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picknplace_def.m
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classdef picknplace_def < matlab.apps.AppBase
% Properties that correspond to app components
properties (Access = public)
UIFigure matlab.ui.Figure
Estado1 matlab.ui.control.TextArea
Estado2 matlab.ui.control.TextArea
camara matlab.ui.control.UIAxes
EspaciooperacionalLabel matlab.ui.control.Label
EspacioconfiguracionesLabel matlab.ui.control.Label
PICKPLACELabel matlab.ui.control.Label
EstadoLabel matlab.ui.control.Label
stopButton matlab.ui.control.StateButton
startButton matlab.ui.control.StateButton
AUTOMTICOButton matlab.ui.control.StateButton
MANUALButton matlab.ui.control.StateButton
unoButton matlab.ui.control.StateButton
dosButton matlab.ui.control.StateButton
tresButton matlab.ui.control.StateButton
gripperButton matlab.ui.control.StateButton
gripperState matlab.ui.control.TextArea
GripperLabel matlab.ui.control.Label
resetButton matlab.ui.control.Button
joint1State matlab.ui.control.TextArea
joint2State matlab.ui.control.TextArea
joint3State matlab.ui.control.TextArea
joint4State matlab.ui.control.TextArea
Joint1Label matlab.ui.control.Label
Joint2Label matlab.ui.control.Label
Joint3Label matlab.ui.control.Label
Joint4Label matlab.ui.control.Label
xState matlab.ui.control.TextArea
yState matlab.ui.control.TextArea
zState matlab.ui.control.TextArea
XLabel matlab.ui.control.Label
YLabel matlab.ui.control.Label
ZLabel matlab.ui.control.Label
closeButton matlab.ui.control.Button
TutorialButton matlab.ui.control.StateButton
ConexinButton matlab.ui.control.StateButton
autoState matlab.ui.control.TextArea
CargandoLabel matlab.ui.control.Label
unoLabel matlab.ui.control.Label
dosLabel matlab.ui.control.Label
tresLabel matlab.ui.control.Label
ConexionPanel matlab.ui.container.Panel
CONEXINROSLabel matlab.ui.control.Label
DirectaCheckBox matlab.ui.control.CheckBox
SeleccioneunaopcinLabel matlab.ui.control.Label
MquinaVirtualVMCheckBox matlab.ui.control.CheckBox
CONECTARButton matlab.ui.control.StateButton
DESCONECTARButton matlab.ui.control.Button
DireccinIPLocalEditFieldLabel matlab.ui.control.Label
DireccinIPLocalEditField matlab.ui.control.EditField
EstadoROSLabel matlab.ui.control.Label
DireccinIPRemotaEditFieldLabel matlab.ui.control.Label
DireccinIPRemotaEditField matlab.ui.control.EditField
end
properties (Access = private)
home_2_entrada_up;
entrada_up_2_home;
entrada_up_2_entrada_down;
entrada_down_2_entrada_up;
entrada_up_2_salida1_up;
salida1_up_2_salida1_down;
salida1_down_2_salida1_up;
salida1_up_2_home;
entrada_up_2_salida2_up;
salida2_up_2_salida2_down;
salida2_down_2_salida2_up;
salida2_up_2_home;
entrada_up_2_salida3_up;
salida3_up_2_salida3_down;
salida3_down_2_salida3_up;
salida3_up_2_home;
salida1_up_2_salida2_up;
salida2_up_2_salida1_up;
salida1_up_2_salida3_up;
salida3_up_2_salida1_up;
opened;
closed;
Phantom SerialLink;
end
% Callbacks that handle component events
methods (Access = private)
% Code that executes after component creation
function startupFcn(app)
%Configuración Cámara
title(app.camara, []);
xlabel(app.camara, []);
ylabel(app.camara, []);
app.camara.XAxis.TickLabels = {};
app.camara.YAxis.TickLabels = {};
%% Construccion Phantom
L0 = 0.137; L1 = 0.105; L2 = 0.105; L3 = 0.110;
q1 = 0; q2 = 0; q3 = 0; q4 = 0;
% dh(thetai, di, ai-1, alpha-1, sigma, offset)
dh1(1,:)= [ q1, L0, 0, 0, 0, 0];
dh1(2,:)= [ q2, 0, 0, pi/2, 0, pi/2];
dh1(3,:)= [ q3, 0, L1, 0, 0, 0];
dh1(4,:)= [ q4, 0, L2, 0, 0, 0];
% Eslabones++
L(1) = Link(dh1(1,:), 'modified','qlim',[-1.5*pi 1.5*pi]);
L(2) = Link(dh1(2,:), 'modified','qlim',[-2/3*pi 2/3*pi]);
