gusucode.com > 模糊控制工具箱 fuzzy logic toolbox源码程序 > fuzzy/fuzdemos/juggler.m
function [o1,o2,o3] = juggler(x_prev, y_prev, v_prev, delta_t, action)
%JUGGLER Ball juggling system.
% JUGGLER opens a window for the animation of the ball juggling
% system. The small triangle indicates the desired ball position.
% You can choose either human or fuzzy control to control this
% system. If it is controlled by human, click the steering arrow
% at the upper right corner to change the tilted angle of the
% hitting board. If it is controlled by the fuzzy controller, use
% the mouse to change the location of the triangle. (If fuzzy
% controller is selected, the position of the small triangle will
% also be updated randomly every 200 steps)
%
% File: juggler.m
%
% See also FUZDEMOS.
% Roger Jang, 3-9-94, 10-20-94, 12-23-94. Kelly Liu, 11-20-97
% Copyright 1994-2004 The MathWorks, Inc.
% $Revision: 1.17.2.2 $ $Date: 2004/04/10 23:15:21 $
if nargin == 0,
action = 'initialize';
end
global JugFigH JugFigTitle JugAxisH
global JugAnimRunning JugAnimStepping JugAnimPause JugAnimClose
global JugUpdateBoard JugCount
global JugBallRadius xMin xMax ProjAngle theta
global DesiredPos SamplingTime xNextHit g
global JugFisMat
if strcmp(action, 'next_pos'), % Returns [x, y, v] at the next point
o1 = x_prev + real(v_prev)*delta_t;
o2 = y_prev + imag(v_prev)*delta_t - 0.5*g*delta_t^2;
o3 = real(v_prev) + j*(imag(v_prev) - g*delta_t);
elseif strcmp(action, 'single_loop'),
% ====== get animation objects
if ~ishandle(JugFigH)
return;
end
ud = get(JugFigH, 'userdata');
ballH = ud(3, 1);
plateH = ud(3, 2);
refH = ud(3, 3);
countH = ud(1, 6);
ball = get(ballH, 'userdata');
controllerH = ud(2, 1);
which_controller = get(controllerH, 'value');
plate = get(plateH, 'userdata');
ref = get(refH, 'userdata');
% ====== get state variables
x_prev = ud(3, 8);
y_prev = ud(3, 9);
v_prev = ud(3, 10);
% ====== Change the desired position randomly if it's fuzzy
% this is good for self-running demo
autoupdate = 1;
if rem(JugCount, 200) == 0 & which_controller == 2 & autoupdate,
bound = [xMin+1.5*JugBallRadius xMax-1.5*JugBallRadius];
DesiredPos = rand*(bound(2)-bound(1))+bound(1);
new_ref = ref + DesiredPos;
set(refH, 'xdata', real(new_ref), 'ydata', imag(new_ref));
end
% ====== find next position
[x, y, v] = eval([mfilename, ...
'(x_prev, y_prev, v_prev, SamplingTime, ''next_pos'')']);
% ====== When y is out of range
if y < JugBallRadius,
JugUpdateBoard = 1;
vy_prev = imag(v_prev);
t_hit = (vy_prev+(vy_prev*vy_prev+2*g*(y_prev-JugBallRadius))^0.5)/g;
x_hit = x_prev + real(v_prev)*t_hit;
% When the ball really hits the plate first
if xMin+JugBallRadius <= x_hit & x_hit <= xMax-JugBallRadius,
[x, y, v] = ...
eval([mfilename, ...
'(x_prev,y_prev,v_prev,''ground'',''reflect'')']);
end
end
% ====== When x is out of range
if ~(xMin+JugBallRadius <= x & x <= xMax-JugBallRadius),
JugUpdateBoard = 1;
if x < xMin + JugBallRadius,
bound = xMin + JugBallRadius;
else
bound = xMax - JugBallRadius;
end
t_hit = abs(bound - x_prev)/real(v_prev);
y_hit = y_prev + imag(v_prev)*t_hit + 0.5*g*t_hit^2;
% When the ball really hits the wall first
if y_hit > JugBallRadius & x < xMin+JugBallRadius,
[x, y, v] = ...
eval([mfilename, ...
