Reference to non existent field 'output' GUIDE GUI

Hi there,

I am working on a GUI project that was written back in 2017. It uses MatLab 2016b and was working until recently. If I just click on the .fig file for the GUI I am not able to connect to the arduino Due using the connect callback function, and I recieve error #1. If I run the associated .m script which generates the .fig file, I am able to connect to the arduino but I am limited in functionality and I recieve the error #2. I made an adjustment to the GUI using the guide editor and saved it, but I have since deleted the adjustment and saved it again - I am not sure if this influenced the error.

Code:

function varargout = PlatformGUI_V1(varargin)
% PLATFORMGUI_V1 MATLAB code for PlatformGUI_V1.fig
%      PLATFORMGUI_V1, by itself, creates a new PLATFORMGUI_V1 or raises the existing
%      singleton*.
%
%      H = PLATFORMGUI_V1 returns the handle to a new PLATFORMGUI_V1 or the handle to
%      the existing singleton*.
%
%      PLATFORMGUI_V1('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in PLATFORMGUI_V1.M with the given input arguments.
%
%      PLATFORMGUI_V1('Property','Value',...) creates a new PLATFORMGUI_V1 or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before PlatformGUI_V1_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to PlatformGUI_V1_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 PlatformGUI_V1

% Last Modified by GUIDE v2.5 24-Jul-2023 16:21:01

% Begin initialization code - DO NOT EDIT


    gui_Singleton = 1;
    gui_State = struct('gui_Name',       mfilename, ...
        'gui_Singleton',  gui_Singleton, ...
        'gui_OpeningFcn', @PlatformGUI_V1_OpeningFcn, ...
        'gui_OutputFcn',  @PlatformGUI_V1_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 PlatformGUI_V1 is made visible.
function PlatformGUI_V1_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 PlatformGUI_V1 (see VARARGIN)
    % Choose default command line output for PlatformGUI_V1

    %% Initialize GUI States
    %
    %
    handles = setDefaultStates(hObject, handles);

    %% Display current COM ports (For Windows and MAC/LINUX) 
    %
    %

% Previous version (WK)
%     windowscom=getAvailableComPort(true);
%     numwincom=size(windowscom);
%     maccom=getAvailableComPort(false);
%     nummaccom=size(maccom);
% 
%     message = sprintf('WIN COM PORTS:\n');
%     for i=1:numwincom
%         message = sprintf('%s%s\n',message,windowscom{i});
%     end
%     message = sprintf('%sMAC/LINUX COM PORTS:\n',message);
%     for i=1:nummaccom
%         message = sprintf('%s%s\n',message,maccom{i});
%     end
%     set(handles.comport_text,'String',message);
 
    displayComPortList(handles)
    %% 
    %Update handles structure
    guidata(hObject, handles);

% --- Outputs from this function are returned to the command line.
function varargout = PlatformGUI_V1_OutputFcn(hObject, eventdata, handles)
    % varargout  cell array for returning output args (see VARARGOUT);
    % Get default command line output from handles structure
    varargout{1} = handles.output;

% --- Executes on button press in Connect/Close
function Connect_Callback(hObject, eventdata, handles)

    %Create serial object and set some properties
    % handles.comPort = get(handles.com_select,'String');
    
    handles = setSerial(handles);
    set(handles.com_select, 'Enable', 'off');
    set(handles.change_com, 'Enable', 'off');
    
    
    %Large buffer sizes so that we can catch all data even if one side is busy
    set(handles.s,'OutputBufferSize',100000);
    set(handles.s,'InputBufferSize',100000);
    %Update message
    set(handles.status,'String','Connecting to the Arduino');
    %Try to connect... Yell at user if there is a problem
    try
        fopen(handles.s);
    catch
        warning('Connection Unsucessful: Try COM Port');
        set(handles.status,'String','Connection Unsucessful: Try COM Port');
        return
    end
    %Setting to match to the Arduino
    set(handles.s,'DataBits',8);
    set(handles.s,'StopBits',1);
    %If you change BaudRate, you need to double check it on the Arduino end
    set(handles.s,'BaudRate',115200);
    set(handles.s,'Parity','none');
    set(handles.status,'String','Connected');
    %Clear data lines
    flushinput(handles.s);
    flushoutput(handles.s);
    %Default GUI button to be off, so user can't do things out of order
    set(handles.forward,'Enable','on');
    set(handles.reverse,'Enable','on');
    set(handles.surge_forward,'Enable','on');
    set(handles.surge_reverse,'Enable','on');
    set(handles.resetpos,'Enable','on');
    set(handles.stop,'Enable','on');
    set(handles.setpid,'Enable','on');
    set(handles.continuous,'Enable','on');
    set(handles.set_position,'Enable','on');
    %Update handles structure
    guidata(hObject, handles);
    
function pushbutton2_Callback(hObject, eventdata, handles)
    % This should be renamed to 'close', but need to double check if any other
    % functions call it using "pushbutton2"
    fclose(serial(handles.s))
    set(handles.com_select, 'Enable', 'on');
    set(handles.change_com, 'Enable', 'on');
    set(handles.status,'String','Arduino Disconnected');

