matlab GUI

function varargout = speedplan_draw(varargin)
% SPEEDPLAN_DRAW MATLAB code for speedplan_draw.fig
%      SPEEDPLAN_DRAW, by itself, creates a new SPEEDPLAN_DRAW or raises the existing
%      singleton*.
%
%      H = SPEEDPLAN_DRAW returns the handle to a new SPEEDPLAN_DRAW or the handle to
%      the existing singleton*.
%
%      SPEEDPLAN_DRAW('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in SPEEDPLAN_DRAW.M with the given input arguments.
%
%      SPEEDPLAN_DRAW('Property','Value',...) creates a new SPEEDPLAN_DRAW or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before speedplan_draw_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to speedplan_draw_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 speedplan_draw

% Last Modified by GUIDE v2.5 11-Jan-2014 23:18:40

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @speedplan_draw_OpeningFcn, ...
                   'gui_OutputFcn',  @speedplan_draw_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 speedplan_draw is made visible.
function speedplan_draw_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 speedplan_draw (see VARARGIN)

% Choose default command line output for speedplan_draw
handles.output = hObject;
%**********************添加背景***********%%%%%%%%%%%%%%
ha=axes('units','normalized','position',[0 0 1 1]);%找的不懂
uistack(ha,'down')%根据背景图片的关系设置down/top/boutton
II=imread('HITsz.jpg');
image(II)
colormap gray  %不太懂
% Update handles structure
guidata(hObject, handles);

% UIWAIT makes speedplan_draw wait for user response (see UIRESUME)
% uiwait(handles.figure1);


% --- Outputs from this function are returned to the command line.
function varargout = speedplan_draw_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 edit_Vmax_Callback(hObject, eventdata, handles)
% hObject    handle to edit_Vmax (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 edit_Vmax as text
%        str2double(get(hObject,'String')) returns contents of edit_Vmax as a double


% --- Executes during object creation, after setting all properties.
function edit_Vmax_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_Vmax (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 edit_Amax_Callback(hObject, eventdata, handles)
% hObject    handle to edit_Amax (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 edit_Amax as text
%        str2double(get(hObject,'String')) returns contents of edit_Amax as a double


% --- Executes during object creation, after setting all properties.
function edit_Amax_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_Amax (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 edit_Jmax_Callback(hObject, eventdata, handles)
% hObject    handle to edit_Jmax (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 edit_Jmax as text
%        str2double(get(hObject,'String')) returns contents of edit_Jmax as a double


% --- Executes during object creation, after setting all properties.
function edit_Jmax_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_Jmax (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 edit_Kmax_Callback(hObject, eventdata, handles)
% hObject    handle to edit_Kmax (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 edit_Kmax as text
%        str2double(get(hObject,'String')) returns contents of edit_Kmax as a double


% --- Executes during object creation, after setting all properties.
function edit_Kmax_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_Kmax (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 edit_T_Callback(hObject, eventdata, handles)
% hObject    handle to edit_T (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 edit_T as text
%        str2double(get(hObject,'String')) returns contents of edit_T as a double


% --- Executes during object creation, after setting all properties.
function edit_T_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_T (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 button_aJerkT.
function button_aJerkT_Callback(hObject, eventdata, handles)
% hObject    handle to button_aJerkT (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
        %组合字符串求****加加速度为T型求他的值
% %%***************求得t2值，即速度从0到Jmax所需时间***********%
flg_ok=getappdata(handles.ok,'flg_ok');
flg_VT=getappdata(handles.button_VT,'flg_VT');
flg_AT=getappdata(handles.button_AT,'flg_AT');
if (1==flg_ok)
    s=getappdata(handles.ok,'s');%所走的路程
    s_angle=getappdata(handles.ok,'s_angle');
    Vmax=getappdata(handles.ok,'Vmax');
    Amax=getappdata(handles.ok,'Amax');
    m_t=getappdata(handles.ok,'m_t');
    Jmax=getappdata(handles.ok,'Jmax');
    Kmax=getappdata(handles.ok,'Kmax');
%      Js_t=Jerk_t();      %获取各区间的加加速度曲线方程
%      ti=time();
%      Vs_t=V_t();
%      As=A_t();
%      t1=Jmax/Kmax; 
%     t2=Amax/Jmax;    %面积相等
%      t3=t2+t1;
%      Vs_t(3);
%      v_3=double(subs(Vs_t(3),{'t','t1','t2','Kmax'},{t3,t1,t2,Kmax}))%匀加速前的速度
%      t4=(Vmax-2*v_3)/Amax+t3;
%      t5=t4+t1;t6=t4+t2;t7=t6+t1;
%      Ds_t=D_t();
%      Ds_t(7);
%      D_t7=double(subs(Ds_t(7),{'t','t1','t2','Kmax','t4'},{t7,t1,t2,Kmax,t4}))
%      t8=(s-2*D_t7)/Vmax+t7;  %匀速行驶，的时间结束点，
%      t9=t8+t1;t10=t8+t2;t11=t10+t1,t12=t8+t4,t13=t12+t1;t14=t12+t2;t15=t14+t1;
%      t_out=0:m_t:t15
%     %setappdata(handles.ok,'z1',z1);            %%例子设置全局变量
%     setappdata(handles.button_aJerkT,'t1',t1);
%     setappdata(handles.button_aJerkT,'t2',t2);
%     setappdata(handles.button_aJerkT,'t4',t4);
%     setappdata(handles.button_aJerkT,'t8',t8);
        t1=Jmax/Kmax;
        t2=Amax/Jmax;  %??I??
         t3=t1+t2;
        t4=Vmax/Amax;  %A??±???
       %A??????
         %t4=(s-2*distance3)/Vmax+t3;  %???????????±??
         t5=t4+t1;
         t6=t4+t2;
         t7=t6+t1;
         t8=s/Vmax;
         t9=t8+t1;
         t10=t8+t2;
         t11=t8+t3;
         t12=t8+t4;
         t13=t12+t1;
         t14=t12+t2;
         t15=t12+t3;
         %*************??????????**************%
           A1=Kmax*t1^2/2;
           V1=Kmax*t1^3/3;
           L1=Kmax*t1^4/24;
            A2=A1+Jmax*(t2-t1);
            V2=V1+A1*(t2-t1)+Jmax*(t2-t1)^2/2;
            L2=L1+V1*(t2-t1)+A1*(t2-t1)^2/2+Jmax*(t2-t1)^3/6;
     
