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GUI.m
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GUI.m
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			% #########################################################################
			% File : GUI.m
			% Auteurs : Laurent Jenni, Philipp Hörler
			% Laboratoire de Systèmes Robotiques, EPFL
			%
			% #########################################################################

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

			% Last Modified by GUIDE v2.5 05-Apr-2015 11:46:50

			% Begin initialization code - DO NOT EDIT
			gui_Singleton = 1;
			gui_State = struct('gui_Name', mfilename, ...
			'gui_Singleton', gui_Singleton, ...
			'gui_OpeningFcn', @GUI_OpeningFcn, ...
			'gui_OutputFcn', @GUI_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
			% End initialization code - DO NOT EDIT

			% --- Executes just before GUI is made visible.
			function GUI_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 GUI (see VARARGIN)

			% Choose default command line output for GUI
			handles.output = hObject;

			%% Options
			clc;
			delete(timerfind);
			addpath(strcat(pwd,'\Functions'));
			addpath(strcat(pwd,'\ParamFiles'));
			run('ComProtocolOpt.m');
			run('HostRequestList.m');
			run('StatusRegBitsList.m');
			run('UserVars.m');

			handles.COMOPT = COMOPT;
			handles.USER_VARS = USER_VARS;

			%% Initialize USART
			if exist('handles.s')
			fclose(handles.s);
			delete(handles.s);
			clear handles.s;
			end
			delete(instrfind);
			handles.s = serial(handles.COMOPT.USART_PORT);
			set(handles.s,'BaudRate', handles.COMOPT.USART_BAUDRATE, ...
			'Timeout', handles.COMOPT.USART_TIMEOUT , ...
			'InputBufferSize',handles.COMOPT.USART_INPUT_BUFFER_SIZE);
			fopen(handles.s);
			if(~strcmp(handles.s.Status,'open'))
			disp(strcat('Unable to open :',handles.COMOPT.USART_PORT));
			disp(strcat('Execution stopped'));
			return;
			end

			% Stop Streaming and verify Status
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			pause(0.1);

			[StatReg,ERR] = getStatusReg(handles.COMOPT,handles.s);
			if(ERR)
			disp(strcat('Timeout while : "statusRegRequest" '));
			disp(strcat('Verify power supply of the board'));
			disp(strcat('Execution stopped'));
			set(handles.ErrorMessageText,'string','Error: The Card doesn''t answer. It probably crashed. You can try to reset it');
			return
			end

			%Set Timestamp to 0
			setVar(0,0,handles.COMOPT,handles.s);

			% Initialize data reception
			handles.streaming_vars = bin2dec('00000000000000000000000000000001');
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			handles.streaming_enable = 0;
			handles.index = 1; %index
			handles.DisplayBufferSize = 20000;
			handles.dataBuffer = nan(handles.DisplayBufferSize, handles.USER_VARS.VAR_NUM);
			period = 0.5;
			handles.UsartTimer = timer('BusyMode','drop',...
			'ExecutionMode','fixedrate',...
			'Period',round(period*1000)/1000,...
			'TimerFcn',{@Receive_usart, hObject},...
			'ErrorFcn',@(mTimer,event)disp(event.Data.message));

			%% Initialize Axes
			handles.PlotLines = plot(handles.axes1,0,zeros(1,handles.USER_VARS.VAR_NUM),'visible','off'); %26 plotlines
			%set(handles.axes1,'XLim',[0,20108],'YLim',[0,13824]);
			%set(handles.PlotLines(4:6),'marker','o','color','r');
			xlabel(handles.axes1,'Time [s]');
			ylabel(handles.axes1,'Data');
			%legend(handles.axes1);

			set(handles.SaveCheckbox,'Value',false);
			% Update handles structure
			guidata(hObject, handles);

			end

			% --- Outputs from this function are returned to the command line.
			function varargout = GUI_OutputFcn(hObject, eventdata, handles)
			% varargout cell array for returning output args (see VARARGOUT);
			% hObject handle to figure
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Get default command line output from handles structure
			varargout{1} = handles;
			end

			% --- USART Timer function ---
			function Receive_usart(~, ~, hObject)

			if ~exist('handles')
			handles = guidata(hObject);
			end

			if(handles.streaming_enable == 1)