% --- Executes on button press forward/reverse/resetpos/start/stop/readdata/writedata
function forward_Callback(hObject, eventdata, handles)
    try
        %set state in arduinoland
        fprintf(handles.s,'%s',char(4));
    catch
        %send error if arduino is not connect
        warning('Arduino Not Connected');
        set(handles.status,'String','ERROR: Arduino Not Connected');
        return
    end
    %Update status text
    set(handles.status,'String','Forward Command');
    
function reverse_Callback(hObject, eventdata, handles)
    try
        fprintf(handles.s,'%s',char(5));
    catch
        warning('Arduino Not Connected');
        set(handles.status,'String','ERROR: Arduino Not Connected');
        return
    end
    set(handles.status,'String','Reverse Command');
    
function surge_reverse_Callback(hObject, eventdata, handles)
    try
        fprintf(handles.s,'%s',char(6));
    catch
        warning('Arduino Not Connected');
        set(handles.status,'String','ERROR: Arduino Not Connected');
        return
    end 
    set(handles.status,'String','Surge Reverse Command');
    
function surge_forward_Callback(hObject, eventdata, handles)
    try
        fprintf(handles.s,'%s',char(1));
    catch
        warning('Arduino Not Connected');
        set(handles.status,'String','ERROR: Arduino Not Connected');
        return
    end
    set(handles.status,'String','Surge Forward Command');
    
function resetpos_Callback(hObject, eventdata, handles)
    try
        fprintf(handles.s,'%s',char(3));
    catch
        warning('Arduino Not Connected');
        set(handles.status,'String','ERROR: Arduino Not Connected');
        return
    end
    set(handles.status,'String','Encoder Position Reset');
  

function start_Callback(hObject, eventdata, handles)
    %StopNow variable allows a method to break the while loop when start is hit
    handles.StopNow=true;
    %update handles structure
    guidata(hObject,handles)
    %create warning if no data sent to arduino
    if  ~handles.DataWritten
        warning('No Data Written to Arduino');
        set(handles.status,'String','ERROR: Write Motion Data to Arduino');
        return
    end
    %update state in arduinoland to do motion tracking
    try
        fprintf(handles.s,'%s',char(9));
    catch
        warning('Arduino Not Connected');
        set(handles.status,'String','ERROR: Arduino Not Connected');
        return
    end
    set(handles.status,'String','Motion Initialized');
    %% Set Datalogging
    flushinput(handles.s);
    %open up datalogging file
    clock_now = clock; %gets a 6-element vector of the current date and time in decimal form [year month day hour minute seconds]
    clock_now(6) = round(clock_now(6)); %round to the nearest second
    date_and_time_string = ''; %initialize
    for i = 1:1:6 %build up the time into a string
        date_and_time_string = [date_and_time_string,num2str(clock_now(i),'%02d')];
        if i==3 || i==5 %after the day, and after the minute, add an underscore in the file name
            date_and_time_string = [date_and_time_string,'_']; %add an underscore (_)
        end
    end
    %create the "data" directory in the current location, if necessary
    if exist('data')~=7 %if "data" does not yet exist
        mkdir('data'); %creat it
    end
    %% Set plot
    %clear axis
    cla reset;
    %define current axis
    axes1=gca;

    % Create ylabel
    ylabel('Amplitude mm');

    % Set the remaining axes properties
    set(axes1,'YColor',[0 0 0]);
    %Set axis limit (y)
    ylim(axes1,[0 600]);

    % Create xlabel
    xlabel('Time (s)');

    % Create title
    title('Test Data','FontSize',16);

    % Set the remaining axes properties
    set(axes1,'FontSize',12,'LineStyleOrderIndex',2,'XGrid','on','YGrid','on');
    % Create legend
    legend(axes1,'show');
    %create plot for continous motion
    plot2 = plot(rand(4),'MarkerSize',2,'LineWidth',2);


    file_name = ['data/data_',date_and_time_string,'.csv'];
    fid = fopen(file_name,'w');
    x=1;

    scrollWidth = 20;
    %% While Loop

    while (handles.StopNow)

        %read data value sent from arduino, write to array
        data(x,:)=fscanf(handles.s,'%f').';

        %using the newly read data, grab the time and position values for each
        %actuator and send it to the plot. (look at example data logging file
        %to understand each column
        for k = 1:numel(plot2)
            set(plot2(k), 'XData',(data(:,5*k)-data(1,5*k))/1000, 'YData', data(:,5*(k-1)+1))
        end

        %set y limits for plot
        ylim(axes1,[0 600]);

        %create a scrolling min x limit
        xmin=(data(x,5)-data(1,5))/1000-scrollWidth;

        %make sure data length is size of scrollwidth prior to scrolling
        if(xmin>0)
            xlim(axes1,[xmin (data(x,5)-data(1,5))/1000]);
        else
            xlim(axes1,[0 scrollWidth]);
        end

        %increment
        x=x+1;

        %update plot AND update StopNow if 'stop' is pressed by user
        drawnow limitrate

        %get current handles struct
        handles=guidata(hObject); %% Don't delete FUNCTIONAL!
    end
    %% Write Data
    %allow user to plot the test data
    set(handles.testdataplotbutton,'Enable','on');
    %update handles
    guidata(hObject, handles);
    % couldn't get the heading to write properly to csv, i think it's because
    % it overwrites each time
    % heading= ['Leg 1 Position' 'Setpoint' 'Interpolated Setpoint' 'Speed Setting (3200 Max)' 'Time (Absolute ms)' 'Leg 2 Position' 'Setpoint' 'Interpolated Setpoint' 'Speed Setting (3200 Max)' 'Time (Absolute ms)' 'Leg 3 Position' 'Setpoint' 'Interpolated Setpoint' 'Speed Setting (3200 Max)' 'Time (Absolute ms)' 'Floor Leg Position' 'Setpoint' 'Interpolated Setpoint' 'Speed Setting (3200 Max)' 'Time (Absolute ms)'];
    % csvwrite(file_name,heading)
    handles.testdata=data;
    csvwrite(file_name,data)
    guidata(hObject,handles)
    fclose(fid); %close the datalogging file
    
    
function stop_Callback(hObject, eventdata, handles)
    %this is so that you can stop the start function
    handles.StopNow=false;
    %update handles
    guidata(hObject,handles)
    try
        fprintf(handles.s,'%s',char(0));
    catch
        warning('Arduino Not Connected');
        set(handles.status,'String','ERROR: Arduino Not Connected');
        return
    end
    set(handles.status,'String','Motor Stopped');
    
    
function writedata_Callback(hObject, eventdata, handles)
    try
        fprintf(handles.s,'%s',char(2));
    catch
        warning('Arduino Not Connected');
        set(handles.status,'String','ERROR: Arduino Not Connected');
        return
    end
    %call the inverse function and update the handles function based on that 
    handles=inv_func_Callback(hObject, eventdata, handles)
    guidata(hObject,handles)