             A3=A2+Jmax*(t3-t2)-Kmax*(t3-t2)^2/2;
             V3=V2+A2*(t3-t2)+Jmax*(t3-t2)^2/2-Kmax*(t3-t2)^3/6;
             L3=L2+V2*(t3-t2)+A2*(t3-t2)^2/2+Jmax*(t3-t2)^3/6-Kmax*(t3-t2)^4/24;
                 A4=Amax;
                 V4=V3+Amax*(t4-t3);
                 L4=L3+V3*(t4-t3)+Amax*(t4-t3)^2/2;
                 A5=A4-Kmax*(t5-t4)^2/2;
                 V5=V4+A4*(t5-t4)-Kmax*(t5-t4)^3/6;
                 L5=L4+V4*(t5-t4)+A4*(t5-t4)^2/2-Kmax*(t5-t4)^4/24;
                 A6=A5-Jmax*(t6-t5);
                 V6=V5+A5*(t6-t5)-Jmax*(t6-t5)^2/2;
                 L6=L5+V5*(t6-t5)+A5*(t6-t5)^2/2-Jmax*(t6-t5)^3/6;
                 A7=A6-Jmax*(t7-t6)+Kmax*(t7-t6)^2/2;
                 V7=V6+A6*(t7-t6)-Jmax*(t7-t6)^2/2+Kmax*(t7-t6)^3/6;
                 L7=L6+V6*(t7-t6)+A6*(t7-t6)^2/2-Jmax*(t7-t6)^3/6+Kmax*(t7-t6)^4/24;
                A8=0;
                V8=Vmax;
                L8=L7+Vmax*(t8-t7);
                A9=A8-Kmax*(t9-t8)^2/2;
                V9=V8+A8*(t9-t8)-Kmax*(t9-t8)^3/6;
                L9=L8+V8*(t9-t8)+A8*(t9-t8)^2/2-Kmax*(t9-t8)^4/24;
                A10=A9-Jmax*(t10-t9);
                V10=V9+A9*(t10-t9)-Jmax*(t10-t9)^2/2;
                L10=L9+V9*(t10-t9)+A9*(t10-t9)^2/2-Jmax*(t10-t9)^3/6;
                 A11=A10-Jmax*(t11-t10)+Kmax*(t11-t10)^2/2;
                 V11=V10+A10*(t11-t10)-Jmax*(t11-t10)^2/2+Kmax*(t11-t10)^3/6;
                 L11=L10+V10*(t11-t10)-Jmax*(t11-t10)^3/6+Kmax*(t11-t10)^4/24;
                 A12=-Amax;
                 V12=V11-Amax*(t12-t11);
                 L12=L11+V11*(t12-t11)-Amax*(t12-t11)^2/2;
                 A13=A12+Kmax*(t13-t12)^2/2;
                 V13=V12+A12*(t13-t12)+Kmax*(t13-t12)^3/6;
                 L13=L12+V12*(t13-t12)+A12*(t13-t12)^2/2+Kmax*(t13-t12)^4/24;
                 
                 A14=A13+Jmax*(t14-t13);
                 V14=V13+A13*(t14-t13)+Jmax*(t14-t13)^2/2;
                 L14=L13+V13*(t14-t13)+A13*(t14-t13)^2/2+Jmax*(t14-t13)^3/6;
               
