%
% 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 .25 0.4 .7],...
  'XGrid','on',...
  'YGrid','on');
xlabel('Parte Real');
ylabel('parte Imaginaria');





% button to start the simulation

uiStart = uicontrol(...
  'Style','slider',...
  'Units','normalized',...
  'Position',[0.52 0.11 0.45 0.03],...
  'Interruptible','on',...
  'Max',10,...
  'Min',-10,...
    'Value',1,...
  'SliderStep',[0.05 0.05],...
  'Callback','Aula6_Zero_update');
uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.72 0.14 0.03 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','zero = ');
uitextK = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.75 0.14 0.1 0.03],...
  'HorizontalAlignment','left',...
  'BackgroundColor',[.8 .8 .8],...
  'String','1');


%Leitura dos ganhos
zero =  get(uiStart,'Value');

G = tf([1 -zero],[1 2 1]) 

uibotton1 = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.18 0.08 0.18 0.05],...
  'BackgroundColor',[.8 .8 .8],...
  'FontSize',12,...
  'String',['G(s) = s + ',num2str(zero),'/(s2 + 2s+ 1)']);


set(graph_interface,'CurrentAxes',movie_axis);

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


set(graph_interface,'CurrentAxes',movie_axis2);

bode(G)
grid