    %plot the leg data 
    raw_leg_plot(handles.t, [handles.YMatrix1(1,:);handles.YMatrix1(2,:);handles.YMatrix1(3,:);handles.YMatrix1(4,:)], handles)

    %write only integers to the Arduino 
    data1=mat2str( uint16(handles.YMatrix1(1,:)))
    data2=mat2str( uint16(handles.YMatrix1(2,:)))
    data3=mat2str( uint16(handles.YMatrix1(3,:)))
    data4=mat2str( uint16(handles.YMatrix1(4,:)))
    %signal the end of a length array by '9999'
    fprintf(handles.s,'%s',data1);
    fprintf(handles.s,'%s',' 9999');
    fprintf(handles.s,'%s',data2);
    fprintf(handles.s,'%s',' 9999');
    fprintf(handles.s,'%s',data3);
    fprintf(handles.s,'%s',' 9999');
    fprintf(handles.s,'%s',data4);
    fprintf(handles.s,'%s',' 9999');
    %global variable that verifies that data was sent to arduino
    handles.DataWritten = true;
    %allow for the start command to be used
    set(handles.start,'Enable','on');

    guidata(hObject,handles)
    set(handles.status,'String','Motion Data Sent to Arduino');

% --- com select function
function com_select_Callback(hObject, eventdata, handles)
    
    
function com_select_CreateFcn(hObject, eventdata, handles)
    %creates the text box for com select and a callback for it
    if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
        set(hObject,'BackgroundColor','white');
    end

% --- Executes on button press in change_com.
function change_com_Callback(hObject, eventdata, handles)
    %this function doesnt do anything, it just gives the user the 'feel' of
    %changing a button
    displayComPortList(handles);
    guidata(hObject, handles);

% --- Executes when user changes value in sin input text boxes
function amp_Callback(hObject, eventdata, handles)
    %lots of variables to write here. 
    %to define which DOF the textbox alters, the 'current_data' property is the
    %value found the drop down menu. If EQ 2 is selected then, Heave becomes
    %heave 2. 

    %a cleaner way to do this would be nice, especially if it allows for "n"
    %amount of equations
    switch handles.current_data
        case 'Heave'
            handles.heave_amp=str2double(get(hObject,'String'));
        case 'Surge'
            handles.surge_amp=str2double(get(hObject,'String'));
        case 'Roll'
            handles.roll_amp=str2double(get(hObject,'String'));
        case 'Pitch'
            handles.pitch_amp=str2double(get(hObject,'String'));
        case 'Heave2'
            handles.heave_amp2=str2double(get(hObject,'String'));
        case 'Surge2'
            handles.surge_amp2=str2double(get(hObject,'String'));
        case 'Roll2'
            handles.roll_amp2=str2double(get(hObject,'String'));
        case 'Pitch2'
            handles.pitch_amp2=str2double(get(hObject,'String'));
    end
    %update the equation shown below the graph by passing the handle structure
    update_func(handles)
    %modify handles to reflect the sin input given in the text box
    handles=calc_sin_input(handles);
    %updata handles
    guidata(hObject,handles)
    %plot motion data
    handles=plot_data_Callback(hObject, eventdata, handles);
    %update handles
    guidata(hObject,handles)
    
function amp_CreateFcn(hObject, eventdata, handles)
    %create textbox
    if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
        set(hObject,'BackgroundColor','white');
    end
    %default to zero
    set(hObject,'String','0')
    
function freq_Callback(hObject, eventdata, handles)

    switch handles.current_data
        case 'Heave'
            handles.heave_freq=str2double(get(hObject,'String'));
            handles.heave_freq = handles.heave_freq*2*pi;
        case 'Surge'
            handles.surge_freq=str2double(get(hObject,'String'));
            handles.surge_freq = handles.surge_freq*2*pi;
        case 'Roll'
            handles.roll_freq=str2double(get(hObject,'String'));
            handles.roll_freq = handles.roll_freq*2*pi;
        case 'Pitch'
            handles.pitch_freq=str2double(get(hObject,'String'));
            handles.pitch_freq = handles.pitch_freq*2*pi;
        case 'Heave2'
            handles.heave_freq2=str2double(get(hObject,'String'));
            handles.heave_freq2 = handles.heave_freq2*2*pi;
        case 'Surge2'
            handles.surge_freq2=str2double(get(hObject,'String'));
            handles.surge_freq2 = handles.surge_freq2*2*pi;
        case 'Roll2'
            handles.roll_freq2=str2double(get(hObject,'String'));
            handles.roll_freq2 = handles.roll_freq2*2*pi;
        case 'Pitch2'
            handles.pitch_freq2=str2double(get(hObject,'String'));
            handles.pitch_freq2 = handles.pitch_freq2*2*pi;
    end
    update_func(handles)
    handles=calc_sin_input(handles);
    guidata(hObject,handles)
    handles=plot_data_Callback(hObject, eventdata, handles);
    guidata(hObject,handles)
    
function freq_CreateFcn(hObject, eventdata, handles)
    % hObject    handle to freq (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
    set(hObject,'String','0')
    
function phase_Callback(hObject, eventdata, handles)