                  A15=A14+Jmax*(t15-t14)-Kmax*(t15-t14)^2/2;
                 V15=V14+A14*(t15-t14)+Jmax*(t15-t14)^2/2-Kmax*(t15-t14)^3/6
                 L15=L14+V14*(t15-t14)+A14*(t15-t14)^2/2+Jmax*(t15-t14)^2/6-Kmax*(t15-t14)^4/24;
%            distance2=distance1+v1*(t2-t1)+Amax*(t2-t1)^2/2;
%            v3=v2+Amax*(t3-t2)-Jmax*(t3-t2)^2/2;
%            distance3=distance2+v2*(t3-t2)+Amax*(t3-t2)^2/2-Jmax*(t3-t2)^3/6;
%            v4=Vmax;
%            distance4=distance3+Vmax*(t4-t3);
%            v5=Vmax-Jmax*(t5-t4)*(t5-t4)/2;
%            distance5=distance4+Vmax*(t5-t4)-Jmax*(t5-t4)^3/6;
%            v6=v5-Amax*(t6-t5); %%%%%%%??????±????ì??????
%            distance6=distance5+v5*(t6-t5)-Amax*(t6-t5)^2/2;
%            v7=v6-Amax*(t7-t6)+Jmax*(t7-t6)^2/2;
%            distance7=distance6+v6*(t7-t6)-Amax*(t7-t6)^2/2+Jmax*(t7-t6)^3/6;
     %********************?¨????????????????????????????????*************%  
     i=1
          for t=0:m_t:t15; 
              if t<=t1
                Kj_out(i)=Kmax;
                Jj_out(i)=Kmax*t;%??????
                Aj_out(i)=1/2*Kmax*t^2;
                Vj_out(i)=1/6*Kmax*t^3;
                Lj_out(i)=1/24*Kmax*t^4;
              elseif t<=t2
                 Kj_out(i)=0;
                Jj_out(i)=Jmax;%??????
                Aj_out(i)=A1+Jmax*(t-t1);
                Vj_out(i)=V1+A1*(t-t1)+Jmax*(t-t1)^2/2;
                Lj_out(i)=L1+V1*(t-t1)+A1*(t-t1)^2/2+Jmax*(t-t1)^3/6;
              elseif t<t3
                Kj_out(i)=-Kmax;
                Jj_out(i)=Jmax-Kmax*(t-t2);%??????
                Aj_out(i)=A2+Jmax*(t-t2)-Kmax*(t-t2)^2/2;
                Vj_out(i)=V2+A2*(t-t2)+Jmax*(t-t2)^2/2-Kmax*(t-t2)^3/6;
                Lj_out(i)=L2+V2*(t-t2)+A2*(t-t2)^2/2+Jmax*(t-t2)^3/6-Kmax*(t-t2)^4/24;
            elseif t<=t4
                 Kj_out(i)=0;
                 Jj_out(i)=0;%??????
                 Aj_out(i)=Amax;
                 Vj_out(i)=V3+Amax*(t-t3);
                 Lj_out(i)=L3+V3*(t-t3)+Amax*(t-t3)^2/2;
            elseif t<=t5
                 Kj_out(i)=-Kmax;
                 Jj_out(i)=-Kmax*(t-t4);%??????
                 Aj_out(i)=A4-Kmax*(t-t4)^2/2;
                 Vj_out(i)=V4+A4*(t-t4)-Kmax*(t-t4)^3/6;
                 Lj_out(i)=L4+V4*(t-t4)+A4*(t-t4)^2/2-Kmax*(t-t4)^4/24;
              elseif t<=t6
                 Kj_out(i)=0;
                 Jj_out(i)=-Jmax;%??????
                 Aj_out(i)=A5-Jmax*(t-t5);
                 Vj_out(i)=V5+A5*(t-t5)-Jmax*(t-t5)^2/2;
                 Lj_out(i)=L5+V5*(t-t5)+A5*(t-t5)^2/2-Jmax*(t-t5)^3/6;
              elseif   t<=t7
                 Kj_out(i)=Kmax;
                 Jj_out(i)=-Jmax+Kmax*(t-t6);%??????
                 Aj_out(i)=A6-Jmax*(t-t6)+Kmax*(t-t6)^2/2;
                 Vj_out(i)=V6+A6*(t-t6)-Jmax*(t-t6)^2/2+Kmax*(t-t6)^3/6;
                 Lj_out(i)=L6+V6*(t-t6)+A6*(t-t6)^2/2-Jmax*(t-t6)^3/6+Kmax*(t-t6)^4/24;
               elseif t<=t8
                Kj_out(i)=0
                Jj_out(i)=0;%??????
                Aj_out(i)=0;
                Vj_out(i)=Vmax;
                Lj_out(i)=L7+Vmax*(t-t7);
              elseif t<=t9
                Kj_out(i)=-Kmax;
                Jj_out(i)=-Kmax*(t-t8);%??????
                Aj_out(i)=A8-Kmax*(t-t8)^2/2;
                Vj_out(i)=V8+A8*(t-t8)-Kmax*(t-t8)^3/6;
                Lj_out(i)=L8+V8*(t-t8)+A8*(t-t8)^2/2-Kmax*(t-t8)^4/24;
              elseif t<=t10
                Kj_out(i)=0;
                Jj_out(i)=-Jmax;%??????
                Aj_out(i)=A9-Jmax*(t-t9);
                Vj_out(i)=V9+A9*(t-t9)-Jmax*(t-t9)^2/2;
                Lj_out(i)=L9+V9*(t-t9)+A9*(t-t9)^2/2-Jmax*(t-t9)^3/6;
            elseif t<=t11
                 Kj_out(i)=Kmax;
                 Jj_out(i)=-Jmax+Kmax*(t-t10);%??????
                 Aj_out(i)=A10-Jmax*(t-t10)+Kmax*(t-t10)^2/2;
                 Vj_out(i)=V10+A10*(t-t10)-Jmax*(t-t10)^2/2+Kmax*(t-t10)^3/6;
                 Lj_out(i)=L10+V10*(t-t10)-Jmax*(t-t10)^3/6+Kmax*(t-t10)^4/24;
            elseif t<=t12
                 Kj_out(i)=0;
                 Jj_out(i)=0;%??????
                 Aj_out(i)=-Amax;
                 Vj_out(i)=V11-Amax*(t-t11);
                 Lj_out(i)=L11+V11*(t-t11)-Amax*(t-t11)^2/2;
              elseif t<=t13
                 Kj_out(i)=Kmax;
                 Jj_out(i)=Kmax*(t-t12);%??????
                 Aj_out(i)=A12+Kmax*(t-t12)^2/2;
                 Vj_out(i)=V12+A12*(t-t12)+Kmax*(t-t12)^3/6;
                 Lj_out(i)=L12+V12*(t-t12)+A12*(t-t12)^2/2+Kmax*(t-t12)^4/24;
             elseif t<=t14
                 Kj_out(i)=0;
                 Jj_out(i)=Jmax;%??????
                 Aj_out(i)=A13+Jmax*(t-t13);
                 Vj_out(i)=V13+A13*(t-t13)+Jmax*(t-t13)^2/2;
                 Lj_out(i)=L13+V13*(t-t13)+A13*(t-t13)^2/2+Jmax*(t-t13)^3/6;
              else   
                 Kj_out(i)=-Kmax;
                 Jj_out(i)=Jmax-Kmax*(t-t14);%??????
                 Aj_out(i)=A14+Jmax*(t-t14)-Kmax*(t-t14)^2/2;
                 Vj_out(i)=V14+A14*(t-t14)+Jmax*(t-t14)^2/2-Kmax*(t-t14)^3/6
                 Lj_out(i)=L14+V14*(t-t14)+A14*(t-t14)^2/2+Jmax*(t-t14)^2/6-Kmax*(t-t14)^4/24;
              end
             i=i+1;
          end 
   % setappdata(handles.button_aJerkT,'t_out',t_out);//用符号型做的
   tj_out=0:m_t:t15
    plot3(handles.plot_xyz,Lj_out.*s_angle(1),Lj_out.*s_angle(2),Lj_out.*s_angle(3),'*')
    setappdata(handles.button_aJerkT,'tj_out',tj_out);
    setappdata(handles.button_aJerkT,'Lj_out',Lj_out);
    setappdata(handles.button_aJerkT,'Aj_out',Aj_out);
    setappdata(handles.button_aJerkT,'Vj_out',Vj_out);
    setappdata(handles.button_aJerkT,'Jj_out',Jj_out);
    %*********************判断按钮加速度为T型触发没************%
    flg_aJerkT=1;
    setappdata(handles.button_aJerkT,'flg_aJerkT',flg_aJerkT);
else
    warndlg('请按确定键');
end
    % J_out=Jend_draw(t1,t2,t4,t8,Kmax,m_t); %%加加速度的速度图像
    % A_out=Aend_draw(t1,t2,t4,t8,Kmax,m_t); 
    % V_out=Vend_draw(t1,t2,t4,t8,Kmax,m_t); 
    % %m_out=[t_out;V_out]    %%输出时间和速度仿真，
    % d_out=Dend_draw(t1,t2,t4,t8,Kmax,m_t); 
    % md_out=[t_out;d_out]  %%输出时间和位移进行仿真
    %plot3(handles.plot_xyz,d_out.*s_angle(1),d_out.*s_angle(2),d_out.*s_angle(3),'*')


% --- Executes on button press in button_VT.
function button_VT_Callback(hObject, eventdata, handles)
% hObject    handle to button_VT (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
%**************速度为T型，并且正确出图************************************%
flg_ok=getappdata(handles.ok,'flg_ok');
flg_VT=getappdata(handles.button_VT,'flg_VT');
flg_AT=getappdata(handles.button_AT,'flg_AT');
flg_aJerkT=getappdata(handles.button_aJerkT,'flg_aJerkT');
if (flg_ok==1)
    s=getappdata(handles.ok,'s');%所走的路程
    Vmax=getappdata(handles.ok,'Vmax');
    Amax=getappdata(handles.ok,'Amax');
    m_t=getappdata(handles.ok,'m_t');
    s_angle=getappdata(handles.ok,'s_angle');
    Jmax=getappdata(handles.ok,'Jmax');
    Kmax=getappdata(handles.ok,'Kmax');
    if(Jmax~=0)||(Kmax~=0)||(m_t<=0)
        warndlg('不符合参数要求');
       % close(figure1);   %%a没搞懂***********%%%%%%
    else
            t1=Vmax/Amax;t2=s/Vmax;t3=t1+t2;      
    i=1;%*************  插补赋值*******************%
      for t=0:m_t:t3
          if t<=t1
              L(i)=Amax*t*t/2;
              V(i)=Amax*t;
               A(i)=Amax;
          elseif t<=t2
                L(i)=Vmax*t1/2+Vmax*(t-t1);
                V(i)=Vmax;
                A(i)=0;
          else
              L(i)=s-(t3-t)^2*Amax/2;
              V(i)=Amax*(t3-t);
              A(i)=-Amax;
          end
          i=i+1;
      end
    tv_out=0:m_t:t3;
    %plot(handles.plot_distance,t,L)%绘制路程图像
    setappdata(handles.button_VT,'tv_out',tv_out);
    setappdata(handles.button_VT,'L',L);
    setappdata(handles.button_VT,'A',A);
    setappdata(handles.button_VT,'V',V);
    flg_VT=1;
     setappdata(handles.button_VT,'flg_VT',flg_VT);
    plot3(handles.plot_xyz,L.*s_angle(1),L.*s_angle(2),L.*s_angle(3),'*')
    end
    
