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Robot.m
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classdef Robot < handle
properties
Figure, Axes
Pozadi_1, Pozadi_2
Slider_1, Slider_2, Button
Tank1, Tank2, Hlaven1, Hlaven2
n, h, alfa, velocity
a, b, c, d
Text1, Text2, Text3
Krivka, kx, ky
Vitr
body1, body2, stav
beta
Menu, Exit
Tlacitko1, Tlacitko2
Tlacitko3, Tlacitko4
system
Victoria, Victoria2
end
methods
function obj = Robot()
close all
obj.alfa = 0;
obj.velocity = 0;
obj.kx = 0;
obj.ky = 0;
obj.body1 = 0;
obj.body2 = 0;
obj.stav = 0;
%vytvoreni figury
obj.Figure = figure;
obj.Figure.Color = [1 0.84 0.2];
obj.Figure.MenuBar = 'none';
%vytvoreni os
obj.Axes = axes('Parent',obj.Figure,...
'Units','normalized',...
'XLim',[0 1500],...
'YLim',[400 550],...
'Position',[0.05 0.3 0.9 0.65]);
%vytvoreni polynomu na pozadi
[n,h] = newton();
obj.n = n; %rozsah [x]
obj.h = h; %rozsah [y]
obj.h(1) = 550;
obj.h(length(obj.n)) = 550;
obj.Pozadi_2 = fill(obj.Axes, obj.n, obj.h, [0.3010 0.7450 0.9330]);
hold on
%tanky
t1 = [145 146 150 151 174 175 198 199 209 210];
t55 = [460 462 462 464 464 466 466 463 463 460];
obj.Tank1 = fill(t1,t55,[0 0.4470 0.7410]);
t2 = [1030 1031 1041 1042 1065 1066 1089 1090 1094 1095];
t54 = [478 481 481 484 484 482 482 480 480 478];
obj.Tank2 = fill(t2,t54,[0.4940 0.1840 0.5560]);
obj.a = [198 248];
obj.b = [464 464];
%hlavne
obj.Hlaven1 = line('Parent',obj.Axes,...
'XData',obj.a,...
'YData',obj.b,...
'LineWidth',3,...
'Color',[0 0.4470 0.7410]);
obj.c = [992 1042];
obj.d = [482 482];
obj.Hlaven2 = line('Parent',obj.Axes,...
'XData',obj.c,...
'YData',obj.d,...
'LineWidth',3,...
'Color',[0.4940 0.1840 0.5560]);
obj.h(1) = 0;
obj.h(length(obj.n)) = 0;
obj.Pozadi_1 = fill(obj.Axes, obj.n, obj.h, [0.2 0.6740 0.1880]);
%nastaveni Y-osy vuci X-ose v pomeru 1:10
obj.Axes.XLim = [0 1500];
obj.Axes.YLim = [400 550];
obj.Axes.Visible = 'off';
%vytvoreni menu
obj.Menu = uibuttongroup('Visible','on',...
'Position',[0 0 1 1],...
'BackgroundColor',[1 0.84 0.2]);
obj.Tlacitko1 = uicontrol(obj.Menu,'Style','pushbutton',...
'String','EASY',...
'Units','normalized',...
'Position',[0.25 0.8 0.5 0.07],...
'BackgroundColor',[1 1 0],...
'FontSize',[20],...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'Callback',{@obj.menu_select1,obj.system});
obj.Tlacitko2 = uicontrol(obj.Menu,'Style','pushbutton',...
'String','MEDIUM',...
'Units','normalized',...
'Position',[0.25 0.6 0.5 0.07],...
'BackgroundColor',[1 0.7 0],...
'FontSize',[16],...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'Callback',{@obj.menu_select2,obj.system});
obj.Tlacitko3 = uicontrol(obj.Menu,'Style','pushbutton',...
'String','HARD',...
'Units','normalized',...
'Position',[0.25 0.4 0.5 0.07],...
'BackgroundColor',[1 0.4 0],...
'FontSize',[13],...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'Callback',{@obj.menu_select3,obj.system});
obj.Tlacitko4 = uicontrol(obj.Menu,'Style','pushbutton',...
'String','EXPERT',...
'Units','normalized',...
'Position',[0.25 0.2 0.5 0.07],...
'BackgroundColor',[1 0 0],...