			[Data,ERR] = grabStreamPackets(handles.streaming_vars,handles.COMOPT,handles.s);
			if(~ERR)


			handles.dataBuffer(mod(handles.index-1:handles.index+size(Data,1)-1,handles.DisplayBufferSize)+1,:) = [Data; nan(1,handles.USER_VARS.VAR_NUM)];
			handles.index = handles.index + size(Data,1);
			handles.index = mod(handles.index,handles.DisplayBufferSize);
			if get(handles.SaveCheckbox,'Value')
			fwrite(handles.savefile,Data','double');
			end

			%Update data for the streamed plotlines
			Vars_index = 33-find(dec2bin(handles.streaming_vars,32)-'0');
			for i = Vars_index(1:end-1)
			set(handles.PlotLines(i),...
			'xdata',handles.dataBuffer(:,1) / 1e6,...
			'ydata',handles.dataBuffer(:,i));
			end

			else
			disp(['Error while grabStreamPackets: ' num2str(ERR)])
			end

			end
			% Update handles structure
			guidata(hObject, handles);
			end


			% --- Executes on button press in StartStreamingbutton.
			function StartStreamingbutton_Callback(hObject, eventdata, handles)
			% hObject handle to StartStreamingbutton (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			if handles.streaming_enable == 0
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			handles.streaming_enable = 1;
			start(handles.UsartTimer);
			end
			% Update handles structure
			guidata(hObject, handles);
			end

			% --- Executes on button press in StopStreamingbutton.
			function StopStreamingbutton_Callback(hObject, eventdata, handles)
			% hObject handle to StopStreamingbutton (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if handles.streaming_enable == 1
			stop(handles.UsartTimer);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			pause(0.1); % to be sure that the card stopped streaming
			flushinput(handles.s);
			handles.streaming_enable = 0;

			handles.index = 1;
			handles.dataBuffer = handles.dataBuffer*0;

			end
			% Update handles structure
			guidata(hObject, handles);
			end


			% --- Executes on button press in ClearScreenButton.
			function ClearScreenButton_Callback(hObject, eventdata, handles)
			% hObject handle to ClearScreenButton (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			handles.index = 1;
			handles.dataBuffer(:) = nan;

			% Update handles structure
			guidata(hObject, handles);
			end


			% --------------------------------------------------------------------
			function FileMenu_Callback(hObject, eventdata, handles)
			% hObject handle to FileMenu (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			end

			% --------------------------------------------------------------------
			function OpenMenuItem_Callback(hObject, eventdata, handles)
			% hObject handle to OpenMenuItem (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			file = uigetfile('*.fig');
			if ~isequal(file, 0)
			open(file);
			end
			end

			% --------------------------------------------------------------------
			function PrintMenuItem_Callback(hObject, eventdata, handles)
			% hObject handle to PrintMenuItem (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			printdlg(handles.figure1)
			end

			% --------------------------------------------------------------------
			function CloseMenuItem_Callback(hObject, eventdata, handles)
			% hObject handle to CloseMenuItem (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			delete(handles.figure1)
			end


			% --- Executes during object deletion, before destroying properties.
			function figure1_DeleteFcn(hObject, eventdata, handles)
			% hObject handle to figure1 (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			close_function(hObject,eventdata,handles);
			end


			function close_function(hObject,eventdata,handles)
			% Close function to be executed when the GUI is closed
			stop(handles.UsartTimer);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			pause(0.1); % to be sure that the card stopped streaming
			flushinput(handles.s);
			delete(handles.figure1);
			delete(handles.UsartTimer);
			fclose('all');
			end


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

			% Hint: get(hObject,'Value') returns toggle state of SaveCheckbox
			if get(handles.SaveCheckbox,'Value')
			handles.savefile = fopen(['Data\Data_' datestr(now,'yyyy.mm.dd_HH.MM.SS') '.bin'],'a');
			else
			fclose(handles.savefile);
			end
			% Update handles structure
			guidata(hObject, handles);
			end


			% --- Executes on button press in KpChkbox.
			function KpChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to KpChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_P+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_P+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_P+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_P+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end

			% --- Executes during object creation, after setting all properties.
			function KpEdit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to KpEdit (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
			end