else
     warndlg('请按确定键');
end

    %  for i=0:4
    %      view(-37.4,30+i*30);
    %      pause(2);
    %  end

% --- Executes on button press in button_AT.
function button_AT_Callback(hObject, eventdata, handles)
% hObject    handle to button_AT (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
flg_ok=getappdata(handles.ok,'flg_ok');
if (flg_ok==1)
        s=getappdata(handles.ok,'s');%所走的路程
        Vmax=getappdata(handles.ok,'Vmax');
        Amax=getappdata(handles.ok,'Amax');
        m_t=getappdata(handles.ok,'m_t');
        s_angle=getappdata(handles.ok,'s_angle');
        Jmax=getappdata(handles.ok,'Jmax');
        Kmax=getappdata(handles.ok,'Kmax');
        if(Jmax<=0)||(Kmax<=0)||(m_t<=0)||(Vmax<=0)
        warndlg('不符合参数要求');
        else
        t1=Amax/Jmax;  %第I段
        t2=Vmax/Amax;  %A不变段
        t3=t1+t2;%A下降段
         t4=s/Vmax;%对称的面积关系
         %t4=(s-2*distance3)/Vmax+t3;  %匀速运动的时间
         t5=t4+t1;
         t6=t4+t2;
         t7=t6+t1;
         %*************重新算位移**************%
           v1=Jmax*(t1)^2/2;
           distance1=(Jmax*t1*t1*t1)/6;
           v2=v1+Amax*(t2-t1);%用数学方法求解出来。
           distance2=distance1+v1*(t2-t1)+Amax*(t2-t1)^2/2;
           v3=v2+Amax*(t3-t2)-Jmax*(t3-t2)^2/2;
           distance3=distance2+v2*(t3-t2)+Amax*(t3-t2)^2/2-Jmax*(t3-t2)^3/6;
            v4=Vmax;
           distance4=distance3+Vmax*(t4-t3);
           v5=Vmax-Jmax*(t5-t4)*(t5-t4)/2;
           distance5=distance4+Vmax*(t5-t4)-Jmax*(t5-t4)^3/6;
           v6=v5-Amax*(t6-t5); %%%%%%%写的方便观察特点。
           distance6=distance5+v5*(t6-t5)-Amax*(t6-t5)^2/2;
           v7=v6-Amax*(t7-t6)+Jmax*(t7-t6)^2/2;
           distance7=distance6+v6*(t7-t6)-Amax*(t7-t6)^2/2+Jmax*(t7-t6)^3/6;
          i=1
     %********************通过符号型计算而来的公式，进行赋值*************%     
%           for t=0:m_t:t7; 
%               if t<=t1
%                 Ja_out(i)=Jmax;%第一段
%                 Aa_out(i)=Jmax*t;
%                 Va_out(i)=1/2*Jmax*t*t;
%                 La_out(i)=(Jmax*t*t*t)/6;
%               elseif t<=t2
%                     Ja_out(i)=0;
%                    Aa_out(i)=Amax;
%                    Va_out(i)=Amax*t-1/2*Amax*t1;%1/2*Amax*t1+Amax*(t-t1)
%                    La_out(i)=distance1+(Amax*t*(t - t1))/2;
%               elseif t<=t3
%                    Ja_out(i)=-Jmax;
%                    Aa_out(i)=Jmax*(t3-t);
%                     Va_out(i)=Vmax-1/2*Jmax*(t3-t)*(t3-t);
%           La_out(i)=distance2-((t - t2)*(Amax*t^2 + Amax*t*t2 - 3*Amax*t*t3 + Amax*t2^2 - 3*Amax*t2*t3 + 3*Amax*t3^2 - 6*Vmax))/6;
%             elseif t<=t4
%               Ja_out(i)=0;
%               Aa_out(i)=0;
%               Va_out(i)=Vmax;
%               La_out(i)=distance3+Vmax*(t - t3);
%             elseif t<=t5
%              Ja_out(i)=-Jmax;
%              Aa_out(i)=-Jmax*(t-t4);
%              Va_out(i)=Vmax-Jmax*(t-t4)*(t-t4)/2;
%              La_out(i)=distance4+((t - t4)*(- Jmax*t^2 + 2*Jmax*t*t4 - Jmax*t4^2 + 6*Vmax))/6;
%               elseif t<=t6
%                Ja_out(i)=0;
%                Aa_out(i)=-Amax;
%                Va_out(i)=1/2*Amax*t1+Amax*(t6-t);
%                La_out(i)=distance5-(Amax*(t - t5)*(t - t1 + t5 - 2*t6))/2
%               else  %if t<=t7
%                Ja_out(i)=Jmax;
%                Aa_out(i)=-Jmax*(t7-t);
%                Va_out(i)=(t7-t)*(t7-t)/2*Jmax;
%                La_out(i)=distance6+(Jmax*(t - t6)*(t^2 + t*t6 - 3*t*t7 + t6^2 - 3*t6*t7 + 3*t7^2))/3;
% 符号型为什么会存在误差。
           for t=0:m_t:t7; 
              if t<=t1
                Ja_out(i)=Jmax;%
                Aa_out(i)=Jmax*t;
                Va_out(i)=Jmax*t*t/2;
                La_out(i)=(Jmax*t*t*t)/6;
              elseif t<=t2
                   Ja_out(i)=0;
                   Aa_out(i)=Amax;
                   Va_out(i)=v1+Amax*(t-t1);%Amax*t-1/2*Amax*t1,??????????
                   La_out(i)=distance1+v1*(t-t1)+Amax*(t-t1)^2/2;
              elseif t<=t3
              Ja_out(i)=-Jmax;
              Aa_out(i)=Amax-Jmax*(t-t2);
              Va_out(i)=v2+Amax*(t-t2)-Jmax*(t-t2)^2/2;
              La_out(i)=distance2+v2*(t-t2)+Amax*(t-t2)^2/2-Jmax*(t-t2)^3/6;
              elseif t<=t4
              Ja_out(i)=0;
              Aa_out(i)=0;
              Va_out(i)=Vmax;
              La_out(i)=distance3+Vmax*(t-t3);
            elseif t<=t5
              Ja_out(i)=-Jmax;
              Aa_out(i)=-Jmax*(t-t4);
              Va_out(i)=Vmax-Jmax*(t-t4)*(t-t4)/2;
             La_out(i)=distance4+Vmax*(t-t4)-Jmax*(t-t4)^3/6;
              elseif t<=t6
               Ja_out(i)=0;
               Aa_out(i)=-Amax;
               Va_out(i)=v5-Amax*(t-t5);
               La_out(i)=distance5+v5*(t-t5)-Amax*(t-t5)^2/2;
              else  %if t<=t7
               Ja_out(i)=Jmax;
               Aa_out(i)=-Amax+Jmax*(t-t6);
               Va_out(i)=v6-Amax*(t-t6)+Jmax*(t-t6)^2/2;
               La_out(i)=distance6+v6*(t-t6)-Amax*(t-t6)^2/2+Jmax*(t-t6)^3/6;
            end
             i=i+1;
          end 
    ta_out=0:m_t:t7;
 %*************************画出位置图形*********************************
    plot3(handles.plot_xyz,La_out.*s_angle(1),La_out.*s_angle(2),La_out.*s_angle(3),'*')
     setappdata(handles.button_AT,'ta_out',ta_out);
    setappdata(handles.button_AT,'La_out',La_out);
    setappdata(handles.button_AT,'Aa_out',Aa_out);
    setappdata(handles.button_AT,'Va_out',Va_out);
     setappdata(handles.button_AT,'Ja_out',Ja_out);
    flg_AT=1
     setappdata(handles.button_AT,'flg_AT',flg_AT);
        end
    else
     warndlg('请按确定键');
end