'FontSize',[10],...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'Callback',{@obj.menu_select4,obj.system});
obj.Exit = uicontrol('Parent',obj.Figure,...
'Units','normalized',...
'Position',[0.84 0.89 0.1 0.04],...
'Style','pushbutton',...
'FontSize',[10],...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'String','exit',...
'BackgroundColor',[0.3010 0.7450 0.9330],...
'Visible','off',...
'Callback',{@obj.exit_call,obj.alfa,obj.beta,obj.velocity,obj.body1,obj.body2,obj.stav,obj.a,obj.b,obj.c,obj.d});
obj.Victoria = uicontrol('Parent',obj.Figure,...
'Units','normalized',...
'Position',[0 0 1 1],...
'Style','text',...
'FontSize',[70],...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'HorizontalAlignment','center',...
'BackgroundColor',[1 0.84 0.2],...
'Visible','off');
obj.Victoria2 = uicontrol('Parent',obj.Figure,...
'Units','normalized',...
'Position',[0 0 1 0.4],...
'Style','text',...
'FontSize',[27],...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'HorizontalAlignment','center',...
'BackgroundColor',[1 0.84 0.2],...
'Visible','off');
%prvky na pozadi
obj.Slider_1 = uicontrol('Parent',obj.Figure,...
'Style','slider',...
'Max',[60],...
'Min',[0],...
'Visible','off',...
'Units','normalized',...
'Position',[0.05 0.2 0.2 0.05],...
'Callback',@obj.slider1_call);
obj.Slider_2 = uicontrol('Parent',obj.Figure,...
'Style','slider',...
'Max',[350],...
'Min',[0],...
'Visible','off',...
'Units','normalized',...
'Position',[0.75 0.2 0.2 0.05],...
'Callback',@obj.slider2_call);
obj.Text1 = uicontrol('Parent',obj.Figure,...
'Style','text',...
'BackgroundColor',[0.9290 0.6940 0.1250],...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'String',{'ÚHEL' '0'},...
'Visible','off',...
'Units','normalized',...
'Position',[0.05 0.1 0.2 0.1]);
obj.Text2 = uicontrol('Parent',obj.Figure,...
'Style','text',...
'BackgroundColor',[0.9290 0.6940 0.1250],...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'String',{'RYCHLOST' '0'},...
'Visible','off',...
'Units','normalized',...
'Position',[0.75 0.1 0.2 0.1]);
obj.Text3 = uicontrol('Parent',obj.Figure,...
'Style','text',...
'BackgroundColor',[0.9290 0.6940 0.1250],...
'FontSize',11,...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'String',{[num2str(obj.body1),' STAV ',num2str(obj.body2)] 'Na øadì je modrý tank'},...
'Visible','off',...
'Units','normalized',...
'Position',[0.3 0.05 0.4 0.175]);
obj.Button = uicontrol('Parent',obj.Figure,...
'Visible','off',...
'Units','normalized',...
'Position',[0.375 0.07 0.25 0.05],...
'Style','pushbutton',...
'FontSize',10,...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'BackgroundColor',[0 1 0],...
'String','Výstøel',...
'Interruptible','off',...
'BusyAction','cancel',...
'Callback',{@obj.button_call,obj.velocity,obj.alfa,obj.a,obj.b,obj.c,obj.d,obj.kx,obj.ky,obj.h,obj.n,obj.body1,obj.body2,obj.stav,obj.beta,obj.Pozadi_1,obj.system});
obj.Krivka = line('Parent',obj.Axes,...
'XData',obj.kx,...
'YData',obj.ky,...
'LineWidth',1,...
'Color','red');
obj.Vitr = uicontrol('Parent',obj.Figure,...
'Style','text',...
'Visible','off',...
'Units','normalized',...
'Position',[0.06 0.86 0.14 0.07],...
'BackgroundColor',[0.3010 0.7450 0.9330],...
'FontSize',10,...
'FontName','DejaVu Sans',...
'FontWeight','bold',...
