Program Controller for 7-Axis Robot Files

//////////// Description //////////////
FILE: nachi3d.m
DATE: 10/28/2012 - 4/12/2013
MADE: Trevor Wilson (trwq75@mst.edu), Erik O'Riley (ejoc59@mst.edu)
DESC: This program controls a simulated model of the Nachi Kinematic
  Manipulator. It was designed with easy movement controls with import and
  export functionality to interface with other applications. 


////////// Table of Contents //////////
 - Installing the program
 - Using the program
 - Modifying the program
 
 
//////////// Installation /////////////
    This program was made on and designed for use in MATLAB R2012a. This
  version and beyond are recommened and cannot guarantee correct operation
  on other versions or platforms. As such, the program itself needs no specific
  installation besides having the files contained with this program. 
  
    This program utilizes the Robotics Toolbox developed by Peter Corke but is
  not packaged with this application. You must download the toolbox from 
  http://petercorke.com/Robotics_Toolbox.html and follow the installation
  instructions
	
	
///////////////// Use /////////////////
    Use: nachi3d(vel, accel)
	  - vel   [1x1] double - the maximum velocity the robot should move from
	      point to point.
	  - accel [1x1] double - the acceleration for moving from point to point.
	
	Upon running of the program the program will load the models ("reading CAD
  models"), create the window ("creating window"), and start running ("starting
  update loop"). The model should be in the center of the window with Position
  and Angles panels on the left and File and Data panels on the right. There
  should also be various buttons on the bottom and a menu at the top. 
  
    The sliders in the Position panel will dictate the position of the end
  affector and the sliders in the Angles panel will dictate the joint angles of
  the model. The slider controls indicate the current state of the robot by the
  value in the edit boxes as well as the location of the slide on the slider. 
  The controls can be modified by: (a) moving the silder, (b) using the arrows
  on the sides of the silder to shift it, or c) typing a value in the edit box.
    - Note: the units for position are in milimeters and the units for angles 
	are indegrees)
	
	The panel on the right of the plot are for data-gathering and file import 
  and export. To load a file for the program to read, press the 'Open' button. 
  The program only reads Comma-Separated Values (.csv) files and the data is
  loaded into the table below. If the data is in a format that can be read 
  (currently only data tables with x, y, and z coordinates) pressing the 'Play'
  button will iterate the model through the coordinates in the table. This can
  be stopped at any time with the 'Stop' button. 
  
    The record button can be used to store positions that the model has moved
  to manually. The data is recorded in the table and can be saved using the
  'Export' button (currently only saves data as a .csv file).