function edit_x0_Callback(hObject, eventdata, handles)
% hObject    handle to edit_x0 (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 edit_x0 as text
%        str2double(get(hObject,'String')) returns contents of edit_x0 as a double


% --- Executes during object creation, after setting all properties.
function edit_x0_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_x0 (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 edit_y0_Callback(hObject, eventdata, handles)
% hObject    handle to edit_y0 (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 edit_y0 as text
%        str2double(get(hObject,'String')) returns contents of edit_y0 as a double


% --- Executes during object creation, after setting all properties.
function edit_y0_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_y0 (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 edit_z0_Callback(hObject, eventdata, handles)
% hObject    handle to edit_z0 (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 edit_z0 as text
%        str2double(get(hObject,'String')) returns contents of edit_z0 as a double


% --- Executes during object creation, after setting all properties.
function edit_z0_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_z0 (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 edit_x1_Callback(hObject, eventdata, handles)
% hObject    handle to edit_x1 (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 edit_x1 as text
%        str2double(get(hObject,'String')) returns contents of edit_x1 as a double


% --- Executes during object creation, after setting all properties.
function edit_x1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_x1 (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 edit_y1_Callback(hObject, eventdata, handles)
% hObject    handle to edit_y1 (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 edit_y1 as text
%        str2double(get(hObject,'String')) returns contents of edit_y1 as a double


% --- Executes during object creation, after setting all properties.
function edit_y1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_y1 (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 edit_z1_Callback(hObject, eventdata, handles)
% hObject    handle to edit_z1 (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 edit_z1 as text
%        str2double(get(hObject,'String')) returns contents of edit_z1 as a double


% --- Executes during object creation, after setting all properties.
function edit_z1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to edit_z1 (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 ok.
function ok_Callback(hObject, eventdata, handles)
% hObject    handle to ok (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
clc
x0=get(handles.edit_x0,'string');x0=str2double(x0);  %接收数据相当于接收全局变量
setappdata(handles.ok,'x0',x0);
y0=get(handles.edit_y0,'string');y0=str2double(y0);
setappdata(handles.ok,'y0',y0);
z0=get(handles.edit_z0,'string');z0=str2double(z0);
setappdata(handles.ok,'z0',z0);
x1=get(handles.edit_x1,'string');x1=str2double(x1);
setappdata(handles.ok,'x1',x1);
y1=get(handles.edit_y1,'string');y1=str2double(y1);
setappdata(handles.ok,'y1',y1);
z1=get(handles.edit_z1,'string');z1=str2double(z1);
setappdata(handles.ok,'z1',z1);

Vmax=get(handles.edit_Vmax,'string');Vmax=str2double(Vmax);
setappdata(handles.ok,'Vmax',Vmax);
Amax=get(handles.edit_Amax,'string');Amax=str2double(Amax);
setappdata(handles.ok,'Amax',Amax);
Jmax=get(handles.edit_Jmax,'string');Jmax=str2double(Jmax);
setappdata(handles.ok,'Jmax',Jmax);
Kmax=get(handles.edit_Kmax,'string');Kmax=str2double(Kmax);
setappdata(handles.ok,'Kmax',Kmax);
m_t=get(handles.edit_T,'string');m_t=str2double(m_t);
setappdata(handles.ok,'m_t',m_t); %%句柄是什么形式的。
if (Vmax<0)||(Amax<0)||(Jmax<0)||(Kmax<0)||(m_t<0)
    warndlg('不符合参数要求，存在小于零的');
    close   %%a没搞懂***********%%%%%%
end
%求两点之间的距离
s=sqrt((x1-x0)^2+(y1-y0)^2+(z1-z0)^2);
distance_0=[x0 y0 z0];distance_1=[x1 y1 z1];%起点和终点
s_fx=distance_1-distance_0; % 运动的直线方向
s_angle=s_fx/s;   %单位向量
setappdata(handles.ok,'s',s);   %传递距离参数
setappdata(handles.ok,'s_angle',s_angle);%单位向量
s=num2str(s,'%.5f');
set(handles.sta_distance,'string',s);
%***************************判断ok,键点击下去没*********************%
flg_ok=1
        setappdata(handles.ok,'flg_ok',flg_ok);
        flg_VT=0;
         setappdata(handles.button_VT,'flg_VT',flg_VT);
         flg_AT=0;
        setappdata(handles.button_AT,'flg_AT',flg_AT);
         flg_aJerkT=0;  
         setappdata(handles.button_aJerkT,'flg_aJerkT',flg_aJerkT);