'String',' 0 m/s' );
end
function [system] = menu_select1(obj,handle,eventdata,system)
obj.Menu.Visible = 'off';
obj.beta = randi([30,60],1);
obj.system = 1;
obj.Text1.Visible = 'on';
obj.Text2.Visible = 'on';
obj.Text3.Visible = 'on';
obj.Slider_1.Visible = 'on';
obj.Slider_2.Visible = 'on';
obj.Button.Visible = 'on';
obj.Vitr.Visible = 'on';
obj.Exit.Visible = 'on';
end
function [system] = menu_select2(obj,handle,eventdata,system)
obj.Menu.Visible = 'off';
obj.beta = randi([35,55],1);
obj.system = 0;
obj.Text1.Visible = 'on';
obj.Text2.Visible = 'on';
obj.Text3.Visible = 'on';
obj.Slider_1.Visible = 'on';
obj.Slider_2.Visible = 'on';
obj.Button.Visible = 'on';
obj.Vitr.Visible = 'on';
obj.Exit.Visible = 'on';
end
function [system] = menu_select3(obj,handle,eventdata,system)
obj.Menu.Visible = 'off';
obj.beta = randi([40,50],1);
obj.system = 0;
obj.Text1.Visible = 'on';
obj.Text2.Visible = 'on';
obj.Text3.Visible = 'on';
obj.Slider_1.Visible = 'on';
obj.Slider_2.Visible = 'on';
obj.Button.Visible = 'on';
obj.Vitr.Visible = 'on';
obj.Exit.Visible = 'on';
end
function [system] = menu_select4(obj,handle,eventdata,system)
obj.Menu.Visible = 'off';
obj.beta = 46.8;
obj.system = 2;
obj.Text1.Visible = 'on';
obj.Text2.Visible = 'on';
obj.Text3.Visible = 'on';
obj.Slider_1.Visible = 'on';
obj.Slider_2.Visible = 'on';
obj.Button.Visible = 'on';
obj.Vitr.Visible = 'on';
obj.Exit.Visible = 'on';
end
function [alfa, a, b] = slider1_call(obj,handle,eventdata)
obj.alfa = handle.Value
%vykreslovani pod uhlem
obj.a = [198 (248-50*sind(obj.alfa))];
obj.b = [464 (464+4.6*sind(obj.alfa)+5*sind(obj.alfa))];
set(obj.Hlaven1,'XData',obj.a);
set(obj.Hlaven1,'YData',obj.b);
obj.Text1.String = [{'UHEL' num2str(handle.Value)}];
end
function [velocity] = slider2_call(obj,handle,eventdata)
obj.velocity = handle.Value
obj.Text2.String = [{'RYCHLOST' num2str(handle.Value)}];
end
%jadro hry
function [kx,ky] = button_call(obj,handle,eventdata,velocity,alfa,a,b,c,d,kx,ky,n,h,body1,body2,stav,beta,Pozadi_1,system)
%pocatecni podminky
uhel = obj.alfa;
v0 = obj.velocity;
x0 = obj.a(2);
y0 = obj.b(2);
body1 = obj.body1;
[t_s,x_s,body1,deltaV,n,h] = balisticka(uhel,v0,x0,y0,body1);
obj.h(1) = 0;
obj.h(length(obj.n)) = 0;
obj.Pozadi_1 = fill(obj.Axes, obj.n, obj.h, [0.2 0.6740 0.1880]);
%smer vetru
if deltaV > 0
set(obj.Vitr,'String',{[num2str(round(deltaV)) 'm/s'],'>>'});
else
set(obj.Vitr,'String',{[num2str(round(deltaV)) 'm/s'],'<<'});
end
obj.kx = x_s(:,1);
obj.ky = x_s(:,3);
obj.body1 = body1;
set(obj.Krivka,'XData',obj.kx);
set(obj.Krivka,'YData',obj.ky);
set(obj.Text3,'String',{[num2str(obj.body1) ' STAV ' num2str(obj.body2)] 'Na øadì je fial. tank'});
pause(4);
%BOT!!!
