param([ModelName '/Slider Gain'],'Gain',num2str(theta1));

set_param([ModelName '/Slider Gain1'],'Gain',num2str(theta2));
set_param([ModelName '/Slider Gain2'],'Gain',num2str(theta3));
set_param([ModelName '/Slider Gain3'],'Gain',num2str(theta4));

T1 = [ cosd(theta1) 0 sind(theta1) 0;
sind(theta1) 0 -cosd(theta1) 0;
0 1 0 a1;
0 0 0 1];

T2 = [ cosd(theta2) -sind(theta2) 0 a2*cosd(theta2);

sind(theta2) cosd(theta2) 0 a2*sind(theta2);
0 0 1 0;
0 0 0 1];

T3 = [ cosd(theta3) -sind(theta3) 0 a3*cosd(theta3);

sind(theta3) cosd(theta3) 0 a3*sind(theta3);
0 0 1 0;
0 0 0 1];

T4 = [ cosd(theta4) -sind(theta4) 0 a4*cosd(theta4);

sind(theta4) cosd(theta4) 0 a4*sind(theta4);
0 0 1 0;
0 0 0 1];

T = T1*T2*T3*T4;

px=T(1,4);
py=T(2,4);
pz=T(3,4);
set(handles.edit5,'string',num2str(px));
set(handles.edit6,'string',num2str(py));
set(handles.edit7,'string',num2str(pz));
function edit1_CreateFcn(hObject, eventdata, handles)
if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end

function edit2_Callback(hObject, eventdata, handles)

ModelName = 'lapghep';

a1 = 145;
a2 = 90;
a3 = 105;
a4 = 78.25;

thate1=get(handles.edit1,'string');
thate2=get(handles.edit2,'string');
thate3=get(handles.edit3,'string');
thate4=get(handles.edit4,'string');
theta1= str2num(thate1);
theta2= str2num(thate2);
theta3= str2num(thate3);
theta4= str2num(thate4);
set(handles.slider1,'value',theta1);
set(handles.slider2,'value',theta2);
set(handles.slider3,'value',theta3);
set(handles.slider4,'value',theta4);

set_param([ModelName '/Slider Gain'],'Gain',num2str(theta1));

set_param([ModelName '/Slider Gain1'],'Gain',num2str(theta2));
set_param([ModelName '/Slider Gain2'],'Gain',num2str(theta3));
set_param([ModelName '/Slider Gain3'],'Gain',num2str(theta4));

T1 = [ cosd(theta1) 0 sind(theta1) 0;
sind(theta1) 0 -cosd(theta1) 0;
0 1 0 a1;
0 0 0 1];

T2 = [ cosd(theta2) -sind(theta2) 0 a2*cosd(theta2);

sind(theta2) cosd(theta2) 0 a2*sind(theta2);
0 0 1 0;
0 0 0 1];

T3 = [ cosd(theta3) -sind(theta3) 0 a3*cosd(theta3);

sind(theta3) cosd(theta3) 0 a3*sind(theta3);
0 0 1 0;
0 0 0 1];

T4 = [ cosd(theta4) -sind(theta4) 0 a4*cosd(theta4);

sind(theta4) cosd(theta4) 0 a4*sind(theta4);
 0 0 1 0;
0 0 0 1];

T = T1*T2*T3*T4;

px=T(1,4);
py=T(2,4);
pz=T(3,4);
set(handles.edit5,'string',num2str(px));
set(handles.edit6,'string',num2str(py));
set(handles.edit7,'string',num2str(pz));

function edit2_CreateFcn(hObject, eventdata, handles)

if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end

function edit3_Callback(hObject, eventdata, handles)

ModelName = 'lapghep';

a1 = 145;
a2 = 90;
a3 = 105;
a4 = 78.25;

thate1=get(handles.edit1,'string');
thate2=get(handles.edit2,'string');
thate3=get(handles.edit3,'string');
thate4=get(handles.edit4,'string');
theta1= str2num(thate1);
theta2= str2num(thate2);
theta3= str2num(thate3);
theta4= str2num(thate4);
set(handles.slider1,'value',theta1);
set(handles.slider2,'value',theta2);
set(handles.slider3,'value',theta3);
set(handles.slider4,'value',theta4);

set_param([ModelName '/Slider Gain'],'Gain',num2str(theta1));

set_param([ModelName '/Slider Gain1'],'Gain',num2str(theta2));
set_param([ModelName '/Slider Gain2'],'Gain',num2str(theta3));
set_param([ModelName '/Slider Gain3'],'Gain',num2str(theta4));