'(x_prev,y_prev,v_prev,''left_wall'',''reflect'')']);
elseif y_hit > JugBallRadius & x > xMin+JugBallRadius,
[x, y, v] = ...
eval([mfilename, ...
'(x_prev,y_prev,v_prev,''right_wall'',''reflect'')']);
end
end
% Update plate position when the ball passes its highest point
% or when the ball hits X bounds while it's falling
if imag(v) < 0 & JugUpdateBoard,
vy = imag(v);
xNextHit = (vy + (vy*vy+2*g*(y-JugBallRadius))^0.5)/g*real(v)+x;
xNextHit = min(max(xNextHit, ...
xMin + JugBallRadius), xMax - JugBallRadius);
if which_controller == 1, % human controlller
set(plateH, 'xdata', xNextHit + real(plate));
else % fuzzy controller
theta = ...
eval([mfilename, '(x, y, v, [], ''fuzzy_controller'')']);
theta = min(max(theta, -pi/4), pi/4);
new_plate = plate*exp(j*theta);
set(plateH, 'ydata', imag(new_plate), ...
'xdata', xNextHit + real(new_plate));
end
JugUpdateBoard = 0;
end
% ====== count operation
set(countH, 'string', int2str(JugCount));
JugCount = JugCount+1;
% ====== update ball
set(ballH, 'xdata', x + real(ball), 'ydata', y + imag(ball));
drawnow;
% ====== put current state variables back into userdata
ud(3, 8) = x;
ud(3, 9) = y;
ud(3, 10) = v;
if ishandle(JugFigH)
set(JugFigH, 'userdata', ud);
end
elseif strcmp(action, 'reflect')
subaction = delta_t;
if strcmp(subaction, 'ground'),
% The ball did hit the plate first
ProjAngle = ProjAngle + 2*theta;
% ====== change project angle if it downward.
if ProjAngle < 0,
ProjAngle = -ProjAngle;
fprintf('Bouncing from the ground, project angle = %d\n', ...
ProjAngle*180/pi);
elseif ProjAngle > pi,
ProjAngle = 2*pi - ProjAngle;
fprintf('Bouncing from the ground, project angle = %d\n', ...
ProjAngle*180/pi);
end
vy_prev = imag(v_prev);
t_hit = (vy_prev + (vy_prev*vy_prev+2*g*(y_prev-JugBallRadius))^0.5)/g;
[x_hit, y_hit, v_in] = ...
eval([mfilename, '(x_prev, y_prev, v_prev, t_hit, ''next_pos'')']);
v_out = abs(v_in)*exp(j*ProjAngle);
[o1, o2, o3] = ...
eval([mfilename, '(x_hit, y_hit, v_out, SamplingTime-t_hit, ''next_pos'')']);
% ====== The ball hits the wall also
if o1 < xMin + JugBallRadius,
bound = xMin + JugBallRadius;
[o1, o2, o3] = ...
eval([mfilename, '(2*bound-x_hit,JugBallRadius, -conj(v_out), SamplingTime-t_hit, ''next_pos'')']);
ProjAngle = pi - ProjAngle;
elseif o1 > xMax - JugBallRadius,
bound = xMax - JugBallRadius;
[o1, o2, o3] = ...
eval([mfilename, '(2*bound-x_hit,JugBallRadius, -conj(v_out), SamplingTime-t_hit, ''next_pos'')']);
ProjAngle = pi - ProjAngle;
end
% ====== Stay at ground if the ball cannot bounce
if o2 < JugBallRadius
o2 = y_prev;
o3 = v_prev;
end
elseif strcmp(subaction, 'left_wall')
% The ball did hit the left wall first
bound = xMin + JugBallRadius;
x_prev = 2*bound - x_prev;
v_prev = -conj(v_prev);
[o1, o2, o3] = ...
eval([mfilename, '(x_prev, y_prev, v_prev, SamplingTime, ''next_pos'')']);
ProjAngle = pi - ProjAngle;
% The ball hits the ground also
if o2 < JugBallRadius,
[o1, o2, o3] = ...