    switch handles.current_data
        case 'Heave'
            handles.heave_phase=str2double(get(hObject,'String'));
            handles.heave_phase = handles.heave_phase*pi/180;
        case 'Surge'
            handles.surge_phase=str2double(get(hObject,'String'));
            handles.surge_phase = handles.surge_phase*pi/180;
        case 'Roll'
            handles.roll_phase=str2double(get(hObject,'String'));
            handles.roll_phase = handles.roll_phase*pi/180;
        case 'Pitch'
            handles.pitch_phase=str2double(get(hObject,'String'));
            handles.pitch_phase = handles.pitch_phase*pi/180;
        case 'Heave2'
            handles.heave_phase2=str2double(get(hObject,'String'));
            handles.heave_phase2 = handles.heave_phase2*pi/180;
        case 'Surge2'
            handles.surge_phase2=str2double(get(hObject,'String'));
            handles.surge_phase2 = handles.surge_phase2*pi/180;
        case 'Roll2'
            handles.roll_phase2=str2double(get(hObject,'String'));
            handles.roll_phase2 = handles.roll_phase2*pi/180;
        case 'Pitch2'
            handles.pitch_phase2=str2double(get(hObject,'String'));
            handles.pitch_phase2 = handles.pitch_phase2*pi/180;
    end
    update_func(handles)
    handles=calc_sin_input(handles)
    guidata(hObject,handles)
    handles=plot_data_Callback(hObject, eventdata, handles);
    guidata(hObject,handles)
    
function phase_CreateFcn(hObject, eventdata, handles)
    % hObject    handle to phase (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
    set(hObject,'String','0')
    
function bias_Callback(hObject, eventdata, handles)
    switch handles.current_data
        case 'Heave'
            handles.heave_bias=str2double(get(hObject,'String'));
        case 'Surge'
            handles.surge_bias=str2double(get(hObject,'String'));
        case 'Roll'
            handles.roll_bias=str2double(get(hObject,'String'));
        case 'Pitch'
            handles.pitch_bias=str2double(get(hObject,'String'));
        case 'Heave2'
            handles.heave_bias2=str2double(get(hObject,'String'));
        case 'Surge2'
            handles.surge_bias2=str2double(get(hObject,'String'));
        case 'Roll2'
            handles.roll_bias2=str2double(get(hObject,'String'));
        case 'Pitch2'
            handles.pitch_bias2=str2double(get(hObject,'String'));
    end
    update_func(handles)
    handles=calc_sin_input(handles)
    guidata(hObject,handles)
    handles=plot_data_Callback(hObject, eventdata, handles);
    guidata(hObject,handles)
    
function bias_CreateFcn(hObject, eventdata, handles)

    if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
        set(hObject,'BackgroundColor','white');
    end
    set(hObject,'String','0')

% --- Executes on selection change in popupmenu3.
function motion_select_Callback(hObject, eventdata, handles)

    str = get(hObject, 'String');
    val = get(hObject,'Value');
    str_eq = get(handles.eq_select,'String');
    val_eq = get(handles.eq_select,'Value');
    % Set current data to the selected data set.
    % Very gross, hate this method
    switch str_eq{val_eq}
        case 'Eq 1'
            switch str{val}
                case 'Heave'
                    handles.current_data = 'Heave';
                    set(handles.amp,'String',handles.heave_amp)
                    set(handles.freq,'String',handles.heave_freq)
                    set(handles.phase,'String',handles.heave_phase)
                    set(handles.bias,'String',handles.heave_bias)
                case 'Surge'
                    handles.current_data = 'Surge';
                    set(handles.amp,'String',handles.surge_amp)
                    set(handles.freq,'String',handles.surge_freq)
                    set(handles.phase,'String',handles.surge_phase)
                    set(handles.bias,'String',handles.surge_bias)
                case 'Roll'
                    handles.current_data = 'Roll';
                    set(handles.amp,'String',handles.roll_amp)
                    set(handles.freq,'String',handles.roll_freq)
                    set(handles.phase,'String',handles.roll_phase)
                    set(handles.bias,'String',handles.roll_bias)
                case 'Pitch'
                    handles.current_data = 'Pitch';
                    set(handles.amp,'String',handles.pitch_amp)
                    set(handles.freq,'String',handles.pitch_freq)
                    set(handles.phase,'String',handles.pitch_phase)
                    set(handles.bias,'String',handles.pitch_bias)
            end
        case 'Eq 2'
            switch str{val}
                case 'Heave'
                    handles.current_data = 'Heave2';
                    set(handles.amp,'String',handles.heave_amp2)
                    set(handles.freq,'String',handles.heave_freq2)
                    set(handles.phase,'String',handles.heave_phase2)
                    set(handles.bias,'String',handles.heave_bias2)
                case 'Surge'
                    handles.current_data = 'Surge2';
                    set(handles.amp,'String',handles.surge_amp2)
                    set(handles.freq,'String',handles.surge_freq2)
                    set(handles.phase,'String',handles.surge_phase2)
                    set(handles.bias,'String',handles.surge_bias2)
                case 'Roll'
                    handles.current_data = 'Roll2';
                    set(handles.amp,'String',handles.roll_amp2)
                    set(handles.freq,'String',handles.roll_freq2)
                    set(handles.phase,'String',handles.roll_phase2)
                    set(handles.bias,'String',handles.roll_bias2)
                case 'Pitch'
                    handles.current_data = 'Pitch2';
                    set(handles.amp,'String',handles.pitch_amp2)
                    set(handles.freq,'String',handles.pitch_freq2)
                    set(handles.phase,'String',handles.pitch_phase2)
                    set(handles.bias,'String',handles.pitch_bias2)
            end
    end

    % Save the handles structure.
    guidata(hObject,handles)
    
function eq_select_Callback(hObject, eventdata, handles)
    str_eq = get(hObject, 'String');
    val_eq = get(hObject,'Value');
    str = get(handles.motion_select,'String');
    val = get(handles.motion_select,'Value');
    % Set current data to the selected data set.