L(3) = Link(dh1(3,:), 'modified','qlim',[-1.5*pi 1.5*pi]);
L(4) = Link(dh1(4,:), 'modified','qlim',[-1.5*pi 1.5*pi]);
%Representación
app.Phantom = SerialLink(L,'name','Phantom');
app.Phantom.tool = transl([L3 0 0])*round(trotz(pi/2))*round(trotx(pi/2));
%% Puntos pick and place
entrada = [0 -0.25];
pose_entrada = [90 0 90]; % 90 90 por ubicarse en el cuarto cuadrante
salida1 = [0.175 0.25];
pose_salida1 = [-90 atan2(salida1(2),salida1(1))*180/pi -90]; % 90 90 por ubicarse en el primer cuadrante X-Y
salida2 = [0.09 0.25];
pose_salida2 = [-90 atan2(salida2(2),salida2(1))*180/pi -90]; % 90 90 por ubicarse en el primer cuadrante X-Y
salida3 = [0.02 0.25];
pose_salida3 = [-90 atan2(salida3(2),salida3(1))*180/pi -90]; % 90 90 por ubicarse en el primer cuadrante X-Y
up = 0.137;
down = 0.03; %Altura mínima
% Griper
app.opened = 0.02;
app.closed = 0.005;
%% Coordenadas pick and place
home = [0.25 0 0.137 -90 89.9 -90];
entrada_up = [entrada up pose_entrada];
salida1_up = [salida1 up pose_salida1];
salida2_up = [salida2 up pose_salida2];
salida3_up = [salida3 up pose_salida3];
entrada_down = [entrada down pose_entrada];
salida1_down = [salida1 down pose_salida1];
salida2_down = [salida2 down pose_salida2];
salida3_down = [salida3 down pose_salida3];
%% Matrices de transformacion homogenea
T_home = transl(home(1:3))*rpy2tr(home(4:6),'deg');
T_entrada_up = transl(entrada_up(1:3))*rpy2tr(entrada_up(4:6),'deg');
T_salida1_up = transl(salida1_up(1:3))*rpy2tr(salida1_up(4:6),'deg');
T_salida2_up = transl(salida2_up(1:3))*rpy2tr(salida2_up(4:6),'deg');
T_salida3_up = transl(salida3_up(1:3))*rpy2tr(salida3_up(4:6),'deg');
T_entrada_down = transl(entrada_down(1:3))*rpy2tr(entrada_down(4:6),'deg');
T_salida1_down = transl(salida1_down(1:3))*rpy2tr(salida1_down(4:6),'deg');
T_salida2_down = transl(salida2_down(1:3))*rpy2tr(salida2_down(4:6),'deg');
T_salida3_down = transl(salida3_down(1:3))*rpy2tr(salida3_down(4:6),'deg');
%% Cinematica inversa
ik_home = app.Phantom.ikunc(T_home);
ik_entrada_up = app.Phantom.ikunc(T_entrada_up,ik_home);
ik_salida1_up = app.Phantom.ikunc(T_salida1_up,ik_entrada_up);
ik_salida2_up = app.Phantom.ikunc(T_salida2_up,ik_salida1_up);
ik_salida3_up = app.Phantom.ikunc(T_salida3_up,ik_entrada_up);
ik_entrada_down = app.Phantom.ikunc(T_entrada_down,ik_entrada_up);
ik_salida1_down = app.Phantom.ikunc(T_salida1_down,ik_salida1_up);
ik_salida2_down = app.Phantom.ikunc(T_salida2_down,ik_salida2_up);
ik_salida3_down = app.Phantom.ikunc(T_salida3_down,ik_salida3_up);
%% Trayectorias
t = (0:0.01:0.2);
app.home_2_entrada_up = jtraj(ik_home,ik_entrada_up,t);
app.entrada_up_2_home = jtraj(ik_entrada_up,ik_home,t);
app.entrada_up_2_entrada_down = jtraj(ik_entrada_up,ik_entrada_down,t);
app.entrada_down_2_entrada_up = jtraj(ik_entrada_down,ik_entrada_up,t);
app.entrada_up_2_salida1_up = jtraj(ik_entrada_up,ik_salida1_up,t);
app.salida1_up_2_salida1_down = jtraj(ik_salida1_up,ik_salida1_down,t);
app.salida1_down_2_salida1_up = jtraj(ik_salida1_down,ik_salida1_up,t);
app.salida1_up_2_home = jtraj(ik_salida1_up,ik_home,t);
app.entrada_up_2_salida2_up = jtraj(ik_entrada_up,ik_salida2_up,t);
app.salida2_up_2_salida2_down = jtraj(ik_salida2_up,ik_salida2_down,t);
app.salida2_down_2_salida2_up = jtraj(ik_salida2_down,ik_salida2_up,t);
app.salida2_up_2_home = jtraj(ik_salida2_up,ik_home,t);
app.entrada_up_2_salida3_up = jtraj(ik_entrada_up,ik_salida3_up,t);
app.salida3_up_2_salida3_down = jtraj(ik_salida3_up,ik_salida3_down,t);
app.salida3_down_2_salida3_up = jtraj(ik_salida3_down,ik_salida3_up,t);
app.salida3_up_2_home = jtraj(ik_salida3_up,ik_home,t);