eval([mfilename, '(x_prev, y_prev, v_prev, ''ground'', ''reflect'')']);
end
elseif strcmp(subaction, 'right_wall')
% The ball did hit the right wall first
bound = xMax - JugBallRadius;
x_prev = 2*bound - x_prev;
v_prev = -conj(v_prev);
[o1, o2, o3] = ...
eval([mfilename, '(x_prev, y_prev, v_prev, SamplingTime, ''next_pos'')']);
ProjAngle = pi - ProjAngle;
% The ball hits the ground also
if o2 < JugBallRadius,
[o1, o2, o3] = ...
eval([mfilename, '(x_prev, y_prev, v_prev, ''ground'', ''reflect'')']);
end
else
fprintf('Subaction string = %s\n', subaction);
error('Unknown subaction string in ''reflect''!');
end
elseif strcmp(action, 'initialize'),
JugFigTitle = 'Ball Juggling Animation';
JugFigH = findobj(0,'Name', JugFigTitle);
JugCount = 1;
if isempty(JugFigH)
eval([mfilename, '(0,0,0,0,''set_all_gui'')']);
eval([mfilename, '(0,0,0,0,''set_anim_obj'')']);
eval([mfilename, '(0,0,0,0,''set_mouse_action'')']);
eval([mfilename, '(0,0,0,0,''load_fis_mat'')']);
% eval([mfilename, '(0,0,0,0,''single_loop'')']);
% ====== change to normalized units
set(findobj(JugFigH,'Units','pixels'), 'Units','normal');
% ====== make all UI interruptable
set(findobj(JugFigH,'Interrupt','off'), 'Interrupt','on');
else
% set(gcf, 'color', get(gcf, 'color'));
refresh(JugFigH);
end
eval([mfilename, '(0,0,0,0,''set_constant'')']);
eval([mfilename, '(0,0,0,0,''set_init_cond'')']);
ud = get(JugFigH, 'userdata');
% set(ud(1, 1), 'visible', 'off');
% set(ud(1, 4:5), 'visible', 'off');
% set(ud(1, 2:3), 'visible', 'on');
set(JugFigH, 'HandleVisibility', 'callback');
elseif strcmp(action, 'set_constant'),
JugAnimRunning = 0;
JugAnimStepping = 0;
JugAnimPause = 0;
JugAnimClose = 0;
JugUpdateBoard = 1;
g = 9.8;
SamplingTime = 0.02;
%elseif strcmp(action, 'set_standard_gui'), % standard UI's
elseif strcmp(action, 'set_all_gui'),
% ====== standard UI's
% ====== % No figure, initialize everything
ui_row_n = 2; % No. of UI rows
% ###### default UI settings for SIMUINK ######
JugFigH = figure( ...
'Name', JugFigTitle, ...
'CloseRequestFcn', 'juggler(0, 0, 0, 0, ''stop_anim''); closereq', ...
'NumberTitle', 'off', ...