    switch str_eq{val_eq}
        case 'Eq 1'
            switch str{val}
                case 'Heave'
                    handles.current_data = 'Heave';
                    set(handles.amp,'String',handles.heave_amp)
                    set(handles.freq,'String',handles.heave_freq)
                    set(handles.phase,'String',handles.heave_phase)
                    set(handles.bias,'String',handles.heave_bias)
                case 'Surge'
                    handles.current_data = 'Surge';
                    set(handles.amp,'String',handles.surge_amp)
                    set(handles.freq,'String',handles.surge_freq)
                    set(handles.phase,'String',handles.surge_phase)
                    set(handles.bias,'String',handles.surge_bias)
                case 'Roll'
                    handles.current_data = 'Roll';
                    set(handles.amp,'String',handles.roll_amp)
                    set(handles.freq,'String',handles.roll_freq)
                    set(handles.phase,'String',handles.roll_phase)
                    set(handles.bias,'String',handles.roll_bias)
                case 'Pitch'
                    handles.current_data = 'Pitch';
                    set(handles.amp,'String',handles.pitch_amp)
                    set(handles.freq,'String',handles.pitch_freq)
                    set(handles.phase,'String',handles.pitch_phase)
                    set(handles.bias,'String',handles.pitch_bias)
            end
        case 'Eq 2'
            switch str{val}
                case 'Heave'
                    handles.current_data = 'Heave2';
                    set(handles.amp,'String',handles.heave_amp2)
                    set(handles.freq,'String',handles.heave_freq2)
                    set(handles.phase,'String',handles.heave_phase2)
                    set(handles.bias,'String',handles.heave_bias2)
                case 'Surge'
                    handles.current_data = 'Surge2';
                    set(handles.amp,'String',handles.surge_amp2)
                    set(handles.freq,'String',handles.surge_freq2)
                    set(handles.phase,'String',handles.surge_phase2)
                    set(handles.bias,'String',handles.surge_bias2)
                case 'Roll'
                    handles.current_data = 'Roll2';
                    set(handles.amp,'String',handles.roll_amp2)
                    set(handles.freq,'String',handles.roll_freq2)
                    set(handles.phase,'String',handles.roll_phase2)
                    set(handles.bias,'String',handles.roll_bias2)
                case 'Pitch'
                    handles.current_data = 'Pitch2';
                    set(handles.amp,'String',handles.pitch_amp2)
                    set(handles.freq,'String',handles.pitch_freq2)
                    set(handles.phase,'String',handles.pitch_phase2)
                    set(handles.bias,'String',handles.pitch_bias2)
            end
    end
    % Save the handles structure.
    guidata(hObject,handles)
function motion_select_CreateFcn(hObject, eventdata, handles)

    if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
        set(hObject,'BackgroundColor','white');
    end
function eq_select_CreateFcn(hObject, eventdata, handles)
    % hObject    handle to eq_select (see GCBO)
    % eventdata  reserved - to be defined in a future version of MATLAB
    % handles    empty - handles not created until after all CreateFcns called

    % Hint: popupmenu 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 to create sin inputs
function handles=calc_sin_input(handles)
    t=[0:.1:60];
    handles.t=t;
    handles.heave=handles.heave_amp*sin(handles.heave_freq*t+handles.heave_phase)+handles.heave_bias+handles.heave_amp2*sin(handles.heave_freq2*t+handles.heave_phase2)+handles.heave_bias2;
    handles.surge=handles.surge_amp*sin(handles.surge_freq*t+handles.surge_phase)+handles.surge_bias+handles.surge_amp2*sin(handles.surge_freq2*t+handles.surge_phase2)+handles.surge_bias2;
    handles.roll=handles.roll_amp*sin(handles.roll_freq*t+handles.roll_phase)+handles.roll_bias+handles.roll_amp2*sin(handles.roll_freq2*t+handles.roll_phase2)+handles.roll_bias2;
    handles.pitch=handles.pitch_amp*sin(handles.pitch_freq*t+handles.pitch_phase)+ handles.pitch_bias+handles.pitch_amp2*sin(handles.pitch_freq2*t+handles.pitch_phase2)+handles.pitch_bias2;

% --- Executes on button press in plot_data.
function handles=plot_data_Callback(hObject, eventdata, handles)
    %allow user to write data to arduino now that motion data has been created
    set(handles.writedata,'Enable','on');
    guidata(hObject, handles);

    %trigger warnings if user goes beyond recommended values
    %currently triggers everytime? maybe annoying, consider change to single
    %warning
    if ~handles.Motion_Warned_rot
        if (abs(handles.pitch_amp)+abs(handles.pitch_bias))>=20
            uiwait(msgbox('WARNING: Max amplitude for Pitch is set higher than 20 degs. Platform limit is 25 degs. Proceed with caution.','Motion WARNING'))
            handles.Motion_Warned_rot=true;
        end
        if (abs(handles.roll_amp)+abs(handles.roll_bias))>=20
            uiwait(msgbox('WARNING: Max amplitude for Roll is set higher than 20 degs. Platform limit is 25 degs. Proceed with caution.','Motion WARNING'))
            handles.Motion_Warned_rot=true;
        end
    end


    if ~handles.Motion_Warned_trans
        if (abs(handles.heave_amp)+abs(handles.heave_bias))>=500
            uiwait(msgbox('WARNING: Max amplitude for Heave is set higher than 500 mm. Platform limit is 550 mm. Proceed with caution.','Motion WARNING'))
            handles.Motion_Warned_trans=true;
        end
        if (abs(handles.surge_amp)+abs(handles.surge_bias))>=500
            uiwait(msgbox('WARNING: Max amplitude for Surge is set higher than 500 mm. Platform limit is 550 mm. Proceed with caution.','Motion WARNING'))
            handles.Motion_Warned_trans=true;
        end
    end

    guidata(hObject,handles)
    %plot motion data
    raw_motion_plot(handles.t, [handles.heave;handles.surge], [handles.roll;handles.pitch], handles)

% --- Executes on button press in heavebox/surgebox/pitchbox/rollbox.
function heavebox_Callback(hObject, eventdata, handles)
    %the value of the heave box is held in the handle structure, so all this
    %callback does is re-plot the motion data according to the check boxes
    handles=plot_data_Callback(hObject, eventdata, handles);
    guidata(hObject,handles)
    
function surgebox_Callback(hObject, eventdata, handles)
    handles=plot_data_Callback(hObject, eventdata, handles);
    guidata(hObject,handles)
    
function pitchbox_Callback(hObject, eventdata, handles)
    handles=plot_data_Callback(hObject, eventdata, handles);
    guidata(hObject,handles)
    
function rollbox_Callback(hObject, eventdata, handles)
    handles=plot_data_Callback(hObject, eventdata, handles);
    guidata(hObject,handles)