app.salida1_up_2_salida2_up = jtraj(ik_salida1_up,ik_salida2_up,t);
app.salida2_up_2_salida1_up = jtraj(ik_salida2_up,ik_salida1_up,t);
app.salida1_up_2_salida3_up = jtraj(ik_salida1_up,ik_salida3_up,t);
app.salida3_up_2_salida1_up = jtraj(ik_salida3_up,ik_salida1_up,t);
pause(20);
app.CargandoLabel.Text = ("Seleccione una conexión");
end
% Value changed function: AUTOMTICOButton
function AUTOMTICOButtonValueChanged(app, event)
value = app.AUTOMTICOButton.Value;
if(value == 1)
app.Estado2.Value = 'AUTOMÁTICO';
app.startButton.Enable = 'off';
app.MANUALButton.Value = 0;
app.autoState.Visible = 'on';
app.unoButton.Enable = 'on';
app.dosButton.Enable = 'on';
app.tresButton.Enable = 'on';
app.unoLabel.FontColor = [0.00,0.00,0.00];
app.dosLabel.FontColor = [0.00,0.00,0.00];
app.tresLabel.FontColor = [0.00,0.00,0.00];
app.gripperButton.Enable = 'off';
app.GripperLabel.FontColor = [0.15,0.15,0.15];
app.gripperState.FontColor = [0.65,0.65,0.65];
app.gripperState.Value = 'ABIERTO';
app.gripperButton.Value = false;
end
if(value == 0)
app.Estado2.Value = '';
app.autoState.Visible = 'off';
app.startButton.Enable = 'off';
app.unoButton.Enable = 'off';
app.dosButton.Enable = 'off';
app.tresButton.Enable = 'off';
app.unoLabel.FontColor = [0.15,0.15,0.15];
app.dosLabel.FontColor = [0.15,0.15,0.15];
app.tresLabel.FontColor = [0.15,0.15,0.15];
app.unoButton.Value = false;
app.dosButton.Value = false;
app.tresButton.Value = false;
app.autoState.Value = '';
app.CargandoLabel.Text = 'Seleccione modo de operación';
end
end
% Value changed function: MANUALButton
function MANUALButtonValueChanged(app, event)
value = app.MANUALButton.Value;
if(value == 1)
app.Estado2.Value = 'MANUAL';
app.AUTOMTICOButton.Value = 0;
app.autoState.Visible = 'off';
app.autoState.Value = '';
app.unoButton.Value = 0;
app.dosButton.Value = 0;
app.tresButton.Value = 0;
if(app.CONECTARButton.Value == 1)
app.startButton.Enable = 'on';
end
app.unoButton.Enable = 'off';
app.dosButton.Enable = 'off';
app.tresButton.Enable = 'off';
app.unoLabel.FontColor = [0.15,0.15,0.15];
app.dosLabel.FontColor = [0.15,0.15,0.15];
app.tresLabel.FontColor = [0.15,0.15,0.15];
app.CargandoLabel.Text = 'Listo para usarse';
end
if(value == 0)
app.Estado2.Value = '';
app.startButton.Enable = 'off';
app.CargandoLabel.Text = 'Seleccione modo de operación';
end
end
% Value changed function: stopButton
function stopButtonValueChanged(app, event)
value = app.stopButton.Value;
if(value == 1)
app.Estado1.Value = 'PARADA';
app.startButton.Value = 0;
app.unoButton.Value = 0;
app.dosButton.Value = 0;
app.tresButton.Value = 0;
app.AUTOMTICOButton.Value = 0;
app.unoButton.Enable = 'off';
app.dosButton.Enable = 'off';
app.tresButton.Enable = 'off';
app.unoLabel.FontColor = [0.15,0.15,0.15];
app.dosLabel.FontColor = [0.15,0.15,0.15];
app.tresLabel.FontColor = [0.15,0.15,0.15];
app.autoState.Visible = 'off';
app.autoState.Value = '';
app.MANUALButton.Value = 0;
app.gripperButton.Enable = 'off';
app.GripperLabel.FontColor = [0.15,0.15,0.15];
app.gripperState.FontColor = [0.65,0.65,0.65];
app.gripperState.Value = 'ABIERTO';
app.gripperButton.Value = false;
app.Estado2.Value = '';
app.startButton.Enable = 'off';
if(app.CONECTARButton.Value == 1)
app.AUTOMTICOButton.Enable = 'on';
app.MANUALButton.Enable = 'on';
app.resetButton.Enable = 'on';
app.CargandoLabel.Text = 'Seleccione modo de operación';
end
end
end
% Value changed function: startButton
function startButtonValueChanged(app, event)
value = app.startButton.Value;
if(value == 1)
app.CargandoLabel.Text = 'Inicializando . . .';
cam = rossubscriber('/Phantom_sim/mybot/camera/image_raw/compressed');