'DockControls', 'off');
% V4 default color
colordef(JugFigH, 'black');
% Black background
set(JugFigH, 'color', [0 0 0]);
set(0, 'Currentfigure', JugFigH);
figPos = get(JugFigH, 'position');
% ====== proportion of UI frame and axes
ui_area = 0.2;
axis_area = 1-ui_area;
% ====== animation area
axisPos = [0 figPos(4)*ui_area figPos(3) figPos(4)*axis_area];
k = 1.0;
x = axisPos(1); y = axisPos(2); w = axisPos(3); h = axisPos(4);
axisPos = [x+w*(1-k)/2 y+h*(1-k)/2 w*k, h*k];
% weird thing: if you don't use normalized unit for
% axes, patch for ground doesn't appear
axisPos = axisPos./[figPos(3) figPos(4) figPos(3) figPos(4)];
JugAxisH = axes('unit', 'normal', 'pos', axisPos-[0 .0 0 0]);
set(JugAxisH, 'visible', 'off');
% ====== background frame
coverPos = [0 0 figPos(3) figPos(4)*ui_area];
[frameH, framePos] = uiarray(coverPos, 1, 1, 0);
% ====== rows for UI controls
spacing = 5;
[H, Pos] = uiarray(framePos, ui_row_n, 1, spacing);
% ====== split lower-most rows into 2 uneven regions
delete(H(2));
[tmpH, tmpPos] = uiarray(Pos(2,:), 1, 6, 0, spacing);
% lower left frame
delete(tmpH(2:4));
lPos = tmpPos(1, :);
lPos(3) = 4*lPos(3)+3*spacing;
set(tmpH(1), 'pos', lPos);
% lower right frame
delete(tmpH(6));
rPos = tmpPos(5, :);
rPos(3) = 2*rPos(3)+spacing;
set(tmpH(5), 'pos', rPos);
% ====== lower-right UI's (same for all SL animation)
cb1 = [mfilename '(0,0,0,0,''info'')'];
cb2 = [mfilename '(0,0,0,0,''close'')'];
[lrH, lrPos] = uiarray(rPos, 1, 2, spacing, spacing, ...
str2mat('push', 'push'), ...
str2mat(cb1, cb2), ...
str2mat('Help', 'Close'));
infoH = lrH(1); set(infoH, 'tag', 'info');
closeH = lrH(2); set(closeH, 'tag', 'close');
% ====== lower-left UI's (same for all SL animation)
cb1 = '';
cb2 = [mfilename '(0,0,0,0,''set_init_cond'');', ...
mfilename '(0,0,0,0,''main_loop'');'];
cb3 = '';
cb4 = '';
[llH, llPos] = uiarray(lPos, 1, 4, spacing, spacing, ...
str2mat('text', 'push', 'text', 'text'), ...
str2mat(cb1, cb2, cb3, cb4), ...
str2mat('t = 0', 'Start Animation ...','',''));
countH = llH(1); set(countH, 'tag', 'count');
% ====== extend the width of start button
delete(llH(3:4));
startH = llH(2); set(startH, 'tag', 'start');
startPos = llPos(2,:);
startPos(3) = 3*startPos(3)+2*spacing;
set(startH, 'pos', startPos);
% ====== create stop and pause (under start)
cb1 = [mfilename '(0,0,0,0,''stop_anim'')'];
cb2 = [mfilename '(0,0,0,0,''pause_anim'')'];
cb3 = '';
[h, pos] = uiarray(startPos, 1, 3, 0,spacing,'push', ...
str2mat(cb1, cb2, cb3), ...
str2mat('Stop', 'Pause ...', ''));
set(h, 'visible', 'off');
stopH = h(1); set(stopH, 'tag', 'stop');
pauseH = h(2); set(pauseH, 'tag', 'pause');
% ====== extend the width of pause button
delete(h(3));
pausePos = pos(2, :);
pausePos(3) = 2*pausePos(3)+spacing;
set(pauseH, 'pos', pausePos);
% ===== create continue and step (under pause)
cb1 = [mfilename '(0,0,0,0,''continue_anim'')'];
cb2 = [mfilename '(0,0,0,0,''step_anim'')'];
[h, pos] = uiarray(pausePos, 1, 2, 0, spacing, ...
'push', ...
str2mat(cb1, cb2), ...
str2mat('Continue', 'Step'));
set(h, 'visible', 'off');
contH = h(1); set(contH, 'tag', 'continue');
stepH = h(2); set(stepH, 'tag', 'step');
%===== put UI handles into current figure's user data
ud = [startH stopH pauseH contH stepH countH -1 -1 -1 -1];
set(JugFigH, 'userdata', ud);
%elseif strcmp(action, 'set_extra_gui'), % extra UI's
% ====== extra UI
% ====== The upper UI controls (Specific to each animation)
cb1 = [mfilename '(0,0,0,0,''show_trail'')'];
cb2 = [mfilename '(0,0,0,0,''clear_trail'')'];
cb3 = '';
cb4 = [mfilename '(0,0,0,0,''set_mouse_action'')'];
string1 = 'Show Trails';
string2 = 'Clear Trails';
string3 = 'Controller:';
string4 = 'Human|Fuzzy';
[upH, upPos] = uiarray(Pos(1,:), 1, 4, spacing, 2*spacing, ...
