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drawingrobot .m
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drawingrobot .m
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clear;
clc;
clf;
close all;
% ------------------------------ Setup ------------------------------- %
global programOn; programOn = 1;
global viewStyle; viewStyle = 0; % Mouse
global mouseClick; mouseClick = 0;
global mouseDown; mouseDown = 0;
global mouseUp; mouseUp = 0;
robot = robotMake( 1, 1, .5);
% robotPaint(robot);
% ----------------------------- Interact Demo -------------------------- %
% -------------------------- Auto Demo Function ------------------------ %
numPts=160; % Define Pts
spiralPts = shapePts([ .5; -1; -.48], .25, numPts, 'spiral');
flowerPts = shapePts([ .5; -.3; -.48], .25, numPts, 'flower');
squarePts = shapePts([ 1.2; -.3; -.48], .25, numPts, 'square');
circlePts = shapePts([ 1.2; -1; -.48], .25, numPts, 'circle');
sinePts = [ linspace(.4, 1.3, numPts);
.2*ones(1,numPts) + .1*sin(linspace(0,8*pi, numPts));
-.48*ones(1,numPts)];
% Draw Pts
robotMove(robot, [1; -.5; -.48], spiralPts,numPts);
robotMove(robot, spiralPts); robotMove(robot, spiralPts, flowerPts, numPts);
robotMove(robot, flowerPts); robotMove(robot, flowerPts, squarePts, numPts);
robotMove(robot, squarePts); robotMove(robot, squarePts, circlePts, numPts);
robotMove(robot, circlePts); robotMove(robot, circlePts, sinePts, numPts);
robotMove(robot, sinePts); robotMove(robot, sinePts,[1;-.5;-.48], numPts);
function robotPaint(robot)
global mouseClick mouseUp mouseDown
clearpoints(robot.brushLine);
set(robot.fig, 'Visible', 'off')
set(robot.altFig, 'Visible', 'on')
ptsNum = 0;
pts = [0;0;0]
while mouseUp == 0
[x,y] = uiFunction(robot);
if mouseDown == 1
ptsNum = ptsNum + 1;
pts(:,ptsNum) = [x;y;-.48];
addpoints(robot.brushLine, x,y);
end
pause(.01);
end
mouseUp = 0;
set(robot.altFig, 'Visible', 'off')
set(robot.fig, 'Visible', 'on')
pts = pts + repmat([.3; -1.1;0], 1,numel(pts)/3);
robotMove(robot, [1; -.5; -.48], pts,60);
robotMove(robot, pts);
robotMove(robot, pts, [1; -.5; -.48],60);
end
% ------------------------- Generate Robot ----------------------------- %
function robot = robotMake(L1, L2, h)
syms R r x y z ang0 ang1 ang2 % Solve
[R, Ang0] = ...
solve([x,y] == [ r*cos(ang0), r*sin(ang0)], [r,ang0]);
[Ang1, Ang2] = ...
solve([r,z] == [L1*cos(ang1) + L2*cos(ang2), ...
L1*sin(ang1) + L2*sin(ang2)],[ang1,ang2]);
robot.pos2angs = str2func(... % Make Fcns
strcat('@(x,y,z) [', string(Ang0(1)), ';', ...
strrep(string(Ang1(1)), 'r', string(R(1))), ';', ...
strrep(string(Ang2(1)), 'r', string(R(1))), ']'));
robot.angs2nodes = @(ang0,ang1,ang2) ...
[0, 0, cos(ang0)*L1*cos(ang1), cos(ang0)*(L1*cos(ang1) + L2*cos(ang2));
0, 0, sin(ang0)*L1*cos(ang1), sin(ang0)*(L1*cos(ang1) + L2*cos(ang2));
0, h, h + L1*sin(ang1), h + L1*sin(ang1) + L2*sin(ang2)];
set(0,'units','normalized');
robot.fig = figure( 'color', [ .3, .35, .3], ...
'units', 'normal', 'MenuBar', 'None');
robot.ax = axes('clipping', 'off', 'Projection', 'perspective', ...
'DataAspectRatio', [1 1 1], 'Position', [.1 .1 .8 .8], ...
'PlotBoxAspectRatio', [1 1 1], 'CameraPosition', [ 2 -3 2], ...
'CameraViewAngle', 35, 'CameraTarget', [ 1 -1 .5], ...
'Visible', 'off', 'parent', robot.fig, ...
'XLim', [-2 2], 'YLim', [-1 4], 'ZLim', [-2 2], 'units', 'normal', ...