			% --- Executes on button press in KpSet.
			function KpSet_Callback(hObject, eventdata, handles)
			% hObject handle to KpSet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.KpEdit,'String'));
			setVar(handles.USER_VARS.VAR_POS_REG_PID_P,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in KpGet.
			function KpGet_Callback(hObject, eventdata, handles)
			% hObject handle to KpGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_P,handles);
			set(handles.KpText,'String',Value);
			end

			% --- Executes on button press in KiChkbox.
			function KiChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to KiChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_I+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_I+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_I+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_I+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end

			% --- Executes during object creation, after setting all properties.
			function KiEdit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to KiEdit (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
			end

			% --- Executes on button press in KiSet.
			function KiSet_Callback(hObject, eventdata, handles)
			% hObject handle to KiSet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.KiEdit,'String'));
			setVar(handles.USER_VARS.VAR_POS_REG_PID_I,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in KiGet.
			function KiGet_Callback(hObject, eventdata, handles)
			% hObject handle to KiGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_I,handles);
			set(handles.KiText,'String',Value);
			end


			% --- Executes on button press in KdChkbox.
			function KdChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to KdChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_D+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_D+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_D+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_D+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function KdEdit_Callback(hObject, eventdata, handles)
			% hObject handle to KdEdit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of KdEdit as text
			% str2double(get(hObject,'String')) returns contents of KdEdit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function KdEdit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to KdEdit (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
			end

			% --- Executes on button press in KdSet.
			function KdSet_Callback(hObject, eventdata, handles)
			% hObject handle to KdSet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.KdEdit,'String'));
			setVar(handles.USER_VARS.VAR_POS_REG_PID_D,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in KdGet.
			function KdGet_Callback(hObject, eventdata, handles)
			% hObject handle to KdGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_D,handles);
			set(handles.KdText,'String',Value);
			end


			% --- Executes on button press in ARWChkbox.
			function ARWChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to ARWChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_ARW+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_ARW+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_ARW+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_ARW+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function ARWEdit_Callback(hObject, eventdata, handles)
			% hObject handle to ARWEdit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of ARWEdit as text
			% str2double(get(hObject,'String')) returns contents of ARWEdit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function ARWEdit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to ARWEdit (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
			end

			% --- Executes on button press in ARWSet.
			function ARWSet_Callback(hObject, eventdata, handles)
			% hObject handle to ARWSet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.ARWEdit,'String'));
			setVar(handles.USER_VARS.VAR_POS_REG_PID_ARW,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in ARWGet.
			function ARWGet_Callback(hObject, eventdata, handles)
			% hObject handle to ARWGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_ARW,handles);
			set(handles.ARWText,'String',Value);
			end

			% --- Executes on button press in IntegratorChkbox.
			function IntegratorChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to IntegratorChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function IntegratorEdit_Callback(hObject, eventdata, handles)
			% hObject handle to IntegratorEdit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of IntegratorEdit as text
			% str2double(get(hObject,'String')) returns contents of IntegratorEdit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function IntegratorEdit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to IntegratorEdit (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
			end

			% --- Executes on button press in IntegratorSet.
			function IntegratorSet_Callback(hObject, eventdata, handles)
			% hObject handle to IntegratorSet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.IntegratorEdit,'String'));
			setVar(handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in IntegratorGet.
			function IntegratorGet_Callback(hObject, eventdata, handles)
			% hObject handle to IntegratorGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_INTEGRATOR,handles);
			set(handles.IntegratorText,'String',Value);
			end

			% --- Executes on button press in RegOutChkbox.
			function RegOutChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to RegOutChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_OUTPUT+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_OUTPUT+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_PID_OUTPUT+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_PID_OUTPUT+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end

			% --- Executes on button press in RegOutGet.
			function RegOutGet_Callback(hObject, eventdata, handles)
			% hObject handle to RegOutGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_POS_REG_PID_OUTPUT,handles);
			set(handles.RegOutText,'String',Value);
			end

			% --- Executes on button press in RegPeriodChckbox.
			function RegPeriodChckbox_Callback(hObject, eventdata, handles)
			% hObject handle to RegPeriodChckbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function RegPeriodEdit_Callback(hObject, eventdata, handles)
			% hObject handle to RegPeriodEdit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of RegPeriodEdit as text
			% str2double(get(hObject,'String')) returns contents of RegPeriodEdit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function RegPeriodEdit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to RegPeriodEdit (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
			end