str2mat('check', 'push', 'text', 'popup'), ...
str2mat(cb1, cb2, cb3, cb4), ...
str2mat(string1, string2, string3, string4));
set(upH(3), 'HorizontalAlignment', 'right');
controllerH = upH(4);
showTrailH = upH(1); set(showTrailH, 'tag', 'show_trail');
set(controllerH, 'value', 2);
% ====== Appending handles as the second row of userdata
tmp = [controllerH showTrailH -1 -1 -1 -1 -1 -1 -1 -1];
set(JugFigH, 'userdata', [get(JugFigH, 'userdata'); tmp]);
% ====== change labels of standard UI controls
% ud = get(JugFigH, 'userdata');
% set(ud(1, 1), 'visible', 'off');
% set(ud(1, 2:3), 'visible', 'on');
elseif strcmp(action, 'set_init_cond'),
JugCount = 1;
theta = 0;
ProjAngle = pi/3;
v_magnitude = 4.5;
x_prev = xMin + JugBallRadius;
y_prev = JugBallRadius;
v_prev = v_magnitude*exp(j*ProjAngle);
ud = get(findobj(0, 'name', JugFigTitle), 'userdata');
ud(3, 8) = x_prev;
ud(3, 9) = y_prev;
ud(3, 10) = v_prev;
set(JugFigH, 'userdata', ud);
DesiredPos = (xMin+xMax)/2;
% ====== set refH
refH = ud(3, 3);
ref = get(refH, 'userdata');
new_ref = ref + DesiredPos;
set(refH, 'xdata', real(new_ref), 'ydata', imag(new_ref));
% ====== set plate
plateH = ud(3, 2);
plate = get(plateH, 'userdata');
new_plate = plate*exp(j*theta);
set(plateH, 'xdata', real(new_plate), 'ydata', imag(new_plate));
% ====== set arrow
arrowH = ud(3, 4);
center = ud(3, 7);
arrow = get(arrowH, 'userdata');
new_arrow = arrow*exp(sqrt(-1)*theta) + center;
set(arrowH, 'xdata', real(new_arrow), 'ydata', imag(new_arrow));
% ====== redraw
eval([mfilename, '(0,0,0,0,''clear_trail'')']);
elseif strcmp(action, 'set_anim_obj'),
% ====== Setting up the axis
xMin = -2.0; xMax = -xMin;
y_min = -0.3; y_max = -xMin;
axis([xMin xMax y_min y_max]);
axis equal;
% ====== Setting up the ground
%colormap(gray); % To assign correct patch color
%patch([xMin xMax xMax xMin], ...
