i can't figure out what to do , and it's urgent , need your help please !

Question

ines bouakadia 2022-5-20

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1723405-i-can-t-figure-out-what-to-do-and-it-s-urgent-need-your-help-please

回答： Walter Roberson 2022-5-20

function varargout = gui(varargin)
% GUI MATLAB code for gui.fig
%      GUI, by itself, creates a new GUI or raises the existing
%      singleton*.
%
%      H = GUI returns the handle to a new GUI or the handle to
%      the existing singleton*.
%
%      GUI('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in GUI.M with the given input arguments.
%
%      GUI('Property','Value',...) creates a new GUI or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before gui_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to gui_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 gui
% Last Modified by GUIDE v2.5 19-May-2022 21:07:04
% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
    'gui_Singleton',  gui_Singleton, ...
    'gui_OpeningFcn', @gui_OpeningFcn, ...
    'gui_OutputFcn',  @gui_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 gui is made visible.
function gui_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 gui (see VARARGIN)
% Choose default command line output for gui
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% UIWAIT makes gui wait for user response (see UIRESUME)
% uiwait(handles.figure1);
% --- Outputs from this function are returned to the command line.
function varargout = gui_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;
function theta1_Callback(hObject, eventdata, handles)
% hObject    handle to theta1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of theta1 as text
%        str2double(get(hObject,'String')) returns contents of theta1 as a double
% --- Executes during object creation, after setting all properties.
function theta1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to theta1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
function theta2_Callback(hObject, eventdata, handles)
% hObject    handle to theta2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of theta2 as text
%        str2double(get(hObject,'String')) returns contents of theta2 as a double
% --- Executes during object creation, after setting all properties.
function theta2_CreateFcn(hObject, eventdata, handles)
% hObject    handle to theta2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
function Px_Callback(hObject, eventdata, handles)
% hObject    handle to Px (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of Px as text
%        str2double(get(hObject,'String')) returns contents of Px as a double
% --- Executes during object creation, after setting all properties.
function Px_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Px (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
function Py_Callback(hObject, eventdata, handles)
% hObject    handle to Py (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of Py as text
%        str2double(get(hObject,'String')) returns contents of Py as a double
% --- Executes during object creation, after setting all properties.
function Py_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Py (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
function Pz_Callback(hObject, eventdata, handles)
% hObject    handle to Pz (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% Hints: get(hObject,'String') returns contents of Pz as text
%        str2double(get(hObject,'String')) returns contents of Pz as a double
% --- Executes during object creation, after setting all properties.
function Pz_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Pz (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called
% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end
% --- Executes on button press in btn_direct.
function btn_direct_Callback(hObject, eventdata, handles)
% hObject    handle to btn_direct (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
th1 = str2double(handles.theta1.String)*pi/180;
th2 = str2double(handles.theta2.String)*pi/180;
l1 = 236;
l2 = 218;
L(1)= Link ([0 0 0 0]);
L(2)= Link ([0 0 l1 0]);
L(3)= Link ([0 0 l2 0],'p');
robot = SerialLink(L);
robot = 'SCARA robot';
robot.plot([th1 th2]);
T = robot.fkine([th1 th2]);
handles.Px.String = num2str(floor(T(1,4)));
Handles.Py.String = num2str(floor(T(2,4)));
handles.Pz.String = num2str(floor(T(3,4)));
% --- Executes on button press in btn_inverse.
function btn_inverse_Callback(hObject, eventdata, handles)
% hObject    handle to btn_inverse (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

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DGM 2022-5-20

编辑：DGM 2022-5-20

The error message says that Link() is an undefined function because it's an undefined function. I don't know what Link() is. It's not a part of MATLAB or its toolboxes. If you know what it is, is it on your path? You may have to add it.

If you still have issues once you've figured out what and where Link() is, be aware that in order to be able to troubleshoot a GUIDE gui, we'd need both the .m file and the .fig file.

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