%
% SEM 5928 - Sistemas de Controle 
% Escola de Engenharia de São Carlos - USP
%
% Adriano Siqueira - 2016
%

clear all
close all


%create graphic interface
graph_interface = figure(...
  'Unit','normalized',...
  'NextPlot','add',...
  'Visible','on',...
  'NumberTitle','off',...
  'Position',[0.01 0.1  0.95 0.8]);

set(0,'Current',graph_interface);

% the axis named 'movie' shows the motion of the manipulator
movie_axis = axes(...
  'Units','normalized',...
  'Position',[.07 .25 0.4 .7],...
  'XGrid','on',...
  'YGrid','on');
xlabel('Tempos (s)');
ylabel('y(t)');


movie_axis2 = axes(...
  'Units','normalized',...
  'Position',[.54 .35 0.4 .6],...
  'XGrid','on',...
  'YGrid','on');
xlabel('Parte Real');
ylabel('parte Imaginaria');





% button to start the simulation

uiStart = uicontrol(...
  'Style','slider',...
  'Units','normalized',...
  'Position',[0.52 0.21 0.45 0.03],...
  'Interruptible','on',...
  'Max',50,...
  'Min',0,...
    'Value',10,...
  'SliderStep',[.02 0.02],...
  'Callback','Aula2_Exemplo2_update');
uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.72 0.245 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','M = ');
uitextM = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.74 0.245 0.1 0.03],...
  'HorizontalAlignment','left',...
  'String','10');

uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.52 0.245 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','0');
uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.95 0.245 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','50');

lim1=50;
uiStart1 = uicontrol(...
  'Style','slider',...
  'Units','normalized',...
  'Position',[0.52 0.13 0.45 0.03],...
  'Interruptible','on',...
  'Max',lim1,...
  'Min',0,...
  'Value',10,...
  'SliderStep',[.002 0.002],...
  'Callback','Aula2_Exemplo2_update');
uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.72 0.16 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','B = ');
uitextB = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.74 0.16 0.1 0.03],...
  'HorizontalAlignment','left',...
  'BackgroundColor',[.8 .8 .8],...
  'String','10');

uitext1 = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.52 0.16 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','0');
uitext1 = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.95 0.16 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String',num2str(lim1));

uiStart2 = uicontrol(...
  'Style','slider',...
  'Units','normalized',...
  'Position',[0.52 0.05 0.45 0.03],...
  'Interruptible','on',...
  'Max',200,...
  'Min',0,...
  'Value',100,...
  'SliderStep',[.002 0.002],...
  'Callback','Aula2_Exemplo2_update');
uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.72 0.08 0.03 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','K = ');
uitextK = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.75 0.08 0.1 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'HorizontalAlignment','left',...
  'String','100');
uitext2 = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.52 0.08 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','0');
uitext2 = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.95 0.08 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','200');


uitext2 = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.12 0.08 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','wn = ');
uitext2 = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.35 0.08 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','zeta = ');



%Leitura dos parâmetros
M =  get(uiStart,'Value');
B = get(uiStart1,'Value');
K = get(uiStart2,'Value');

wn=sqrt(K/M);
zeta=B/(2*sqrt(K*M));

uitextwn = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.15 0.08 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String',num2str(wn,2));
uitextzeta = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.38 0.08 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String',num2str(zeta,2));


% *** Função transferencia G(s)=1/(ms^2+bs+k)***
num=[K/M];
den=[1 B/M K/M];
G = tf(num,den);
[y,t] = step(G,5);


set(graph_interface,'CurrentAxes',movie_axis);

plot(t,y)
%axis([0 .1 0 max(y)])
grid
xlabel('Tempos (s)');
ylabel('y(t)');
axis([0 5 0 2])

set(graph_interface,'CurrentAxes',movie_axis2);

pzmap(G)
xlabel('Parte Real');
ylabel('Parte Imaginaria');
grid
axis([-20 1 -10 10])