% [-y_max/8 -y_max/8 0 0], [10 10 55 55]);
h = line([xMin xMax], [0 0]);
set(h, 'color', 'b');
% ====== Setting up the ball
JugBallRadius = 0.1;
ball = JugBallRadius*exp(j*linspace(0, 2*pi, 21));
%colormap(cool);
%ballH = patch(real(ball), imag(ball), 64*ones(size(ball)));
ballH = line(real(ball)+xMin + JugBallRadius, imag(ball)+JugBallRadius);
set(ballH, 'color', 'c', 'clipping', 'off', 'erasemode','xor');
set(ballH, 'userdata', ball);
% ====== Setting up the plate
plate_leng = (xMax-xMin)/10;
plate = plate_leng*[-0.5 0.5]' + j*[0 0]';
plateH = line(real(plate), imag(plate));
set(plateH, 'color', 'y', 'erasemode', 'xor', 'linewidth', 5);
set(plateH, 'userdata', plate);
% ====== Setting up the base
%baseH = line(real(plate), imag(plate));
%set(baseH, 'color', 'r', 'erasemode', 'xor', 'linewidth', 5);
%set(baseH, 'erase', 'xor', 'userdata', plate);
%set(baseH, 'clipping', 'off');
% ====== Setting the reference triangle
ref = JugBallRadius*[-1 1 0 -1]' + j*2*JugBallRadius*[0 0 1 0]' - 2*j*JugBallRadius;
refH = line(real(ref), imag(ref));
set(refH, 'color', 'r', 'linewidth', 2);
set(refH, 'erase', 'xor', 'clipping', 'off');
set(refH, 'userdata', ref);
% ====== Setting steering arrow
sy_min = 1.50; % min. of y of loc. of steering device
sy_max = 2.00; % max. of y of loc. of steering device
s_JugBallRadius = (sy_max - sy_min)/sqrt(2);
sx_min = 1.5;
center = sx_min + j*((sy_max - sy_min)/2 + sy_min);
tmp = s_JugBallRadius*exp(sqrt(-1)*linspace(-pi/4, pi/4, 100));
arc = [0 tmp 0 s_JugBallRadius] + center;
arrow_baseH = line(real(arc), imag(arc));
dummyLine=line(real(center), real(center), 'color', 'black');
set(arrow_baseH, 'clipping', 'off');
arrow_x = [0 1 nan 0.9 1 0.9];
arrow_y = [0 0 nan 0.1 0 -0.1];
arrow = s_JugBallRadius*(arrow_x + sqrt(-1)*arrow_y);
curr_arrow = arrow + center;
arrowH = line(real(curr_arrow), imag(curr_arrow));
set(arrowH, 'color', 'red', 'erasemode', 'xor');
set(arrowH, 'clipping', 'off', 'userdata', arrow);
set(arrowH, 'userdata', arrow);
% ====== set 'userdata'
ud = [ballH plateH refH arrowH arrow_baseH -1 center -1 -1 -1];
% ud(6) is for JugFisMat flag, ud(8:10) is for x, y and v
set(JugFigH, 'userdata', [get(JugFigH, 'userdata'); ud]);
elseif strcmp(action, 'set_mouse_action'),
ud = get(JugFigH, 'userdata');
which_controller = get(ud(2, 1), 'value');
if which_controller == 1, % human controller
% ====== move refH to center
DesiredPos = (xMin+xMax)/2;
refH = ud(3, 3);
ref = get(refH, 'userdata');
new_ref = ref + DesiredPos;
set(refH, 'xdata', real(new_ref), 'ydata', imag(new_ref));
% ====== show steering arrow
set(ud(3,4:5), 'visible', 'on');
% ====== action when button is first pushed down
action1 = [mfilename '(0,0,0,0,''mouse_action_steering'')'];
% ====== actions after the mouse is pushed down
action2 = action1;
% ====== action when button is released
action3 = action1;
else % automatic controller
% ====== hide steering arrow
set(ud(3,4:5), 'visible', 'off');
% ====== action when button is first pushed down
action1 = [mfilename '(0,0,0,0,''mouse_action_ref'')'];
% ====== actions after the mouse is pushed down
action2 = '';
% ====== action when button is released
action3 = '';
end
% ====== temporary storage for the recall in the down_action
set(gca,'UserData',action2);
% ====== set action when the mouse is pushed down
down_action=[ ...
'set(gcf,''WindowButtonMotionFcn'',get(gca,''UserData''));' ...
action1];
set(gcf,'WindowButtonDownFcn',down_action);
% ====== set action when the mouse is released
up_action=[ ...