'PickableParts', 'none');
robot.base = boxPatch([ .6; -.5; -.05], 1, 1, .05); % Robot Base
robot.comp = boxPatch([-.2; -.5; .05], .2, 1, .05);
robot.paper = boxPatch([ .8; -.5; .01], .75, .92, .01);
set(robot.base, 'FaceColor', [.1 .1 .1], 'FaceAlpha',1);
set(robot.comp, 'FaceColor', [.5,.5,.7], 'FaceAlpha',1);
set(robot.paper, 'FaceColor', [.9 .9 .9], 'FaceAlpha',1);
robot.angs = robot.pos2angs(.5, -.1, -.48); % Robot Arm
robot.nodes = robot.angs2nodes(robot.angs(1), ...
robot.angs(2), robot.angs(3));
robot.arm = line('linewidth',8, 'XData', robot.nodes(1,:), ...
'YData', robot.nodes(2,:), 'ZData', robot.nodes(3,:));
robot.drawing = animatedline('linestyle', 'none', ...
'marker', '.');
% Alternate Canvas
robot.altFig = figure('WindowButtonDownFcn', @mouseDownCall, 'Color', [0 0 0], ...
'WindowButtonUpFcn', @mouseUpCall, 'MenuBar', 'None', ...
'PointerShapeCData', NaN(16,16), 'Visible', 'off');
robot.altAx = axes('Units', 'Normal', 'XLim', [0 1], ...
'Position', [0 0 1 1], 'YLim', [0 1], 'parent', robot.altFig, ...
'PickableParts', 'None', 'TickLen', [0 0], 'box', 'on')
robot.brushLine = animatedline('color','black','linewidth', 8);
end
% ----------------------- Robot Draw Function ------------------------- %
function robotMove(robot,pts0, pts1, numPts)
if nargin > 3 % define path pts
udPts = ceil(numPts/4);
xyPts = ceil(numPts/2);
x0 = pts0(1,end); y0 = pts0(2,end); z0 = pts0(3,end); z0Up = z0 + .2;
x1 = pts1(1,1); y1 = pts1(2,1); z1 = pts1(3,1); z1Up = z1 + .2;
pts =[repmat(x0,1,udPts), linspace(x0,x1,xyPts), repmat(x1,1,udPts);
repmat(y0,1,udPts), linspace(y0,y1,xyPts), repmat(y1,1,udPts);
linspace(z0,z0Up,udPts), repmat(z0Up,1,xyPts), linspace(z1Up,z1,udPts)];
else
pts = pts0;
end
for i = 1:numel(pts)/3
uiFunction(robot);
angs = robot.pos2angs(pts(1,i),pts(2,i),pts(3,i)); % Calc/Draw
nodes = robot.angs2nodes(angs(1),angs(2),angs(3));
set(robot.arm, 'XData', nodes(1,:), ...
'YData', nodes(2,:), 'ZData', nodes(3,:));
if nargin < 3
addpoints(robot.drawing, nodes(1,end), ...
nodes(2,end), nodes(3,end))
end
pause(.01);
end
pause(.05);
end
% ----------------------- Points Generator --------------------------- %
function pts = shapePts(center,radius,numPts,type)
switch type
case 'circle'
pts = repmat(center,[1,numPts]) + ...
[radius*cosd(linspace(0,360,numPts));
radius*sind(linspace(0,360,numPts));
zeros(1,numPts)];
case 'square'
c = repmat(center,[1,numPts]);
r = repmat(radius,[1,numPts/4]);
span = linspace(-radius,radius,numPts/4);
pts = c + [span, r, -span, -r;
-r, span, r, -span;
zeros(1,numPts)];
case 'flower'
pts = repmat(center,[1,numPts]) + radius* ...
[cosd(linspace(0,720,numPts)).*cosd(linspace(0,360,numPts));
cosd(linspace(0,720,numPts)).*sind(linspace(0,360,numPts));
zeros(1,numPts)];
case 'spiral'
angles = linspace( 0, 5*pi,numPts);
rVec = linspace(.01, radius,numPts);
pts = repmat(center,[1,numPts]) + [rVec.*cos(angles);
rVec.*sin(angles);
zeros(1,numPts)];
end
end
% ------------------------- Box Maker Function ------------------------- %
function box = boxPatch(o,l,w,h)
vertices = repmat(o,1,8) + [-l -l -l -l l l l l
-w -w w w -w -w w w
-h h h -h -h h h -h];
faces = [1 5 1 3 1 2;
2 6 2 4 4 3;
3 7 6 8 8 7;
4 8 5 7 5 6]';
box = patch('Vertices', vertices', 'Faces', faces,...
'FaceColor', rand(1,3), 'FaceAlpha', .8);
end
% -------------------------- Mouse Functions ------------------------- %
function mouseDownCall(~,~)
global mouseClick; mouseClick = 1;
global mouseDown; mouseDown = 1;
end
function mouseUpCall(~,~)
global mouseDown; mouseDown = 0;
global mouseUp; mouseUp = 1;
end
function [x,y] = uiFunction(robot)
global mouseClick mouseDown mouseUp % Every Iteration
figPos = get(robot.fig, 'Position');
cPos = get( 0, 'PointerLocation');
x = (cPos(1) - figPos(1))/(figPos(3));
y = (cPos(2) - figPos(2))/(figPos(4));
end