T1 = [ cosd(theta1) 0 sind(theta1) 0;
sind(theta1) 0 -cosd(theta1) 0;
0 1 0 a1;
0 0 0 1];
T2 = [ cosd(theta2) -sind(theta2) 0 a2*cosd(theta2);
sind(theta2) cosd(theta2) 0 a2*sind(theta2);
0 0 1 0;
0 0 0 1];

T3 = [ cosd(theta3) -sind(theta3) 0 a3*cosd(theta3);

sind(theta3) cosd(theta3) 0 a3*sind(theta3);
0 0 1 0;
0 0 0 1];

T4 = [ cosd(theta4) -sind(theta4) 0 a4*cosd(theta4);

sind(theta4) cosd(theta4) 0 a4*sind(theta4);
0 0 1 0;
0 0 0 1];

T = T1*T2*T3*T4;

px=T(1,4);
py=T(2,4);
pz=T(3,4);
set(handles.edit5,'string',num2str(px));
set(handles.edit6,'string',num2str(py));
set(handles.edit7,'string',num2str(pz));
function edit3_CreateFcn(hObject, eventdata, handles)
if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end

function edit4_Callback(hObject, eventdata, handles)

ModelName = 'lapghep';

a1 = 145;
a2 = 90;
a3 = 105;
a4 = 78.25;

thate1=get(handles.edit1,'string');
thate2=get(handles.edit2,'string');
thate3=get(handles.edit3,'string');
thate4=get(handles.edit4,'string');
theta1= str2num(thate1);
theta2= str2num(thate2);
theta3= str2num(thate3);
theta4= str2num(thate4);
set(handles.slider1,'value',theta1);
set(handles.slider2,'value',theta2);
set(handles.slider3,'value',theta3);
set(handles.slider4,'value',theta4);
set_param([ModelName '/Slider Gain'],'Gain',num2str(theta1));
set_param([ModelName '/Slider Gain1'],'Gain',num2str(theta2));
set_param([ModelName '/Slider Gain2'],'Gain',num2str(theta3));
set_param([ModelName '/Slider Gain3'],'Gain',num2str(theta4));

T1 = [ cosd(theta1) 0 sind(theta1) 0;
sind(theta1) 0 -cosd(theta1) 0;
0 1 0 a1;
0 0 0 1];

T2 = [ cosd(theta2) -sind(theta2) 0 a2*cosd(theta2);

sind(theta2) cosd(theta2) 0 a2*sind(theta2);
0 0 1 0;
0 0 0 1];

T3 = [ cosd(theta3) -sind(theta3) 0 a3*cosd(theta3);

sind(theta3) cosd(theta3) 0 a3*sind(theta3);
0 0 1 0;
0 0 0 1];

T4 = [ cosd(theta4) -sind(theta4) 0 a4*cosd(theta4);

sind(theta4) cosd(theta4) 0 a4*sind(theta4);
0 0 1 0;
0 0 0 1];

T = T1*T2*T3*T4;

px=T(1,4);
py=T(2,4);
pz=T(3,4);
set(handles.edit5,'string',num2str(px));
set(handles.edit6,'string',num2str(py));
set(handles.edit7,'string',num2str(pz));
function edit4_CreateFcn(hObject, eventdata, handles)
if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end

function edit5_Callback(hObject, eventdata, handles)

function edit5_CreateFcn(hObject, eventdata, handles)

if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end
function edit6_Callback(hObject, eventdata, handles)
function edit6_CreateFcn(hObject, eventdata, handles)
if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end

function edit7_Callback(~, eventdata, handles)

function edit7_CreateFcn(hObject, eventdata, handles)
if ispc && isequal(get(hObject,'BackgroundColor'),
get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor','white');
end

function pushbutton1_Callback(hObject, eventdata, handles)

ModelName = 'lapghep';

open_system(ModelName);

set_param(ModelName,'BlockReduction','off');
set_param(ModelName,'StopTime','inf');
set_param(ModelName,'simulationMode','normal');
set_param(ModelName,'StartFcn','1');
set_param(ModelName, 'SimulationCommand', 'start');

function pushbutton2_Callback(hObject, eventdata, handles)