			% --- Executes on button press in RegPeriodSet.
			function RegPeriodSet_Callback(hObject, eventdata, handles)
			% hObject handle to RegPeriodSet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.RegPeriodEdit,'String'));
			setVar(handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in RegPeriodGet.
			function RegPeriodGet_Callback(hObject, eventdata, handles)
			% hObject handle to RegPeriodGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_POS_REG_SAMPLING_PERIOD,handles);
			set(handles.RegPeriodText,'String',Value);
			end

			% --- Executes on button press in WallPosChkbox.
			function WallPosChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to WallPosChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_WALL_POSITION+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_WALL_POSITION+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_WALL_POSITION+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_WALL_POSITION+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function WallPosEdit_Callback(hObject, eventdata, handles)
			% hObject handle to WallPosEdit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of WallPosEdit as text
			% str2double(get(hObject,'String')) returns contents of WallPosEdit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function WallPosEdit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to WallPosEdit (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
			end

			% --- Executes on button press in WallPosSet.
			function WallPosSet_Callback(hObject, eventdata, handles)
			% hObject handle to WallPosSet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			Value = str2num(get(handles.WallPosEdit,'String'));
			setVar(handles.USER_VARS.VAR_WALL_POSITION,int32(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in WallPosGet.
			function WallPosGet_Callback(hObject, eventdata, handles)
			% hObject handle to WallPosGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_WALL_POSITION,handles);
			set(handles.WallPosText,'String',Value);
			end

			% --- Executes on button press in MeasuredAngleRawChkbox.
			function MeasuredAngleRawChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to MeasuredAngleRawChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_MEASURED_ANGLE_RAW+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_MEASURED_ANGLE_RAW+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_MEASURED_ANGLE_RAW+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_MEASURED_ANGLE_RAW+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end

			% --- Executes on button press in MeasuredAngleRawGet.
			function MeasuredAngleRawGet_Callback(hObject, eventdata, handles)
			% hObject handle to MeasuredAngleRawGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_MEASURED_ANGLE_RAW,handles);
			set(handles.MeasuredAngleRawText,'String',Value);
			end


			% --- Executes on button press in MeasuredAngleFilteredChkbox.
			function MeasuredAngleFilteredChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to MeasuredAngleFilteredChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_MEASURED_ANGLE_FILTERED+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_MEASURED_ANGLE_FILTERED+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_MEASURED_ANGLE_FILTERED+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_MEASURED_ANGLE_FILTERED+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end

			% --- Executes on button press in MeasuredAngleFilteredGet.
			function MeasuredAngleFilteredGet_Callback(hObject, eventdata, handles)
			% hObject handle to MeasuredAngleFilteredGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_MEASURED_ANGLE_FILTERED,handles);
			set(handles.MeasuredAngleFilteredText,'String',Value);
			end

			% --- Executes on button press in CommunicationPeriodChkbox.
			function CommunicationPeriodChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to CommunicationPeriodChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_COMM_TX_PERIOD+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_COMM_TX_PERIOD+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_COMM_TX_PERIOD+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_COMM_TX_PERIOD+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function CommunicationPeriodEdit_Callback(hObject, eventdata, handles)
			% hObject handle to CommunicationPeriodEdit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of CommunicationPeriodEdit as text
			% str2double(get(hObject,'String')) returns contents of CommunicationPeriodEdit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function CommunicationPeriodEdit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to CommunicationPeriodEdit (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
			end

			% --- Executes on button press in CommunicationPeriodSet.
			function CommunicationPeriodSet_Callback(hObject, eventdata, handles)
			% hObject handle to CommunicationPeriodSet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.CommunicationPeriodEdit,'String'));
			setVar(handles.USER_VARS.VAR_COMM_TX_PERIOD,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in CommunicationPeriodGet.
			function CommunicationPeriodGet_Callback(hObject, eventdata, handles)
			% hObject handle to CommunicationPeriodGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_COMM_TX_PERIOD,handles);
			set(handles.CommunicationPeriodText,'String',Value);
			end