% --- Executes on button press in inv_func.
function handles=inv_func_Callback(hObject, eventdata, handles)
    %call the inverse func to calculate leg lengths
    Inverse_Kinematics_funct(handles.t,handles.heave,handles.surge,handles.pitch,handles.roll,handles,hObject)
    handles=guidata(hObject);
    %check if you exceed max leg lengths
    max(max(handles.YMatrix1))
    if ~handles.Leg_Warned
        if max(max(handles.YMatrix1))>=500
            uiwait(msgbox('WARNING: Max leg length will be higher than 500 mm. Platform limit is 550 mm. Proceed with caution.','Motion WARNING'))
            handles.Leg_Warned=true;
        end
    end
    guidata(hObject,handles)

% --- Executes on toggle selection of the plot commands.
function plot_motion_Callback(hObject, eventdata, handles)
    handles=plot_data_Callback(hObject, eventdata, handles);
    guidata(hObject,handles)
    
function plot_leg_Callback(hObject, eventdata, handles)
    hold off
    handles=inv_func_Callback(hObject, eventdata, handles);
    raw_leg_plot(handles.t, [handles.YMatrix1(1,:);handles.YMatrix1(2,:);handles.YMatrix1(3,:);handles.YMatrix1(4,:)], handles)
    
function testdataplotbutton_Callback(hObject, eventdata, handles)
    try
        hold off
        test_data_plot(handles.testdata, handles)
    catch
        warning('Start Motion to Generate Data');
        set(handles.status,'String','ERROR: No Test Data Available');
        return
    end

% --- Executes when GUI is closed, before destroying properties
function figure1_DeleteFcn(hObject, eventdata, handles)
    %stop start loop
    handles.StopNow=false;
    guidata(hObject,handles)
    %close arduino
    try
        fclose(serial(handles.s))
        fprintf(handles.s,'%s',char(0));
    catch
        set(handles.status,'String','ERROR: Arduino Not Connected');
        return
    end
    set(handles.status,'String','Arduino Disconnected');

% --- Executes on button press in custom_motion.
function custom_motion_Callback(hObject, eventdata, handles)
    set(handles.writedata,'Enable','on');
    guidata(hObject, handles);
    %% Import the data
    currentFolder = pwd;
    filename='/Manual_Data.xlsx';
    path=[pwd filename];
    [~, ~, raw] = xlsread(path,'Sheet1');
    raw = raw(2:end,:);

    %% Create output variable
    data = reshape([raw{:}],size(raw));

    %% Allocate imported array to column variable names
    handles.t = data(:,1)';
    handles.heave = data(:,2)';
    handles.surge= data(:,3)';
    handles.pitch= data(:,4)';
    handles.roll= data(:,5)';
    guidata(hObject,handles)
    %show handles for debugging 
    handles
    %% Clear temporary variables
    clearvars data raw;
    plot_data_Callback(hObject, eventdata, handles)


% --- PID textboxes, value is intrinsic to handles. These functions call a
% warning to the user
function Kp_Callback(hObject, eventdata, handles)
    if ~handles.PIDWarned
        uiwait(msgbox('WARNING: Adjusting PID parameters may move platform into unstable operating regions. Proceed with Caution. Refer to User Manual.','PID WARNING'))
        handles.PIDWarned=true;
        guidata(hObject,handles)
    end
    
function Kp_CreateFcn(hObject, eventdata, handles)
    if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
        set(hObject,'BackgroundColor','white');
    end
    
function Kd_Callback(hObject, eventdata, handles)
    if ~handles.PIDWarned
        uiwait(msgbox('WARNING: Adjusting PID parameters may move platform into unstable operating regions. Proceed with Caution. Refer to User Manual.','PID WARNING'))
        handles.PIDWarned=true;
        guidata(hObject,handles)
    end
    
function Kd_CreateFcn(hObject, eventdata, handles)
    if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
        set(hObject,'BackgroundColor','white');
    end
    
function Ki_Callback(hObject, eventdata, handles)
    if ~handles.PIDWarned
        uiwait(msgbox('WARNING: Adjusting PID parameters may move platform into unstable operating regions. Proceed with Caution. Refer to User Manual.','PID WARNING'))
        handles.PIDWarned=true;
        guidata(hObject,handles)
    end
    
function Ki_CreateFcn(hObject, eventdata, handles)
    if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
        set(hObject,'BackgroundColor','white');
    end
    
% --- Executes on button press in setpid.
function setpid_Callback(hObject, eventdata, handles)
    %writes PID values to Arduino via state 8 in ArduinoLand
    Kp=get(handles.Kp,'String');
    Kd=get(handles.Kd,'String');
    Ki=get(handles.Ki,'String');

    try
        fprintf(handles.s,'%s',char(8));
    catch
        warning('Arduino Not Connected');
        set(handles.status,'String','ERROR: Arduino Not Connected');
        return
    end

    fprintf(handles.s,'%s',Kp);
    fprintf(handles.s,'%s',' 9999 ');
    fprintf(handles.s,'%s',Ki);
    fprintf(handles.s,'%s',' 9999 ');
    fprintf(handles.s,'%s',Kd);
    fprintf(handles.s,'%s',' 9999');