ModelName = 'lapghep';

a1 = 145;
a2 = 90;
a3 = 105;
a4 = 78.25;

theta1 = 0;
theta2 = 0;
theta3 = 0;
theta4 = 0;

set_param([ModelName '/Slider Gain'],'Gain',num2str(theta1));

set_param([ModelName '/Slider Gain1'],'Gain',num2str(theta2));
set_param([ModelName '/Slider Gain2'],'Gain',num2str(theta3));
set_param([ModelName '/Slider Gain3'],'Gain',num2str(theta4));

T1 = [ cosd(theta1) 0 sind(theta1) 0;
sind(theta1) 0 -cosd(theta1) 0;
0 1 0 a1;
0 0 0 1];
T2 = [ cosd(theta2) -sind(theta2) 0 a2*cosd(theta2);
sind(theta2) cosd(theta2) 0 a2*sind(theta2);
0 0 1 0;
0 0 0 1];

T3 = [ cosd(theta3) -sind(theta3) 0 a3*cosd(theta3);

sind(theta3) cosd(theta3) 0 a3*sind(theta3);
0 0 1 0;
0 0 0 1];

T4 = [ cosd(theta4) -sind(theta4) 0 a4*cosd(theta4);

sind(theta4) cosd(theta4) 0 a4*sind(theta4);
0 0 1 0;
0 0 0 1];

T = T1*T2*T3*T4;

px=T(1,4);
py=T(2,4);
pz=T(3,4);

set(handles.slider1,'value',theta1);
set(handles.slider2,'value',theta2);
set(handles.slider3,'value',theta3);
set(handles.slider4,'value',theta4);
set(handles.edit1,'string',num2str(0));
set(handles.edit2,'string',num2str(0));
set(handles.edit3,'string',num2str(0));
set(handles.edit4,'string',num2str(0));
set(handles.edit5,'string',num2str(px));
set(handles.edit6,'string',num2str(py));
set(handles.edit7,'string',num2str(pz));

function pushbutton3_Callback(hObject, eventdata, handles)

close;

function pushbutton4_Callback(hObject, eventdata, handles)

ModelName = 'lapghep';
global var;

px=get(handles.slider5,'value');
set(handles.edit8,'string',num2str(px));
py=get(handles.slider6,'value');
set(handles.edit9,'string',num2str(py));
pz=get(handles.slider7,'value');
set(handles.edit10,'string',num2str(pz));

set(handles.edit5,'string',num2str(px));
set(handles.edit6,'string',num2str(py));
set(handles.edit7,'string',num2str(pz));
a1 = 145;
a2 = 90;
a3 = 105;
a4 = 78.25;

theta1=atan2d(py,px);
theta234= 0;
nx = px*cosd(theta1)+py*sind(theta1)-a4*cosd(theta234);
ny = -a1 + pz-a4*sind(theta234);
c3 = ((nx^2)+(ny^2)-(a3^2)-(a2^2))/(2*a3*a2);
s3 = sqrt(1-c3^2);
theta3 = atan2d(s3,c3);
c2 = (nx*(a3*c3+a2)+a3*s3*ny)/((a3*c3+a2)^2+a3^2*s3^2);
s2 = (ny*(a3*c3+a2)-a3*s3*nx)/((a3*c3+a2)^2+a3^2*s3^2);
theta2 = atan2d(s2,c2);
theta4=theta234-theta2-theta3;

set_param([ModelName '/Slider Gain'],'Gain',num2str(theta1));

set_param([ModelName '/Slider Gain1'],'Gain',num2str(theta2));
set_param([ModelName '/Slider Gain2'],'Gain',num2str(theta3));
set_param([ModelName '/Slider Gain3'],'Gain',num2str(theta4));

set(handles.edit1,'string',num2str(theta1));
set(handles.edit2,'string',num2str(theta2));
set(handles.edit3,'string',num2str(theta3))
set(handles.edit4,'string',num2str(theta4));

function slider5_Callback(hObject, eventdata, handles)

px = get(handles.slider5,'value');
set(handles.edit8,'string',num2str(px));

function slider5_CreateFcn(hObject, eventdata, handles)

if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
set(hObject,'BackgroundColor',[.9 .9 .9]);
end