% --- Executes on button press in but_disfig.
function but_disfig_Callback(hObject, eventdata, handles)
flg_VT=getappdata(handles.button_VT,'flg_VT');
flg_AT=getappdata(handles.button_AT,'flg_AT');
flg_aJerkT=getappdata(handles.button_aJerkT,'flg_aJerkT');
       if flg_VT==1  %************满足条件VT***********
           tv_out=getappdata(handles.button_VT,'tv_out');
         L=getappdata(handles.button_VT,'L');
            figure(4)
            plot(tv_out,L,'LineWidth',2)
             grid on;
             hold on;
              legend('速度T型，路程曲线');
      %*************************加速度为T型*****************
         elseif flg_AT==1
       ta_out=getappdata(handles.button_AT,'ta_out');
       La_out=getappdata(handles.button_AT,'La_out');
        figure(4)
                plot(ta_out,La_out,'LineWidth',2)
                grid on;
                hold on;
                legend('加速度T型,路程曲线');
       elseif flg_aJerkT==1
           %******************加加速度为T型*********************%
%         t1=getappdata(handles.button_aJerkT,'t1');
%         t2=getappdata(handles.button_aJerkT,'t2');
%         t4=getappdata(handles.button_aJerkT,'t4');
%         t8=getappdata(handles.button_aJerkT,'t8');
%         t_out=getappdata(handles.button_aJerkT,'t_out');
%         s=getappdata(handles.ok,'s');%所走的路程
%         s_angle=getappdata(handles.ok,'s_angle');
%         Kmax=getappdata(handles.ok,'Kmax');
%         m_t=getappdata(handles.ok,'m_t')
%         %J_out=Jend_draw(t1,t2,t4,t8,Kmax,m_t); %%加加速度的速度图像
%         % A_out=Aend_draw(t1,t2,t4,t8,Kmax,m_t); %%绘制加速度图像，顺便保存图像
%         % V_out=Vend_draw(t1,t2,t4,t8,Kmax); 
%         % m_out=[t_out;V_out]    %%输出时间和速度仿真，
%         d_out=Dend_draw(t1,t2,t4,t8,Kmax,m_t);
%         md_out=[t_out;d_out]  %%输出时间和位移进行仿真
%         setappdata(handles.but_disfig,'d_out',d_out);
%         plot3(handles.plot_xyz,d_out.*s_angle(1),d_out.*s_angle(2),d_out.*s_angle(3),'*');
      %  setappdata(handles.button_aJerkT,' flg_aJerkT', flg_aJerkT);
        tj_out=getappdata(handles.button_aJerkT,'tj_out');
       Lj_out=getappdata(handles.button_aJerkT,'Lj_out');
        figure(4)
                plot(tj_out,Lj_out,'LineWidth',2)
                grid on;
                hold on;
                legend('加速度T型,路程曲线');
      else
            warndlg('请选择速度规划模式！')   
       end
 


% --- Executes on button press in but_vfig.
function but_vfig_Callback(hObject, eventdata, handles)
flg_ok=getappdata(handles.ok,'flg_ok');
flg_VT=getappdata(handles.button_VT,'flg_VT');
flg_AT=getappdata(handles.button_AT,'flg_AT')
flg_aJerkT=getappdata(handles.button_aJerkT,'flg_aJerkT');
         if flg_VT==1  %************满足条件VT***********
           tv_out=getappdata(handles.button_VT,'tv_out');
            V=getappdata(handles.button_VT,'V');
            figure(3)
            plot(tv_out,V,'LineWidth',2)
             grid on;
             hold on;
              legend('速度T型，速度曲线');
%               flg_VT=0;
%       setappdata(handles.button_VT,'flg_VT',flg_VT);
      %*************************加速度为T型*****************
         elseif flg_AT==1
       ta_out=getappdata(handles.button_AT,'ta_out');
       Va_out=getappdata(handles.button_AT,'Va_out');
        figure(3)
                plot(ta_out,Va_out,'LineWidth',2)
                grid on;
                hold on;
                legend('加速度T型,速度曲线');
%            flg_AT=0;
%         setappdata(handles.button_AT,'flg_AT',flg_AT);
       elseif flg_aJerkT==1
           %******************加加速度为T型*********************%
%     t1=getappdata(handles.button_aJerkT,'t1');
%     t2=getappdata(handles.button_aJerkT,'t2');
%     t4=getappdata(handles.button_aJerkT,'t4');
%     t8=getappdata(handles.button_aJerkT,'t8');
%     t_out=getappdata(handles.button_aJerkT,'t_out');
%     Kmax=getappdata(handles.ok,'Kmax');
%     m_t=getappdata(handles.ok,'m_t')
%     V_out=Vend_draw(t1,t2,t4,t8,Kmax,m_t); 
%     m_out=[t_out;V_out]    %%输出时间和速度仿真，
%     setappdata(handles.but_vfig,'V_out',V_out);
%          flg_aJerkT=0;
%           setappdata(handles.button_aJerkT,'flg_aJerkT',flg_aJerkT);
       tj_out=getappdata(handles.button_aJerkT,'tj_out');
       Vj_out=getappdata(handles.button_aJerkT,'Vj_out');
        figure(3)
                plot(tj_out,Vj_out,'LineWidth',2)
                grid on;
                hold on;
                legend('加速度T型,速度曲线');
      else
            warndlg('请选择速度规划模式！')   
     end
   




% --- Executes on button press in but_afig.
function but_afig_Callback(hObject, eventdata, handles)
% hObject    handle to but_afig (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
flg_VT=getappdata(handles.button_VT,'flg_VT');
flg_AT=getappdata(handles.button_AT,'flg_AT');
flg_aJerkT=getappdata(handles.button_aJerkT,'flg_aJerkT');
      %**********速度为T型，画出加速度图形*********************%
      if flg_VT==1
          tv_out=getappdata(handles.button_VT,'tv_out');
           A=getappdata(handles.button_VT,'A');
               figure(2)
                plot(tv_out,A,'LineWidth',2)
                grid on;
                hold on;
                legend('加速度曲线');
%                 flg_VT=0;
%            setappdata(handles.button_VT,'flg_VT',flg_VT);
           %*******************加速度为T型******************
       elseif flg_AT==1
       ta_out=getappdata(handles.button_AT,'ta_out');
       Aa_out=getappdata(handles.button_AT,'Aa_out');
        figure(2)
                plot(ta_out,Aa_out,'LineWidth',2)
                grid on;
                hold on;
                legend('加速度T型，加速度曲线');
                %*************加加速度为T型************************%
        elseif flg_aJerkT==1
% % %         t1=getappdata(handles.button_aJerkT,'t1');
% % %         t2=getappdata(handles.button_aJerkT,'t2');
% % %         t4=getappdata(handles.button_aJerkT,'t4');
% % %         t8=getappdata(handles.button_aJerkT,'t8');
% % %         Kmax=getappdata(handles.ok,'Kmax');
% %         m_t=getappdata(handles.ok,'m_t')
% %         A_out=Aend_draw(t1,t2,t4,t8,Kmax,m_t);%%绘制加速度图像，顺便保存图像
%         setappdata(handles.but_afig,'A_out',A_out);
       tj_out=getappdata(handles.button_aJerkT,'tj_out');
       Aj_out=getappdata(handles.button_aJerkT,'Aj_out');
        figure(2)
                plot(tj_out,Aj_out,'LineWidth',2)
                grid on;
                hold on;
                legend('加加速度T型，加速度曲线');
      else
            warndlg('请选择速度规划模式！')   
      end

%     plot3(handles.plot_xyz,L.*s_angle(1),L.*s_angle(2),L.*s_angle(3),'*')
% V_out=Vend_draw(t1,t2,t4,t8,Kmax); 
% m_out=[t_out;V_out]    %%输出时间和速度仿真，
% d_out=Dend_draw(t1,t2,t4,t8,Kmax); 
% md_out=[t_out;d_out]  %%输出时间和位移进行仿真