			% --- Executes on button press in ActiveFilterChkbox.
			function ActiveFilterChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to ActiveFilterChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ACTIVE_FILTER+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_ACTIVE_FILTER+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ACTIVE_FILTER+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_ACTIVE_FILTER+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function ActiveFilterEdit_Callback(hObject, eventdata, handles)
			% hObject handle to ActiveFilterEdit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of ActiveFilterEdit as text
			% str2double(get(hObject,'String')) returns contents of ActiveFilterEdit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function ActiveFilterEdit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to ActiveFilterEdit (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
			end

			% --- Executes on button press in ActiveFilterSet.
			function ActiveFilterSet_Callback(hObject, eventdata, handles)
			% hObject handle to ActiveFilterSet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.ActiveFilterEdit,'String'));
			setVar(handles.USER_VARS.VAR_ACTIVE_FILTER,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in ActiveFilterGet.
			function ActiveFilterGet_Callback(hObject, eventdata, handles)
			% hObject handle to ActiveFilterGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_ACTIVE_FILTER,handles);
			set(handles.ActiveFilterText,'String',Value);
			end

			% --- Executes on button press in FirstOrderFilterTauChkbox.
			function FirstOrderFilterTauChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to FirstOrderFilterTauChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_1ST_FILT_TAU+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_1ST_FILT_TAU+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_1ST_FILT_TAU+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_1ST_FILT_TAU+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end

			function FirstOrderFilterTauEdit_Callback(hObject, eventdata, handles)
			% hObject handle to FirstOrderFilterTauEdit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of FirstOrderFilterTauEdit as text
			% str2double(get(hObject,'String')) returns contents of FirstOrderFilterTauEdit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function FirstOrderFilterTauEdit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to FirstOrderFilterTauEdit (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
			end

			% --- Executes on button press in FirstOrderFilterTauSet.
			function FirstOrderFilterTauSet_Callback(hObject, eventdata, handles)
			% hObject handle to FirstOrderFilterTauSet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.FirstOrderFilterTauEdit,'String'));
			setVar(handles.USER_VARS.VAR_1ST_FILT_TAU,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in FirstOrderFilterTauGet.
			function FirstOrderFilterTauGet_Callback(hObject, eventdata, handles)
			% hObject handle to FirstOrderFilterTauGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_1ST_FILT_TAU,handles);
			set(handles.FirstOrderFilterTauText,'String',Value);
			end


			function KpEdit_Callback(hObject, eventdata, handles)
			% hObject handle to KpEdit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of KpEdit as text
			% str2double(get(hObject,'String')) returns contents of KpEdit as a double
			end
			function KiEdit_Callback(hObject, eventdata, handles)
			% hObject handle to KiEdit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of KiEdit as text
			% str2double(get(hObject,'String')) returns contents of KiEdit as a double
			end


			% --- Executes on button press in Dac1Chkbox.
			function Dac1Chkbox_Callback(hObject, eventdata, handles)
			% hObject handle to Dac1Chkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_DAC1_VOLTAGE+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_DAC1_VOLTAGE+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_DAC1_VOLTAGE+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_DAC1_VOLTAGE+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function Dac1Edit_Callback(hObject, eventdata, handles)
			% hObject handle to Dac1Edit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of Dac1Edit as text
			% str2double(get(hObject,'String')) returns contents of Dac1Edit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function Dac1Edit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to Dac1Edit (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
			end

			% --- Executes on button press in Dac1Set.
			function Dac1Set_Callback(hObject, eventdata, handles)
			% hObject handle to Dac1Set (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.Dac1Edit,'String'));
			setVar(handles.USER_VARS.VAR_DAC1_VOLTAGE,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in Dac1Get.
			function Dac1Get_Callback(hObject, eventdata, handles)
			% hObject handle to Dac1Get (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_DAC1_VOLTAGE,handles);
			set(handles.Dac1Text,'String',Value);
			end

			% --- Executes on button press in Dac2Chkbox.
			function Dac2Chkbox_Callback(hObject, eventdata, handles)
			% hObject handle to Dac2Chkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_DAC2_VOLTAGE+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_DAC2_VOLTAGE+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_DAC2_VOLTAGE+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_DAC2_VOLTAGE+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function Dac2Edit_Callback(hObject, eventdata, handles)
			% hObject handle to Dac2Edit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of Dac2Edit as text
			% str2double(get(hObject,'String')) returns contents of Dac2Edit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function Dac2Edit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to Dac2Edit (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
			end