%system na nalezeni cile
switch obj.system
%puleni intervalu
case 0
switch obj.stav
case 1
obj.beta = (3/2)*obj.beta;
case 2
obj.beta = obj.beta;
case 3
obj.beta = obj.beta/2;
end
%postupne priblizovani
case 1
switch obj.stav
case 1
if obj.beta < 40
obj.beta = obj.beta + 2.5;
elseif obj.beta < 43
obj.beta = obj.beta + 1.5;
else
obj.beta = obj.beta + 1;
end
case 2
obj.beta = obj.beta;
case 3
if obj.beta > 50
obj.beta = obj.beta - 2.5;
elseif obj.beta > 48
obj.beta = obj.beta - 1.5;
else
obj.beta = obj.beta - 1;
end
end
case 2
obj.beta = obj.beta;
end
%nastaveni hlavne2
obj.c = [(992+50*sind(obj.beta)) 1042];
obj.d = [(482+4.6*sind(obj.beta)+5*sind(obj.beta)) 482];
set(obj.Hlaven2,'XData',obj.c);
set(obj.Hlaven2,'YData',obj.d);
%pocatecni podminky
uhel = obj.beta;
x0 = obj.c(1);
y0 = obj.d(1);
body2 = obj.body2;
[t_s,x_s,body2] = balisticka2(uhel,x0,y0,body2);
obj.kx = x_s(:,1);
obj.ky = x_s(:,3);
obj.body2 = body2;
set(obj.Krivka,'XData',obj.kx);
set(obj.Krivka,'YData',obj.ky);
%overeni zasahu
if x_s(length(t_s),1) > 210
obj.stav = 1;
elseif (x_s(length(t_s),1) >= 145) && (x_s(length(t_s),1) <= 210)
obj.stav = 2;
elseif x_s(length(t_s),1) < 145
obj.stav = 3;
end
obj.stav
obj.beta
set(obj.Text3,'String',{[num2str(obj.body1) ' STAV ' num2str(obj.body2)] 'Na øadì je modrý tank'});
pause(4)
%dalsi kolo
set(obj.Krivka,'XData',0);
set(obj.Krivka,'YData',0);
%ukonceni hry
if (obj.body1 >= 5) || (obj.body2 >= 5)
obj.Tlacitko1.Visible = 'off';
obj.Tlacitko2.Visible = 'off';
obj.Tlacitko3.Visible = 'off';
obj.Tlacitko4.Visible = 'off';
[alfa,beta,velocity,body1,body2,stav,a,b,c,d] = exit_call(obj,handle,eventdata,alfa,beta,velocity,body1,body2,stav,a,b,c,d);
end
end
function [alfa,beta,velocity,body1,body2,stav,a,b,c,d] = exit_call(obj,handle,eventdata,alfa,beta,velocity,body1,body2,stav,a,b,c,d)
obj.Menu.Visible = 'on';
set(obj.Victoria,'Visible','on');
set(obj.Victoria2,'Visible','on');
%stav po ukonceni
if (obj.body1 >= 5) && (obj.body2 >= 5)
set(obj.Victoria,'String',':)NOONE:(');
set(obj.Victoria2,'String','...Status quo...');
elseif obj.body1 >= 5
set(obj.Victoria,'String',' VICTORY:)');
set(obj.Victoria2,'String','...ad astra per aspera...');
else
set(obj.Victoria,'String','DEFEATED:(');
set(obj.Victoria2,'String','...ave atque vale...');
end
%inicializace vsech parametru
obj.Text1.Visible = 'off';
obj.Text2.Visible = 'off';
obj.Slider_1.Visible = 'off';
obj.Slider_2.Visible = 'off';
obj.Button.Visible = 'off';
obj.Vitr.Visible = 'off';
obj.Exit.Visible = 'off';
obj.Slider_1.Value = 0;
obj.Slider_2.Value = 0;
obj.Text1.String = {'UHEL' '0'};
obj.Text2.String = {'RYCHLOST' '0'};
obj.Vitr.String = ' 0 m/s';
obj.alfa = 0;
obj.beta = 0;
obj.velocity = 0;
obj.body1 = 0;
obj.body2 = 0;
obj.stav = 0;
obj.a = [198 248];
obj.b = [464 464];
obj.c = [992 1042];
obj.d = [482 482];
obj.Hlaven1.XData = obj.a;
obj.Hlaven1.YData = obj.b;
obj.Hlaven2.XData = obj.c;
obj.Hlaven2.YData = obj.d;
%navrat do menu
pause(4)
set(obj.Victoria,'Visible','off');
set(obj.Victoria2,'Visible','off');
obj.Text3.Visible = 'off';
obj.Text3.String = {['0',' STAV ','0'] 'Na øadì je modrý tank'};
obj.Tlacitko1.Visible = 'on';
obj.Tlacitko2.Visible = 'on';
obj.Tlacitko3.Visible = 'on';
obj.Tlacitko4.Visible = 'on';
end
end
end