% --- Executes on button press in but_jerkfig.
function but_jerkfig_Callback(hObject, eventdata, handles)
% hObject    handle to but_jerkfig (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
%获取时间变量，获取加速度图形
flg_ok=getappdata(handles.ok,'flg_ok');
flg_VT=getappdata(handles.button_VT,'flg_VT');
flg_AT=getappdata(handles.button_AT,'flg_AT');
flg_aJerkT=getappdata(handles.button_aJerkT,'flg_aJerkT');
       if flg_VT==1  %************满足条件VT***********
           warndlg('速度T型，加加速度是脉冲函数，图形省略！')
       elseif flg_AT==1
       ta_out=getappdata(handles.button_AT,'ta_out');
       Ja_out=getappdata(handles.button_AT,'Ja_out');
        figure(1)
                plot(ta_out,Ja_out,'LineWidth',2)
                grid on;
                hold on;
                legend('加速度T型，加加速度曲线');

       elseif flg_aJerkT==1  %%绘制加加速度的图像
           %****************第一次做，用原函数发********
%         t1=getappdata(handles.button_aJerkT,'t1');
%         t2=getappdata(handles.button_aJerkT,'t2');
%         t4=getappdata(handles.button_aJerkT,'t4');
%         t8=getappdata(handles.button_aJerkT,'t8');
%         Kmax=getappdata(handles.ok,'Kmax');
%         m_t=getappdata(handles.ok,'m_t')
%         J_out=Jend_draw(t1,t2,t4,t8,Kmax,m_t); %%加加速度的速度图像
%         setappdata(handles.but_jerkfig,'J_out',J_out);%%输出加速度数据便于保存
      tj_out=getappdata(handles.button_aJerkT,'tj_out');
       Jj_out=getappdata(handles.button_aJerkT,'Jj_out');
        figure(1)
                plot(tj_out,Jj_out,'LineWidth',2)
                grid on;
                hold on;
                legend('加加速度T型，加加速度曲线');
       else
             warndlg('请选择速度规划模式！')   
       end
%A_out=Aend_draw(t1,t2,t4,t8,Kmax,m_t); 


% --- Executes on button press in but_clear.
function but_clear_Callback(hObject, eventdata, handles)
% hObject    handle to but_clear (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
try
    delete(allchild(handles.plot_xyz))
end
flg_VT=getappdata(handles.button_VT,'flg_VT');
flg_AT=getappdata(handles.button_AT,'flg_AT');
flg_aJerkT=getappdata(handles.button_aJerkT,'flg_aJerkT');
     close(figure(1));

       close(figure(2));
       close(figure(3));
       close(figure(4));
        flg_VT=0;
         setappdata(handles.button_VT,'flg_VT',flg_VT);
         flg_AT=0;
        setappdata(handles.button_AT,'flg_AT',flg_AT);
         flg_aJerkT=0;  
         setappdata(handles.button_aJerkT,'flg_aJerkT',flg_aJerkT);
        s=0
         s=num2str(s,'%.5f');
        set(handles.sta_distance,'string',s);
         flg_VT=0;
         setappdata(handles.button_VT,'flg_VT',flg_VT);
         flg_AT=0;
        setappdata(handles.button_AT,'flg_AT',flg_AT);
         flg_aJerkT=0;  
         setappdata(handles.button_aJerkT,'flg_aJerkT',flg_aJerkT);
         %****************关闭图形******************************%


% --- Executes on button press in but_savce.
% function  but_savce_Callback(hObject, eventdata, handles)
% % hObject    handle to but_savce (see GCBO)
% % eventdata  reserved - to be defined in a future version of MATLAB
% % handles    structure with handles and user data (see GUIDATA)


% --- Executes on button press in but_save.
function but_save_Callback(hObject, eventdata, handles)
% hObject    handle to but_save (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
%获取时间变量
% setappdata(handles.button_VT,'tv_out',tv_out);
%     setappdata(handles.button_VT,'L',L);
%     setappdata(handles.button_VT,'A',A);
%     setappdata(handles.button_VT,'V',V);
%     flg_VT=1;
%      setappdata(handles.button_VT,'flg_VT',flg_VT)
flg_aJerkT=getappdata(handles.button_aJerkT,'flg_aJerkT');
s_angle=getappdata(handles.ok,'s_angle');
flg_VT=getappdata(handles.button_VT,'flg_VT');
flg_AT=getappdata(handles.button_AT,'flg_AT');

%***********************存储加加速度T型数据数据文件%**********************
if flg_aJerkT==1
    %*******创建存储文件**********
    
 mkdir 加加速度T型插补点数据数据文件
cd 加加速度T型插补点数据数据文件
 t_out=getappdata(handles.button_aJerkT,'tj_out');
 d_out=getappdata(handles.button_aJerkT,'Lj_out');
 A_out=getappdata(handles.button_aJerkT,'Aj_out');
 V_out=getappdata(handles.button_aJerkT,'Vj_out');
 J_out=getappdata(handles.button_aJerkT,'Jj_out');
% J_out=getappdata(handles.but_jerkfig,'J_out');
% t_out=getappdata(handles.button_aJerkT,'t_out');
% A_out=getappdata(handles.but_afig,'A_out');
% V_out=getappdata(handles.but_vfig,'V_out');
% d_out=getappdata(handles.but_disfig,'d_out');
J_endout=[t_out',J_out'];
fid1=fopen('插补点合加加速度与时间.txt','wt')
[m,n]=size(J_endout);
title=' time     jerk'
fprintf(fid1,'%s\n',title);
for i=1:m
    for j=1:n
        if j==n
            fprintf(fid1,' %12.6g\n',J_endout(i,j));
        else
        fprintf(fid1,' %12.6g',J_endout(i,j));
        end
    end
end
fclose(fid1);
%********************************存储加速度文件**************************%
A_endout=[t_out',A_out'];
fid2=fopen('插补点合加速度与时间.txt','wt')
[m,n]=size(A_endout);
title='time    Accleration'
fprintf(fid2,' %s\n',title);
for i=1:m
    for j=1:n
        if j==n
            fprintf(fid1,' %12.6g\n',A_endout(i,j));
        else
        fprintf(fid1,' %12.6g',A_endout(i,j));
        end
    end
end
fclose(fid2);
%********************************存储速度文件******************************%
V_endout=[t_out',A_out'];
fid3=fopen('插补点速度.txt','wt')
[m,n]=size(V_endout);
title=' time      velocity'
fprintf(fid3,' %s\n',title);
for i=1:m
    for j=1:n
        if j==n
            fprintf(fid1,' %12.6g\n',V_endout(i,j));
        else
        fprintf(fid1,' %12.6g',V_endout(i,j));
        end
    end
end
fclose(fid3);
%********************************插补点数据度******************************%
d_x=d_out.*s_angle(1);d_y=d_out.*s_angle(2);d_z=d_out.*s_angle(3);
D_endoutxyz=[t_out',d_x',d_y',d_z'];
fid4=fopen('插补点x,y,z.txt','wt')
[m,n]=size(D_endoutxyz);
title='插补点数据 t x y z'
fprintf(fid4,' %s\n',title);
for i=1:m
    for j=1:n
        if j==n
            fprintf(fid1,' %12.6g\n',D_endoutxyz(i,j));
        else
        fprintf(fid1,' %12.6g',D_endoutxyz(i,j));
        end
    end
end
fclose(fid4);
    %*************************存储合位移文件************************%
     JT_distance=[t_out',d_out'];
    fid5=fopen('插补点合位移.txt','wt')
    [m,n]=size(JT_distance);
    title=' time      distance'
    fprintf(fid5,' %s\n',title);
    for i=1:m
        for j=1:n
            if j==n
                fprintf(fid1,' %12.6g\n',JT_distance(i,j));
            else
            fprintf(fid1,' %12.6g',JT_distance(i,j));
            end
        end
    end
    fclose(fid5);
end