			% --- Executes on button press in Dac2Set.
			function Dac2Set_Callback(hObject, eventdata, handles)
			% hObject handle to Dac2Set (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.Dac2Edit,'String'));
			setVar(handles.USER_VARS.VAR_DAC2_VOLTAGE,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in Dac2Get.
			function Dac2Get_Callback(hObject, eventdata, handles)
			% hObject handle to Dac2Get (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_DAC2_VOLTAGE,handles);
			set(handles.Dac2Text,'String',Value);
			end

			% --- Executes on button press in Adc1Chkbox.
			function Adc1Chkbox_Callback(hObject, eventdata, handles)
			% hObject handle to Adc1Chkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ADC1_VOLTAGE+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_ADC1_VOLTAGE+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ADC1_VOLTAGE+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_ADC1_VOLTAGE+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end

			% --- Executes on button press in Adc1Get.
			function Adc1Get_Callback(hObject, eventdata, handles)
			% hObject handle to Adc1Get (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_ADC1_VOLTAGE,handles);
			set(handles.Adc1Text,'String',Value);
			end

			% --- Executes on button press in Adc2Chkbox.
			function Adc2Chkbox_Callback(hObject, eventdata, handles)
			% hObject handle to Adc2Chkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ADC2_VOLTAGE+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_ADC2_VOLTAGE+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_ADC2_VOLTAGE+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_ADC2_VOLTAGE+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end

			% --- Executes on button press in Adc2Get.
			function Adc2Get_Callback(hObject, eventdata, handles)
			% hObject handle to Adc2Get (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_ADC2_VOLTAGE,handles);
			set(handles.Adc2Text,'String',Value);
			end


			% --- Executes on button press in HallSensorChkbox.
			function HallSensorChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to HallSensorChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_HALL_ANGLE+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_HALL_ANGLE+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_HALL_ANGLE+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_HALL_ANGLE+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end

			% --- Executes on button press in HallSensorGet.
			function HallSensorGet_Callback(hObject, eventdata, handles)
			% hObject handle to HallSensorGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_HALL_ANGLE,handles);
			set(handles.HallSensorText,'String',Value);
			end


			% --- Executes on button press in TachoSpeedChkbox.
			function TachoSpeedChkbox_Callback(hObject, eventdata, handles)
			% hObject handle to TachoSpeedChkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_TACHO_SPEED+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_TACHO_SPEED+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_TACHO_SPEED+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_TACHO_SPEED+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			% --- Executes on button press in TachoSpeedGet.
			function TachoSpeedGet_Callback(hObject, eventdata, handles)
			% hObject handle to TachoSpeedGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_TACHO_SPEED,handles);
			set(handles.TachoSpeedText,'String',Value);
			end


			% --- Executes on button press in StrainGauge.
			function StrainGauge_Callback(hObject, eventdata, handles)
			% hObject handle to StrainGauge (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_STRAIN_GAUGE_FORCE+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_STRAIN_GAUGE_FORCE+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_STRAIN_GAUGE_FORCE+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_STRAIN_GAUGE_FORCE+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			% --- Executes on button press in StrainGaugeGet.
			function StrainGaugeGet_Callback(hObject, eventdata, handles)
			% hObject handle to StrainGaugeGet (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_STRAIN_GAUGE_FORCE,handles);
			set(handles.StrainGaugeText,'String',Value);
			end


			% --- Executes on button press in UserVar1Chkbox.
			function UserVar1Chkbox_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar1Chkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_1+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_1+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_1+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_1+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function UserVar1Edit_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar1Edit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of UserVar1Edit as text
			% str2double(get(hObject,'String')) returns contents of UserVar1Edit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function UserVar1Edit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to UserVar1Edit (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
			end

			% --- Executes on button press in UserVar1Set.
			function UserVar1Set_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar1Set (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.UserVar1Edit,'String'));
			setVar(handles.USER_VARS.VAR_USER_VAR_1,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in UserVar1Get.
			function UserVar1Get_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar1Get (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_USER_VAR_1,handles);
			set(handles.UserVar1Text,'String',Value);
			end

			% --- Executes on button press in UserVar2Chkbox.
			function UserVar2Chkbox_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar2Chkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_2+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_2+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_2+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_2+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function UserVar2Edit_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar2Edit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of UserVar2Edit as text
			% str2double(get(hObject,'String')) returns contents of UserVar2Edit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function UserVar2Edit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to UserVar2Edit (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
			end