% --- Function that controls what is shown in the textbox below the plot
function update_func(handles)

    message = sprintf('  = %dsin(%dt+%d)+%d + %dsin(%dt+%d)+%d\n',handles.heave_amp,handles.heave_freq,handles.heave_phase,handles.heave_bias,handles.heave_amp2,handles.heave_freq2,handles.heave_phase2,handles.heave_bias2);
    message = sprintf('%s  = %dsin(%dt+%d)+%d + %dsin(%dt+%d)+%d\n',message,handles.surge_amp,handles.surge_freq,handles.surge_phase,handles.surge_bias,handles.surge_amp2,handles.surge_freq2,handles.surge_phase2,handles.surge_bias2);
    message = sprintf('%s  = %dsin(%dt+%d)+%d + %dsin(%dt+%d)+%d\n',message,handles.pitch_amp,handles.pitch_freq,handles.pitch_phase,handles.pitch_bias,handles.pitch_amp2,handles.pitch_freq2,handles.pitch_phase2,handles.pitch_bias2);
    message = sprintf('%s  = %dsin(%dt+%d)+%d + %dsin(%dt+%d)+%d\n',message,handles.roll_amp,handles.roll_freq,handles.roll_phase,handles.roll_bias,handles.roll_amp2,handles.roll_freq2,handles.roll_phase2,handles.roll_bias2);

    set(handles.eq_stat,'String',message);

%function to calculate the step position leg lengths for the platform
function handles=single_inv_func(hObject, eventdata, handles)
    %get values from sliders
    handles.heave_sing=get(handles.heave_slider,'Value');
    handles.surge_sing=get(handles.surge_slider,'Value');
    handles.roll_sing=get(handles.roll_slider,'Value');
    handles.pitch_sing=get(handles.pitch_slider,'Value');
    %calculate desired step leg lengths
    Single_Inverse_Kinematics_funct(handles.heave_sing,handles.surge_sing,handles.pitch_sing,handles.roll_sing,handles,hObject)
    handles=guidata(hObject);
    
% --- Executes on button press in set_position.
function set_position_Callback(hObject, eventdata, handles)
    %go to state 7 in ArduinoLand
    try
        fprintf(handles.s,'%s',char(7));
    catch
        warning('Arduino Not Connected');
        set(handles.status,'String','ERROR: Arduino Not Connected');
        return
    end
    %calc lengths
    handles=single_inv_func(hObject, eventdata, handles);
    %convert to ints
    leg1=mat2str( uint16(handles.YMatrix_Sing(1,1)))
    leg2=mat2str( uint16(handles.YMatrix_Sing(2,1)))
    leg3=mat2str( uint16(handles.YMatrix_Sing(3,1)))
    leg4=mat2str( uint16(handles.YMatrix_Sing(4,1)))
    %write to Arduino
    %could reconfigure arduino code to make 9999 unnecessary
    fprintf(handles.s,'%s',leg1);
    fprintf(handles.s,'%s',' 9999 ');
    fprintf(handles.s,'%s',leg2);
    fprintf(handles.s,'%s',' 9999 ');
    fprintf(handles.s,'%s',leg3);
    fprintf(handles.s,'%s',' 9999 ');
    fprintf(handles.s,'%s',leg4);
    fprintf(handles.s,'%s',' 9999');

% --- Toggle State of continous
function continuous_Callback(hObject, eventdata, handles)

% --- Executes on slider movement.
function heave_slider_Callback(hObject, eventdata, handles)
    %generate number string to put under slider
    handles.heave_sing=round(get(handles.heave_slider,'Value'),1);
    str = sprintf('%3.1f',handles.heave_sing);
    handles=guidata(hObject);
    set(handles.heave_textbox,'String',str);
    handles=single_inv_func(hObject, eventdata, handles)

    %warn if the position is dangerous
    %on second warn just make the text red
    if handles.YMatrix_Sing(1,1) > 550 || handles.YMatrix_Sing(2,1) > 550  || handles.YMatrix_Sing(3,1) > 550  || handles.YMatrix_Sing(4,1) > 550
        if ~handles.Position_Warned
            uiwait(msgbox('WARNING: Resulting Actuator length will be higher than 550 mm. Platform will not be able to reach position. Proceed with caution.','Motion WARNING'))
            handles.Position_Warned=true;
        end
        set(handles.set_position,'ForegroundColor','red');
    else
        set(handles.set_position,'ForegroundColor','black');
        if get(handles.continuous,'Value')
            set_position_Callback(hObject, eventdata, handles)
        end
    end
    guidata(hObject,handles)
    
function heave_slider_CreateFcn(hObject, eventdata, handles)
    %set slider limits
    if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
        set(hObject,'BackgroundColor',[.9 .9 .9]);
    end
    set(hObject,'Max',550)
    set(hObject,'Min',0)
    
function roll_slider_Callback(hObject, eventdata, handles)
    handles.roll_sing=round(get(handles.roll_slider,'Value'),1);
    str = sprintf('%3.1f',handles.roll_sing);
    handles=guidata(hObject);
    set(handles.roll_textbox,'String',str);
    handles=single_inv_func(hObject, eventdata, handles)
    if handles.YMatrix_Sing(1,1) > 550 || handles.YMatrix_Sing(2,1) > 550  || handles.YMatrix_Sing(3,1) > 550  || handles.YMatrix_Sing(4,1) > 550
        if ~handles.Position_Warned
            uiwait(msgbox('WARNING: Resulting Actuator length will be higher than 550 mm. Platform will not be able to reach position. Proceed with caution.','Motion WARNING'))
            handles.Position_Warned=true;
        end
        set(handles.set_position,'ForegroundColor','red');
    else
        set(handles.set_position,'ForegroundColor','black');
        if get(handles.continuous,'Value')
            set_position_Callback(hObject, eventdata, handles)
        end
    end
    guidata(hObject,handles)
    
function roll_slider_CreateFcn(hObject, eventdata, handles)
    % hObject    handle to roll_slider (see GCBO)
    % eventdata  reserved - to be defined in a future version of MATLAB
    % handles    empty - handles not created until after all CreateFcns called