%%%%**********************速度为T型的数据**************************%%
if flg_VT==1
tv_out=getappdata(handles.button_VT,'tv_out');
L=getappdata(handles.button_VT,'L');
A=getappdata(handles.button_VT,'A');
V=getappdata(handles.button_VT,'V');
 %*****创建存储文件**********
 mkdir 速度T型插补点数据数据文件
 cd 速度T型插补点数据数据文件
%********************************存储加速度文件**************************%
VT_a=[tv_out',A'];
fid1=fopen('速度T型_加速度插补点数据.txt','wt')
[m,n]=size(VT_a);
title='time    Accleration'
fprintf(fid1,'%s\n',title);
for i=1:m
    for j=1:n
        if j==n
            fprintf(fid1,' %12.6g\n',VT_a(i,j));
        else
        fprintf(fid1,' %12.6g',VT_a(i,j));
        end
    end
end
fclose(fid1);
%********************************存储速度文件******************************%
VT_v=[tv_out',V'];
fid2=fopen('速度T型_合速度插补点数据.txt','wt')
[m,n]=size(VT_v);
title=' time      velocity'
fprintf(fid2,' %s\n',title);
for i=1:m
    for j=1:n
        if j==n
            fprintf(fid1,' %12.6g\n',VT_v(i,j));
        else
        fprintf(fid1,' %12.6g',VT_v(i,j));
        end
    end
end
fclose(fid2);
%********************************插补点数据度******************************%
L_x=L.*s_angle(1);L_y=L.*s_angle(2);L_z=L.*s_angle(3);
VT_xyz=[tv_out',L_x',L_y',L_z'];
fid3=fopen('速度T型_插补点数据x,y，z的值.txt','wt')
[m,n]=size(VT_xyz);
title='插补点数据 t x y z'
fprintf(fid3,'%s\n',title);
for i=1:m
    for j=1:n
        if j==n
            fprintf(fid1,' %12.6g\n',VT_xyz(i,j));
        else
        fprintf(fid1,' %12.6g',VT_xyz(i,j));
        end
    end
end
fclose(fid3);
%********************************存储速度文件******************************%
VT_distance=[tv_out',V'];
fid4=fopen('速度为T型_合位移数据.txt','wt')
[m,n]=size(VT_distance);
title='time      distance'
fprintf(fid4,'%s\n',title);
for i=1:m
    for j=1:n
        if j==n
            fprintf(fid1,' %12.6g\n',VT_distance(i,j));
        else
        fprintf(fid1,' %12.6g',VT_distance(i,j));
        end
    end
end
fclose(fid4);
end

%***************************加速度为T型的**********************************
    if flg_AT==1
         %*****创建存储文件**********
    ta_out=getappdata(handles.button_AT,'ta_out');
    La_out=getappdata(handles.button_AT,'La_out');
    Aa_out=getappdata(handles.button_AT,'Aa_out');
    Va_out=getappdata(handles.button_AT,'Va_out');
    Ja_out=getappdata(handles.button_AT,'Ja_out');
        mkdir 加速度为T型_数据
         cd 加速度为T型_数据
         %******************************存储加加速度数据文件%**********************
    AT_J=[ta_out',Ja_out'];
    fid1=fopen('加速度为T型_合加加速度数据.txt','wt')
    [m,n]=size(AT_J);
    title=' time     jerk'
    fprintf(fid1,'%s\n',title);
    for i=1:m
        for j=1:n
            if j==n
                fprintf(fid1,' %12.6g\n',AT_J(i,j));
            else
            fprintf(fid1,' %12.6g',AT_J(i,j));
            end
        end
    end
    fclose(fid1);
    %********************************存储加速度文件**************************%
    AT_A=[ta_out',Aa_out'];
    fid2=fopen('加速度为T型_合加速度数据.txt','wt')
    [m,n]=size(AT_A);
    title='time    Accleration'
    fprintf(fid2,'%s\n',title);
    for i=1:m
        for j=1:n
            if j==n
                fprintf(fid1,' %12.6g\n',AT_A(i,j));
            else
            fprintf(fid1,' %12.6g',AT_A(i,j));
            end
        end
    end
    fclose(fid2);
    %********************************存储速度文件******************************%
    AT_V=[ta_out',Aa_out'];
    fid3=fopen(' 加速度为T型_速度数据.txt','wt')
    [m,n]=size(AT_V);
    title=' time      velocity'
    fprintf(fid3,' %s\n',title);
    for i=1:m
        for j=1:n
            if j==n
                fprintf(fid1,' %12.6g\n',AT_V(i,j));
            else
            fprintf(fid1,' %12.6g',AT_V(i,j));
            end
        end
    end
    fclose(fid3);
    %********************************插补点数据度******************************%
    La_x=La_out.*s_angle(1);La_y=La_out.*s_angle(2);La_z=La_out.*s_angle(3);
    AT_xyz=[ta_out', La_x', La_y', La_z'];
    fid4=fopen('加速度为T型_插补点数据.txt','wt')
    [m,n]=size(AT_xyz);
    title='插补点数据 t x y z'
    fprintf(fid4,'%s\n',title);
    for i=1:m
        for j=1:n
            if j==n
                fprintf(fid1,' %12.6g\n',AT_xyz(i,j));
            else
            fprintf(fid1,' %12.6g',AT_xyz(i,j));
            end
        end
    end
    fclose(fid4);
    %*************************存储合位移文件************************%
     AT_distance=[ta_out',La_out'];
    fid5=fopen('加速度为T型_合位移插补点数据.txt','wt')
    [m,n]=size(AT_distance);
    title=' time      distance'
    fprintf(fid5,'%s\n',title);
    for i=1:m
        for j=1:n
            if j==n
                fprintf(fid1,' %12.6g\n',AT_distance(i,j));
            else
            fprintf(fid1,' %12.6g',AT_distance(i,j));
            end
        end
    end
    fclose(fid5);
    end