			% --- Executes on button press in UserVar2Set.
			function UserVar2Set_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar2Set (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.UserVar2Edit,'String'));
			setVar(handles.USER_VARS.VAR_USER_VAR_2,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in UserVar2Get.
			function UserVar2Get_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar2Get (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_USER_VAR_2,handles);
			set(handles.UserVar2Text,'String',Value);
			end

			% --- Executes on button press in UserVar3Chkbox.
			function UserVar3Chkbox_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar3Chkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_3+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_3+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_3+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_3+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function UserVar3Edit_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar3Edit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of UserVar3Edit as text
			% str2double(get(hObject,'String')) returns contents of UserVar3Edit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function UserVar3Edit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to UserVar3Edit (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
			end

			% --- Executes on button press in UserVar3Set.
			function UserVar3Set_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar3Set (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.UserVar3Edit,'String'));
			setVar(handles.USER_VARS.VAR_USER_VAR_3,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in UserVar3Get.
			function UserVar3Get_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar3Get (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_USER_VAR_3,handles);
			set(handles.UserVar3Text,'String',Value);
			end

			% --- Executes on button press in UserVar4Chkbox.
			function UserVar4Chkbox_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar4Chkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_4+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_4+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_4+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_4+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function UserVar4Edit_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar4Edit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of UserVar4Edit as text
			% str2double(get(hObject,'String')) returns contents of UserVar4Edit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function UserVar4Edit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to UserVar4Edit (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
			end

			% --- Executes on button press in UserVar4Set.
			function UserVar4Set_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar4Set (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.UserVar4Edit,'String'));
			setVar(handles.USER_VARS.VAR_USER_VAR_4,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in UserVar4Get.
			function UserVar4Get_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar4Get (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_USER_VAR_4,handles);
			set(handles.UserVar4Text,'String',Value);
			end


			% --- Executes on button press in UserVar5Chkbox.
			function UserVar5Chkbox_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar5Chkbox (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			usartSendPacket(handles.COMOPT.PC_MESSAGE_STOP_STREAMING,[],handles.COMOPT,handles.s);
			if get(hObject,'Value')
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_5+1,1);
			set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_5+1),'visible','on');
			else
			handles.streaming_vars = bitset(handles.streaming_vars,handles.USER_VARS.VAR_USER_VAR_5+1,0);
			set(handles.PlotLines(handles.USER_VARS.VAR_USER_VAR_5+1),'visible','off');
			end
			setStreamedVars(handles.streaming_vars,handles.COMOPT,handles.s);
			flushinput(handles.s);
			usartSendPacket(handles.COMOPT.PC_MESSAGE_START_STREAMING,[],handles.COMOPT,handles.s);
			% Update handles structure
			guidata(hObject, handles);
			end


			function UserVar5Edit_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar5Edit (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)

			% Hints: get(hObject,'String') returns contents of UserVar5Edit as text
			% str2double(get(hObject,'String')) returns contents of UserVar5Edit as a double
			end

			% --- Executes during object creation, after setting all properties.
			function UserVar5Edit_CreateFcn(hObject, eventdata, handles)
			% hObject handle to UserVar5Edit (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
			end

			% --- Executes on button press in UserVar5Set.
			function UserVar5Set_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar5Set (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = str2num(get(handles.UserVar5Edit,'String'));
			setVar(handles.USER_VARS.VAR_USER_VAR_5,single(Value),handles.COMOPT,handles.s);
			end

			% --- Executes on button press in UserVar5Get.
			function UserVar5Get_Callback(hObject, eventdata, handles)
			% hObject handle to UserVar5Get (see GCBO)
			% eventdata reserved - to be defined in a future version of MATLAB
			% handles structure with handles and user data (see GUIDATA)
			if ~exist('handles')
			handles = guidata(hObject);
			end
			Value = getVar(handles.USER_VARS.VAR_USER_VAR_5,handles);
			set(handles.UserVar5Text,'String',Value);
			end

R2671/MATLAB/GUI.m8d3f6f95d43csimple-adc-acquire

GUI.mView Options

R2671/MATLAB/GUI.m
8d3f6f95d43csimple-adc-acquire

GUI.m
View Options