Codigo matlab Robot Scara con servomotores

% Begin initialization code - DO NOT EDIT

gui_Singleton = 1;

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

'gui_Singleton', gui_Singleton, ...

'gui_OpeningFcn', @Interfaz_Robot_Scara_OpeningFcn, ...

'gui_OutputFcn', @Interfaz_Robot_Scara_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 Interfaz_Robot_Scara is made visible.

function Interfaz_Robot_Scara_OpeningFcn(hObject, eventdata, handles, varargin)

handles.output = hObject;

guidata(hObject, handles);

%Declaramos las variables globales que son las constantes de los brazos, los servos1,2 y

%de arduino para todo el programa

global ar;

ar = arduino('COM3', 'Uno', 'Libraries', 'Servo')

global s1;

s1=servo(ar,'D2', 'MinPulseDuration', 500*10^-6, 'MaxPulseDuration', 2500*10^-6);

writePosition(s1,0);

global s2;

s2=servo(ar,'D3');

writePosition(s2,0);

global s3;

global s4;

s4=servo(ar,'D5')

writePosition(s4,0);

global l1;

global l2;

global l3;

l1=30;

l2=17;

l3=17;

function varargout = Interfaz_Robot_Scara_OutputFcn(hObject, eventdata, handles)

varargout{1} = handles.output;

%Cuadro de Texto de q1

function q1_Callback(hObject, eventdata, handles)

function q1_CreateFcn(hObject, eventdata, handles)

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

%Cuadro de Texto de q2

function q2_Callback(hObject, eventdata, handles)

function q2_CreateFcn(hObject, eventdata, handles)

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

%Cuadro de Texto de q3

function q3_Callback(hObject, eventdata, handles)

function q3_CreateFcn(hObject, eventdata, handles)

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

%Cuadro de Texto de Px

function Px_Callback(hObject, eventdata, handles)

function Px_CreateFcn(hObject, eventdata, handles)

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

%Cuadro de Texto de Py

function Py_Callback(hObject, eventdata, handles)

function Py_CreateFcn(hObject, eventdata, handles)

if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))

set(hObject,'BackgroundColor','white');

end

%Cuadro de Texto de Pz

function Pz_Callback(hObject, eventdata, handles)

function Pz_CreateFcn(hObject, eventdata, handles)

if ispc && isequal(get(hObject,'BackgroundColor'),

...