function varargout = gui1(varargin)
% GUI1 M-file for gui1.fig
%      GUI1, by itself, creates a new GUI1 or raises the existing
%      singleton*.
%
%      H = GUI1 returns the handle to a new GUI1 or the handle to
%      the existing singleton*.
%
%      GUI1('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in GUI1.M with the given input arguments.
%
%      GUI1('Property','Value',...) creates a new GUI1 or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before gui1_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to gui1_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 gui1

% Last Modified by GUIDE v2.5 29-Sep-2011 15:29:29

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @gui1_OpeningFcn, ...
                   'gui_OutputFcn',  @gui1_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 gui1 is made visible.
function gui1_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 gui1 (see VARARGIN)

% Choose default command line output for gui1
handles.output = hObject;

% Update handles structure
set(handles.figure1,'KeyPressFcn',@myFunction);
handles.s = hObject;
handles.s = serial('COM4','Baudrate',38400);
fopen(handles.s);
guidata(hObject, handles);

% UIWAIT makes gui1 wait for user response (see UIRESUME)
% uiwait(handles.figure1);


% --- Outputs from this function are returned to the command line.
function varargout = gui1_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.output;


% --- Executes on button press in pushbutton1.
function pushbutton1_Callback(hObject, eventdata, handles)
% hObject    handle to pushbutton1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
fwrite(handles.s,[193,bin2dec('00010000')],'uint8')


% --- Executes on button press in pushbutton2.
function pushbutton2_Callback(hObject, eventdata, handles)
% hObject    handle to pushbutton2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
fclose(handles.s)
close(handles.figure1);

% --- Executes on button press in Down.
function Down_Callback(hObject, eventdata, handles)
% hObject    handle to Down (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
fwrite(handles.s,[193,bin2dec('00100000')],'uint8')

% --- Executes on button press in Close.
function Close_Callback(hObject, eventdata, handles)
% hObject    handle to Close (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
fwrite(handles.s,[193,bin2dec('10000000')],'uint8')

% --- Executes on button press in Open.
function Open_Callback(hObject, eventdata, handles)
% hObject    handle to Open (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
fwrite(handles.s,[193,bin2dec('01000000')],'uint8')

% --- Executes on button press in Forwarts.
function Forwarts_Callback(hObject, eventdata, handles)
% hObject    handle to Forwarts (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
fwrite(handles.s,[193,bin2dec('00001000')],'uint8')

% --- Executes on button press in Backwarts.
function Backwarts_Callback(hObject, eventdata, handles)
% hObject    handle to Backwarts (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
fwrite(handles.s,[193,bin2dec('00000100')],'uint8')

% --- Executes on button press in Left.
function Left_Callback(hObject, eventdata, handles)
% hObject    handle to Left (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
fwrite(handles.s,[129,bin2dec('00000001'),bin2dec('11100100'),0,0],'uint8')

% --- Executes on button press in Right.
function Right_Callback(hObject, eventdata, handles)
% hObject    handle to Right (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
fwrite(handles.s,[129,bin2dec('00000010'),bin2dec('11100100'),0,0],'uint8')

 function myFunction(src,evnt)
    %keyPressFcn automatically takes in two inputs
    %src is the object that was active when the keypress occurred
    %evnt stores the data for the key pressed

    %brings in the handles structure in to the function
    handles = guidata(src);

    k= evnt.Key; %k is the key that is pressed
    
       if handles.s.BytesAvailable>0
        r=dec2bin(fread(handles.s))
        if r(end)=='1' 
            fclose(handles.s)
            close(handles.figure1);
        end
    end
            
   
    if  strcmp(k,'j') %if enter was pressed
        
        fwrite(handles.s,[129,bin2dec('00000001'),bin2dec('11100100'),0,0],'uint8')
       
    end
    if strcmp(k,'l') %if enter was pressed
        
        fwrite(handles.s,[129,bin2dec('00000010'),bin2dec('11100100'),0,0],'uint8')
       
    end
    if strcmp(k,'k') %if enter was pressed
        
        fwrite(handles.s,[193,bin2dec('00100000')],'uint8')
       
    end
    if strcmp(k,'i') %if enter was pressed
        
        fwrite(handles.s,[193,bin2dec('00010000')],'uint8')
       
    end
    if strcmp(k,'w') %if enter was pressed
        
        fwrite(handles.s,[193,bin2dec('00001000')],'uint8')
       
    end
    if strcmp(k,'s') %if enter was pressed
        
        fwrite(handles.s,[193,bin2dec('00000100')],'uint8')
       
    end
    if strcmp(k,'a') %if enter was pressed
        
        fwrite(handles.s,[193,bin2dec('10000000')],'uint8')
       
    end
    if strcmp(k,'d') %if enter was pressed
        
        fwrite(handles.s,[193,bin2dec('01000000')],'uint8')  
    end
    
    
    if strcmp(k,'escape')
       fclose(handles.s)
        close(handles.figure1);
    end

   function joystick(jst,src)
   handles = guidata(src);   
handles.jstick=jst;
 if handels.jstick(1)>0.5 %if enter was press
     fwrite(handels.s,[193,bin2dec('00000100')],'uint8')
 end
if 0.5<handels.jstick(1)>-0.5
    fwrite(handels.s,[193,bin2dec('00000000')],'uint8')
end

if handels.jstick(1)<-0.5
    fwrite(handels.s,[193,bin2dec('00001000')],'uint8') 
end