Call MATLAB function in appdesigner

Hi,

I would like to know how can I call my function (inicio) in app designer. This is my function that I wrote directly in appdesigner because I don't know how to write it in MATLAB and call it.

function inicio(app)
app.robotMTH = rigidBodyTree("DataFormat", "Column");
%MODELO ROBOT DH
nJoints = 6;
%           a alpha d   theta
dhparams = [0   -pi/2   0.290   0;
    0.270   0      0  -pi/2;
    0.070  -pi/2    0    0;
    0    pi/2   0.302   0;
    0   -pi/2    0    0;
    0     0     0.072   pi];
body0 = rigidBody('body0'); %Crear un objeto de sólido rígido 
jnt0 = rigidBodyJoint('jnt0','revolute');  %Crear la articulación. 
jnt0.JointAxis = [0, 0, 1];   %Eje de movimiento de la articulación. 
%jnt0.PositionLimits = rango (1,:);
jnt0.HomePosition = dhparams(1,4);
tform = trvec2tform([0, 0, 0]);          
setFixedTransform(jnt0,tform); 
body0.Joint = jnt0; 
addBody(app.robotMTH,body0,'base');
n= length (dhparams); %número de cuerpos del robot
bodies = cell(n,1);
joints = cell(n,1);
for i = 1:n
    bodies{i} = rigidBody(['body' num2str(i)]);
    if i == n % El ultimo cuerpo es fijo
        joints{i} = rigidBodyJoint(['jnt' num2str(i)],"fixed");
    else
        joints{i} = rigidBodyJoint(['jnt' num2str(i)],"revolute");
        %joints{i}.PositionLimits = rango (i+1,:);
    end
    transform = makehgtform('zrotate', dhparams(i,4)) * makehgtform('translate',[dhparams(i,1) 0 dhparams(i,3)])*makehgtform('xrotate', dhparams(i,2));
    setFixedTransform(joints{i},transform);
    bodies{i}.Joint = joints{i};
    
    if i==1
        addBody( app.robotMTH,bodies{i},'body0')
    else
        %Añadir visual pero se amorfa y no me lo añade en el eje que quiero
        addVisual(app.robotMTH.Bodies{i},"Mesh", 'BRAZO7.stl',transform);
        addBody( app.robotMTH,bodies{i},bodies{i-1}.Name)
    end
end 
end

I wrote this in appdesigner but it doesn't work

methods (Access = public)

function appDesignerinicio(app)
Output = app.inicio.Value;
end
end

Answer 1

[chrisw23]

Your function has no arguments and no return value. So just use app.inicio() to call your function. But it seems that this is only a part of your problem. As the app has a GUI, you probably should call your function within a callback (startup or uicontrol).

[Jon]

Hi Chris - Sorry, didn't see your post until after I submitted mine but I guess we are aligned in our suggestions to the OP anyhow

Answer 2

[Jon]

It looks like your function just creates a variable called robotMTH and doesn't use anything in the app object to do its calculation. It looks like perhaps njoint and dhParams may vary under different scenarios, so maybe you want them to be arguments to incio.

So I would define a function

function robotMTH = incio(njoint,dhParams)
body0 = rigidBody('body0'); %Crear un objeto de sólido rígido 
jnt0 = rigidBodyJoint('jnt0','revolute');  %Crear la articulación. 
jnt0.JointAxis = [0, 0, 1];   %Eje de movimiento de la articulación. 
%jnt0.PositionLimits = rango (1,:);
jnt0.HomePosition = dhparams(1,4);
tform = trvec2tform([0, 0, 0]);          
setFixedTransform(jnt0,tform); 
body0.Joint = ... 
...
end

and then within the appropriate callback in appdesigner call it using:

%MODELO ROBOT DH
nJoints = 6;
%           a alpha d   theta
dhparams = [0   -pi/2   0.290   0;
    0.270   0      0  -pi/2;
    0.070  -pi/2    0    0;
    0    pi/2   0.302   0;
    0   -pi/2    0    0;
    0     0     0.072   pi];
app.robotMTH = incio(nJoints,dhparams) % assign robotMTH to app object

If nJoints and dhparams really never change then you could leave them hard coded in the body of the incio function and just define incio with no input arguments at all