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//Program to 



function varargout = RobotControl(varargin)

% ROBOTCONTROL M-file for RobotControl.fig

%      ROBOTCONTROL, by itself, creates a new ROBOTCONTROL or raises the existing

%      singleton*.

%

%      H = ROBOTCONTROL returns the handle to a new ROBOTCONTROL or the handle to

%      the existing singleton*.

%

%      ROBOTCONTROL('CALLBACK',hObject,eventData,handles,...) calls the local

%      function named CALLBACK in ROBOTCONTROL.M with the given input arguments.

%

%      ROBOTCONTROL('Property','Value',...) creates a new ROBOTCONTROL or raises the

%      existing singleton*.  Starting from the left, property value pairs are

%      applied to the GUI before RobotControl_OpeningFcn gets called.  An

%      unrecognized property name or invalid value makes property application

%      stop.  All inputs are passed to RobotControl_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 RobotControl


% Last Modified by GUIDE v2.5 19-May-2017 12:05:25


% Begin initialization code - DO NOT EDIT

gui_Singleton = 1;

gui_State = struct('gui_Name',       mfilename, ...

                   'gui_Singleton',  gui_Singleton, ...

                   'gui_OpeningFcn', @RobotControl_OpeningFcn, ...

                   'gui_OutputFcn',  @RobotControl_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 RobotControl is made visible.

function RobotControl_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 RobotControl (see VARARGIN)


% Choose default command line output for RobotControl

handles.output = hObject;


% Update handles structure

guidata(hObject, handles);


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

% uiwait(handles.figure1);

delete(instrfind({'port'},{'COM17'}))

clear a;

global a;

a = arduino('COM17');

a.pinMode(2, 'OUTPUT');

a.pinMode(3, 'OUTPUT');

a.pinMode(7, 'OUTPUT');

a.pinMode(8, 'OUTPUT');


% --- Outputs from this function are returned to the command line.

function varargout = RobotControl_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 button press in Front.

function Front_Callback(hObject, eventdata, handles)

% hObject    handle to Front (see GCBO)

% eventdata  reserved - to be defined in a future version of MATLAB

% handles    structure with handles and user data (see GUIDATA)

global a;

a.digitalWrite(2,1);

a.digitalWrite(3,0);

a.digitalWrite(7,1);

a.digitalWrite(8,0);


% --- Executes on button press in Back.

function Back_Callback(hObject, eventdata, handles)

% hObject    handle to Back (see GCBO)

% eventdata  reserved - to be defined in a future version of MATLAB

% handles    structure with handles and user data (see GUIDATA)

global a;

a.digitalWrite(2,0);

a.digitalWrite(3,1);

a.digitalWrite(7,0);

a.digitalWrite(8,1);



% --- Executes on button press in Right.

function Right_Callback(hObject, eventdata, handles)

% hObject    handle to Right (see GCBO)

% eventdata  reserved - to be defined in a future version of MATLAB

% handles    structure with handles and user data (see GUIDATA)

global a;

a.digitalWrite(2,0);

a.digitalWrite(3,0);

a.digitalWrite(7,1);

a.digitalWrite(8,0);



% --- Executes on button press in Left.

function Left_Callback(hObject, eventdata, handles)

% hObject    handle to Left (see GCBO)

% eventdata  reserved - to be defined in a future version of MATLAB

% handles    structure with handles and user data (see GUIDATA)

global a;

a.digitalWrite(2,1);

a.digitalWrite(3,0);

a.digitalWrite(7,0);

a.digitalWrite(8,0);



% --- Executes on button press in Stop.

function Stop_Callback(hObject, eventdata, handles)

% hObject    handle to Stop (see GCBO)

% eventdata  reserved - to be defined in a future version of MATLAB

% handles    structure with handles and user data (see GUIDATA)

global a;

a.digitalWrite(2,0);

a.digitalWrite(3,0);

a.digitalWrite(7,0);

a.digitalWrite(8,0);
 
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