    % Hint: slider controls usually have a light gray background.
    if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
        set(hObject,'BackgroundColor',[.9 .9 .9]);
    end
    set(hObject,'Max',25)
    set(hObject,'Min',-25)
    
function pitch_slider_Callback(hObject, eventdata, handles)
    handles.pitch_sing=round(get(handles.pitch_slider,'Value'),1);
    str = sprintf('%3.1f',handles.pitch_sing);
    handles=guidata(hObject);
    set(handles.pitch_textbox,'String',str);
    handles=single_inv_func(hObject, eventdata, handles)

    if handles.YMatrix_Sing(1,1) > 550 || handles.YMatrix_Sing(2,1) > 550  || handles.YMatrix_Sing(3,1) > 550  || handles.YMatrix_Sing(4,1) > 550
        if ~handles.Position_Warned
            uiwait(msgbox('WARNING: Resulting Actuator length will be higher than 550 mm. Platform will not be able to reach position. Proceed with caution.','Motion WARNING'))
            handles.Position_Warned=true;
        end
        set(handles.set_position,'ForegroundColor','red');
    else
        set(handles.set_position,'ForegroundColor','black');
        if get(handles.continuous,'Value')
            set_position_Callback(hObject, eventdata, handles)
        end
    end
    guidata(hObject,handles)
    
function pitch_slider_CreateFcn(hObject, eventdata, handles)
    % hObject    handle to pitch_slider (see GCBO)
    % eventdata  reserved - to be defined in a future version of MATLAB
    % handles    empty - handles not created until after all CreateFcns called

    % Hint: slider controls usually have a light gray background.
    if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
        set(hObject,'BackgroundColor',[.9 .9 .9]);
    end
    set(hObject,'Max',25)
    set(hObject,'Min',-25)
    
function surge_slider_Callback(hObject, eventdata, handles)
    handles.surge_sing=round(get(handles.surge_slider,'Value'),1);
    str = sprintf('%3.1f',handles.surge_sing);
    handles=guidata(hObject);
    set(handles.surge_textbox,'String',str);
    handles=single_inv_func(hObject, eventdata, handles)

    if handles.YMatrix_Sing(1,1) > 550 || handles.YMatrix_Sing(2,1) > 550  || handles.YMatrix_Sing(3,1) > 550  || handles.YMatrix_Sing(4,1) > 550
        if ~handles.Position_Warned
            uiwait(msgbox('WARNING: Resulting Actuator length will be higher than 550 mm. Platform will not be able to reach position. Proceed with caution.','Motion WARNING'))
            handles.Position_Warned=true;
        end
        set(handles.set_position,'ForegroundColor','red');
    else
        set(handles.set_position,'ForegroundColor','black');
        if get(handles.continuous,'Value')
            set_position_Callback(hObject, eventdata, handles)
        end
    end
    guidata(hObject,handles)
    
function surge_slider_CreateFcn(hObject, eventdata, handles)
    % hObject    handle to surge_slider (see GCBO)
    % eventdata  reserved - to be defined in a future version of MATLAB
    % handles    empty - handles not created until after all CreateFcns called

    % Hint: slider controls usually have a light gray background.
    if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
        set(hObject,'BackgroundColor',[.9 .9 .9]);
    end
    set(hObject,'Max',550)
    set(hObject,'Min',0)


% --- Executes on toggle of the leg checkboxes
function leg1_box_Callback(hObject, eventdata, handles)
    plot_leg_Callback(hObject, eventdata, handles)
function leg2_box_Callback(hObject, eventdata, handles)
    plot_leg_Callback(hObject, eventdata, handles)
function leg3_box_Callback(hObject, eventdata, handles)
    plot_leg_Callback(hObject, eventdata, handles)
function floorleg_box_Callback(hObject, eventdata, handles)
    plot_leg_Callback(hObject, eventdata, handles)


% --- Executes on button press in pushbutton26.
function pushbutton26_Callback(hObject, eventdata, handles)
% hObject    handle to pushbutton26 (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 gohome.
function pushbutton27_Callback(hObject, eventdata, handles)
% hObject    handle to gohome (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

Error #1:

Struct contents reference from a non-struct array object.

Error in setSerial (line 5)
    ports = get(handles.com_select, 'String');

Error in PlatformGUI_V1>Connect_Callback (line 119)
    handles = setSerial(handles);

Error in gui_mainfcn (line 95)
        feval(varargin{:});

Error in PlatformGUI_V1 (line 64)
        gui_mainfcn(gui_State, varargin{:});

Error in
matlab.graphics.internal.figfile.FigFile/read>@(hObject,eventdata)PlatformGUI_V1('Connect_Callback',hObject,eventdata,guidata(hObject)) 
Error while evaluating UIControl Callback

Error #2:

>> PlatformGUI_V1
Reference to non-existent field 'output'.

Error in PlatformGUI_V1>PlatformGUI_V1_OutputFcn (line 111)
    varargout{1} = handles.output;

Error in gui_mainfcn (line 264)
        feval(gui_State.gui_OutputFcn, gui_hFigure, [], gui_Handles);

Error in PlatformGUI_V1 (line 64)
        gui_mainfcn(gui_State, varargin{:});

Answer 1

[Voss]

You should always run the m-file (don't try to run the fig-file by itself). Therefore only error #2 is relevant.

To fix error #2, include the line

handles.output = handles.figure1;

in PlatformGUI_V1_OpeningFcn, somewhere before the guidata(hObject, handles); line. This is a line of code automatically created by GUIDE which must have been deleted by mistake at some point.

I assume the Tag of your figure is 'figure1', which is the default, so if you didn't change it in GUIDE, it should be 'figure1'. To make sure, you can open the fig file in GUIDE, click on the figure itself and see the Tag in the bottom-left status bar or in the Object Browser. If the Tag of your figure is not 'figure1', replace 'figure1' in the line of code I gave above with whatever the Tag really is.

An alternative would be to replace

varargout{1} = handles.output;

in PlatformGUI_V1_OutputFcn, with

varargout{1} = handles.figure1;

again, using your figure's Tag if it's not 'figure1'.