'set(gcf,''WindowButtonMotionFcn'','' '');', action3];
set(gcf,'WindowButtonUpFcn',up_action);
elseif strcmp(action, 'main_loop'),
JugAnimRunning = 1;
% ====== get animation objects
tmp = get(JugFigH, 'userdata');
% ====== change visibility of GUI's
set(tmp(1, 1), 'visible', 'off');
set(tmp(1, 4:5), 'visible', 'off');
set(tmp(1, 2:3), 'visible', 'on');
% ====== looping
while 1 & ~JugAnimClose
if ~JugAnimRunning | JugAnimPause,
break;
end
eval([mfilename, '(0, 0, 0, 0, ''single_loop'')']);
end
% ====== shut down
if JugAnimClose,
delete(JugFigH);
end
elseif strcmp(action, 'load_fis_mat'),
ud = get(JugFigH, 'userdata');
if ud(3, 6) < 0, % FIS not been built
JugFisMat = readfis('juggler');
ud(3, 6) = 1;
set(JugFigH, 'userdata', ud);
end
name='juggler';
figNum=findobj(allchild(0), 'name', ['Rule Viewer: ' name]);
if isempty(figNum)
ruleview(JugFisMat);
figNum=findobj(allchild(0), 'name', ['Rule Viewer: ' name]);
pstn=get(figNum, 'Position');
set(figNum, 'Position', pstn+[.35 -.3 0 0]);
figure(JugFigH);
else
figure(figNum);
end
elseif strcmp(action, 'mouse_action_steering')
% Action for mouse when steered by human
tmp = get(gca, 'currentpoint');
tmp_x = tmp(1, 1); tmp_y = tmp(1, 2);
ud = get(gcf, 'userdata');
center = ud(3, 7);
theta = angle(tmp_x + sqrt(-1)*tmp_y - center);,
theta = min(max(theta, -pi/4), pi/4);
plateH = ud(3, 2);
arrowH = ud(3, 4);
arrow = get(arrowH, 'userdata');
plate = get(plateH, 'userdata');
new_arrow = arrow*exp(sqrt(-1)*theta) + center;
set(arrowH, 'xdata', real(new_arrow), 'ydata', imag(new_arrow));
new_plate = plate*exp(j*theta);
set(plateH, 'xdata', xNextHit + real(new_plate), ...
'ydata', imag(new_plate));
elseif strcmp(action, 'mouse_action_ref')
curr_info = get(gca, 'CurrentPoint');
mouse_pos = curr_info(1,1);
bound = [xMin+1.5*JugBallRadius xMax-1.5*JugBallRadius];
DesiredPos = min(max(mouse_pos, bound(1)), bound(2));
ud = get(JugFigH, 'userdata');
refH = ud(3, 3);
new_ref = get(refH, 'userdata') + DesiredPos;
set(refH, 'xdata', real(new_ref), 'ydata', imag(new_ref));
elseif strcmp(action, 'ideal_controller'), % Ideal controller
% ====== find where the ball hits the ground
vy = imag(v_prev);
t_hit = (vy + (vy*vy+2*g*(y_prev-JugBallRadius))^0.5)/g;
x_hit = real(v_prev)*t_hit + x_prev;
v_hit = real(v_prev) + j*(imag(v_prev) - g*t_hit);
% ====== get animation objects
% Note that sin(2*theta) = k has two solution theta1 and theta2,
% and theta1 + theta2 = pi/2;
tmp = g*(DesiredPos - x_hit)/abs(v_hit)^2;
tmp = min(max(tmp, -1), 1);
tmp_angle = asin(tmp);
% tmp_angle is equal to two times the next_project_angle
% tmp_angle must be in [0, 2*pi] in order to make the next
% project angle between [0, pi].
% For every tmp_angle, we can find another solution.