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
%est = rossubscriber('/Phantom_sim/joint_states','sensor_msgs/JointState');
publicadores(1) = rospublisher('/Phantom_sim/joint1_position_controller/command','std_msgs/Float64');
publicadores(2) = rospublisher('/Phantom_sim/joint2_position_controller/command','std_msgs/Float64');
publicadores(3) = rospublisher('/Phantom_sim/joint3_position_controller/command','std_msgs/Float64');
publicadores(4) = rospublisher('/Phantom_sim/joint4_position_controller/command','std_msgs/Float64');
publicadores(5) = rospublisher('/Phantom_sim/joint5_position_controller/command','std_msgs/Float64');
publicadores(6) = rospublisher('/Phantom_sim/joint6_position_controller/command','std_msgs/Float64');
joydata = rossubscriber('/joy');
x1 = 0.25;
y1 = 0;
z1 = 0.137;
app.Estado1.Value = 'OPERACIÓN';
app.stopButton.Value = 0;
app.AUTOMTICOButton.Enable = 'off';
app.MANUALButton.Enable = 'off';
app.unoButton.Enable = 'off';
app.dosButton.Enable = 'off';
app.tresButton.Enable = 'off';
app.unoLabel.FontColor = [0.15,0.15,0.15];
app.dosLabel.FontColor = [0.15,0.15,0.15];
app.tresLabel.FontColor = [0.15,0.15,0.15];
app.startButton.Enable = 'off';
pause(1);
app.CargandoLabel.Text = '';
while(app.stopButton.Value ~= 1)
if(app.AUTOMTICOButton.Value == 1)
if(app.unoButton.Value == 1)
%% Trayectoria 1 en ROS
app.CargandoLabel.Text = 'Conexión exitosa';
msg= rosmessage('std_msgs/Float64');
%1
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.home_2_entrada_up(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,5) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
%2
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = [app.home_2_entrada_up(20,:) app.opened app.opened];
for i=1:6
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
pause(0.05)
end
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
%3
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.entrada_up_2_entrada_down(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,10) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
%4
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = [app.entrada_up_2_entrada_down(20,:) app.closed app.closed];
for i=1:6
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
pause(0.05)
end
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
%5
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.entrada_down_2_entrada_up(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,10) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
%6
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.entrada_up_2_salida1_up(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,5) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
%7
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.salida1_up_2_salida1_down(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,10) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
%8
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = [app.salida1_up_2_salida1_down(20,:) app.opened app.opened];
for i=1:6
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
pause(0.05)
end
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
%9
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.salida1_down_2_salida1_up(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,10) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
%10
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = [app.salida1_down_2_salida1_up(20,:) app.closed app.closed];
for i=1:6
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
pause(0.05)
end
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
