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drawLineNew.m
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function [] = drawLine( x0,y0,z0,x1,y1,z1,T,obj,divisions,gr )
syms x y z
xflag = false;
yflag = false;
zflag = false;
if((x1-x0)==0)
xflag = true;
end
if((y1-y0)==0)
yflag = true;
end
if((z1-z0)==0)
zflag = true;
end
if(~xflag)
eqn(1) = (x-x0)/(x1-x0);
end
if(~yflag)
eqn(2) = (y-y0)/(y1-y0);
end
if(~zflag)
eqn(3) = (z-z0)/(z1-z0);
end
%check for the largest difference
if(abs(x0-x1) >= abs(y0-y1))
if(abs(x0-x1) >= abs(z0-z1))
largest = 'x';
else
largest = 'z';
end
else
if(abs(y0-y1) >= abs(z0-z1))
largest = 'y';
else
largest = 'z';
end
end
%calculate step
if(largest == 'x')
step = (x1-x0)/divisions;
elseif(largest == 'y')
step = (y1-y0)/divisions;
else
step = (z1-z0)/divisions;
end
%get the points on the line based on step
for i=1:divisions+1
if(largest == 'x')
xVec(i) = x0 + step*(i-1);
x = xVec(i);
if(~yflag && ~zflag)
[soly,solz]=solve(eqn(2)==subs(eqn(1)),eqn(3)==subs(eqn(1)));
yVec(i) = soly;
zVec(i) = solz;
elseif(yflag && ~zflag)
[solz]=solve(eqn(3)==subs(eqn(1)));
yVec(i) = y0;
zVec(i) = solz;
elseif(~yflag && zflag)
[soly]=solve(eqn(2)==subs(eqn(1)));
yVec(i) = soly;
zVec(i) = z0;
else
yVec(i) = y0;
zVec(i) = z0;
end
elseif(largest == 'y')
yVec(i) = y0 + step*(i-1);
y = yVec(i);
if(~xflag && ~zflag)
[solx,solz]=solve(eqn(1)==subs(eqn(2)),eqn(3)==subs(eqn(2)));
xVec(i) = solx;
zVec(i) = solz;
elseif(xflag && ~zflag)
[solz]=solve(eqn(3)==subs(eqn(2)));
xVec(i) = x0;
zVec(i) = solz;
elseif(~xflag && zflag)
[solx]=solve(eqn(1)==subs(eqn(2)));
xVec(i) = solx;
zVec(i) = z0;
else
xVec(i) = x0;
zVec(i) = z0;
end
else
zVec(i) = z0 + step*(i-1);
z = zVec(i);
if(~xflag && ~yflag)
[solx,soly]=solve(eqn(1)==subs(eqn(3)),eqn(2)==subs(eqn(3)));
xVec(i) = solx;
yVec(i) = soly;
elseif(xflag && ~yflag)
[soly]=solve(eqn(2)==subs(eqn(3)));
xVec(i) = x0;
yVec(i) = soly;
elseif(~xflag && yflag)
[solx]=solve(eqn(1)==subs(eqn(3)));
xVec(i) = solx;
yVec(i) = y0;
else
xVec(i) = x0;
yVec(i) = y0;
end
end
end
%initial position
s = invKinematics(double(xVec(1)),double(yVec(1)),double(zVec(1)),T,[0 0 0])
th1(1) = s(1);
th2(1) = s(2);
th3(1) = s(3);
th4(1) = s(4);
th5(1) = s(5);
%t = forwardKinematics(th1(1),th2(1),th3(1),th4(1),th5(1),T);
%get theta vectors
for i=2:divisions+1
[double(xVec(i)) double(yVec(i)) double(zVec(i))]
s = invKinematics(double(xVec(i)),double(yVec(i)),double(zVec(i)),T,[th2(i-1) th3(i-1) th4(i-1)])
th1(i) = s(1);
th2(i) = s(2);
th3(i) = s(3);
th4(i) = s(4);
th5(i) = s(5);
end
'khalaaaaaaaaaaast'
%pause(5);
%send number of points
if divisions<10
fwrite(obj,strcat('0','0',int2str(divisions+1)));
elseif divisions<100
fwrite(obj,strcat('0',int2str(divisions+1)));
else
fwrite(obj,int2str(divisions+1));
end
%move the arm on the path
for i=1:divisions+1
% t = forwardKinematics(th1(i),th2(i),th3(i),th4(i),th5(i),T);
% xVecNew(i) = t(1,4);
% yVecNew(i) = t(2,4);
% zVecNew(i) = t(3,4);
pause(0.1);
duty = goToDegree(th1(i),th2(i),th3(i),th4(i),th5(i),0)
fwrite(obj,duty(1:9));
pause(0.01)
fwrite(obj,strcat(duty(10:15),int2str(gr)));
end
% figure
% plot(th1)
% figure
% plot(th2)
% figure
% plot(th3)
% figure
% plot(th4)
% figure
% set(gcf,'NumberTitle','off')
% set(gcf,'Name',strcat('Both Lines'))
% plot3(xVecNew,yVecNew,zVecNew,xVec,yVec,zVec);
% figure
% set(gcf,'NumberTitle','off')
% set(gcf,'Name',strcat('Original Line'))
% plot3(xVec,yVec,zVec);
% figure
% set(gcf,'NumberTitle','off')
% set(gcf,'Name',strcat('After Inverse'))
% plot3(xVecNew,yVecNew,zVecNew);
end