if tmp_angle >= 0,
solution1 = tmp_angle;
solution2 = pi - tmp_angle;
else
solution1 = pi - tmp_angle;
solution2 = 2*pi + tmp_angle;
end
% To make next_proj_angle as close as possible to pi/2
if abs(solution1-pi) < abs(solution2-pi),
next_proj_angle = solution1/2;
else
next_proj_angle = solution2/2;
end
o1 = (next_proj_angle - ProjAngle)/2;
elseif strcmp(action, 'fuzzy_controller'), % fuzzy controller
% ====== find where the ball hits the ground
vy = imag(v_prev);
t_hit = (vy + (vy*vy+2*g*(y_prev-JugBallRadius))^0.5)/g;
x_hit = real(v_prev)*t_hit + x_prev;
v_hit = real(v_prev) + j*(imag(v_prev) - g*t_hit);
% ====== get animation objects
ud = get(JugFigH, 'userdata');
o1 = evalfis([x_hit - DesiredPos ProjAngle], JugFisMat);
% ====== rule viewer
xx=allchild(0);
figN=[];
for i=1:length(xx)
name=get(xx(i), 'name');
if length(name)>11 & strcmp(name(1:12), 'Rule Viewer:');
figN=xx(i);
break;
end
end
if ~isempty(figN)
set(figN, 'HandleVis', 'on');
ruleview('#simulink', [x_hit - DesiredPos ProjAngle], figN);
set(figN, 'HandleVis', 'callback');
end
elseif strcmp(action, 'state_feedback_controller'), % SF controller
% ====== find where the ball hits the ground
vy = imag(v_prev);
t_hit = (vy + (vy*vy+2*g*(y_prev-JugBallRadius))^0.5)/g;
x_hit = real(v_prev)*t_hit + x_prev;
v_hit = real(v_prev) + j*(imag(v_prev) - g*t_hit);
% ====== get animation objects
ud = get(JugFigH, 'userdata');
% coef is obtained from showsurf.m
coef = [0.12493010239152 -0.50000000017091 0.78539816478460]';
state = [x_hit-DesiredPos ProjAngle 1];
out = state*coef;
elseif strcmp(action, 'stop_anim'),
ud = get(JugFigH, 'userdata');
set(ud(1, 1), 'visible', 'on');
set(ud(1, 2:5), 'visible', 'off');
JugAnimRunning = 0;
JugAnimPause = 0;
elseif strcmp(action, 'pause_anim'),
ud = get(JugFigH, 'userdata');
set(ud(1, 3), 'visible', 'off');
set(ud(1, 4:5), 'visible', 'on');
JugAnimRunning = 0;
JugAnimClose = 0;
JugAnimPause = 1;
elseif strcmp(action, 'step_anim'),
JugAnimStepping = 1;
eval([mfilename, '(0, 0, 0, 0, ''single_loop'')']);
elseif strcmp(action, 'continue_anim'),
ud = get(JugFigH, 'userdata');
set(ud(1, 3), 'visible', 'on');
set(ud(1, 4:5), 'visible', 'off');
JugAnimRunning = 1;
JugAnimPause = 0;
JugAnimClose = 0;
JugAnimStepping = 0;
eval([mfilename, '(0,0,0,0,''set_constant'')']);
eval([mfilename, '(0,0,0,0,''main_loop'')']);
elseif strcmp(action, 'info'),
helpwin(mfilename);
% title = get(JugFigH, 'Name');
% content = ...
% [' '
% ' Animation of the ball juggling system. The small '
% ' triangle indicates the desired ball position. '
% ' You can choose either human or fuzzy control to '
% ' control this system. If it is controlled by human, '
% ' click the steering arrow at the upper right corner '
% ' to change the tilted angle of the hitting board. '
% ' If it is controlled by fuzzy controller, use mouse '
% ' to change the location of the triangle. (If fuzzy '
% ' controller is selected, the position of the small '
% ' triangle will also be updated randomly every '
% ' 200 step counts.) '
% ' '
% ' File: juggler.m '];
% fhelpfun(title, content);
elseif strcmp(action, 'close'),
if JugAnimRunning == 1,
JugAnimClose = 1; % close via main_loop
else % close when animation is stopped or paused
ud = get(JugFigH, 'userdata');
delete(JugFigH);
end
% ###### additional UI controls
elseif strcmp(action, 'show_trail'),
ud = get(JugFigH, 'userdata');
showTrailH = ud(2, 2);
objectH = ud(3, 1:4);
dispmode = get(showTrailH, 'value');
if dispmode == 0, % xor
set(objectH, 'erasemode', 'xor');
% set(JugFigH, 'color', get(JugFigH, 'color'));
refresh(JugFigH);
else
set(objectH, 'erasemode', 'none');
end
elseif strcmp(action, 'clear_trail'),
refresh(JugFigH);
% set(JugFigH, 'color', get(JugFigH, 'color'));
else
fprintf('Action string = %s\n', action);
error('Unknown action string!');
end