%11
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.salida1_up_2_home(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,5) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
pause(1);
app.stopButton.Value = 1;
app.startButton.Value = 0;
app.Estado1.Value = 'PARADA';
app.unoButton.Value = 0;
app.dosButton.Value = 0;
app.tresButton.Value = 0;
app.AUTOMTICOButton.Value = 0;
app.MANUALButton.Value = 0;
app.Estado2.Value = '';
app.autoState.Visible = 'off';
app.autoState.Value = '';
app.startButton.Enable = 'off';
app.AUTOMTICOButton.Enable = 'on';
app.MANUALButton.Enable = 'on';
app.gripperButton.Enable = 'off';
app.GripperLabel.FontColor = [0.15,0.15,0.15];
app.gripperState.FontColor = [0.65,0.65,0.65];
app.gripperState.Value = 'ABIERTO';
app.gripperButton.Value = false;
app.joint1State.Value = '';
app.joint2State.Value = '';
app.joint3State.Value = '';
app.joint4State.Value = '';
app.xState.Value = '';
app.yState.Value = '';
app.zState.Value = '';
app.CargandoLabel.Text = 'Seleccione modo de operación';
end
if(app.dosButton.Value == 1)
%% Trayectoria 2 en ROS
app.CargandoLabel.Text = 'Conexión exitosa';
msg= rosmessage('std_msgs/Float64');
%1
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.home_2_entrada_up(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,5) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
%2
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = [app.home_2_entrada_up(20,:) app.opened app.opened];
for i=1:6
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
pause(0.05)
end
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
%3
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.entrada_up_2_entrada_down(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,10) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
%4
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = [app.entrada_up_2_entrada_down(20,:) app.closed app.closed];
for i=1:6
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
pause(0.05)
end
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
%5
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.entrada_down_2_entrada_up(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,10) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
%6
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.entrada_up_2_salida2_up(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,5) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
%7
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = app.salida2_up_2_salida2_down(a,:);
for i=1:4
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
if mod(a,10) ==0
img = readImage(receive(cam));
I = imshow(img, 'Parent', app.camara, 'XData', [1 app.camara.Position(3)], ...
'YData', [1 app.camara.Position(4)]);
app.camara.XLim = [0 I.XData(2)];
app.camara.YLim = [0 I.YData(2)];
end
pause(0.2)
end
%8
for a=1:20
if(app.stopButton.Value == 1)
break;
end
angulos = [app.salida2_up_2_salida2_down(20,:) app.opened app.opened];
for i=1:6
msg.Data = angulos(i);
send(publicadores(i),msg)
end
%msg2 = receive(est,10);
%app.joint1State.Value = string(msg2.Position(1));
%app.joint2State.Value = string(msg2.Position(2));
%app.joint3State.Value = string(msg2.Position(3));
%app.joint4State.Value = string(msg2.Position(4));
angulosa = angulos(1:4);
app.joint1State.Value = string(angulosa(1));
app.joint2State.Value = string(angulosa(2));
app.joint3State.Value = string(angulosa(3));
app.joint4State.Value = string(angulosa(4));
fk = app.Phantom.fkine(angulosa);
app.xState.Value = string(fk(1,4));
app.yState.Value = string(fk(2,4));
app.zState.Value = string(fk(3,4));
pause(0.05)