Dot indexing is not supported for variables of this type

this is my complete code i am working on and have tried numerous ways of fixing it , its not even showing me the line error or anything only that error image appears when i try to use the features of my gui

function robot_control_standalone()
% ROBOT_CONTROL_STANDALONE - Standalone robot control GUI (No GUIDE required)
% (Camera+Calibration+Detection implemented; functions/GUI names preserved)
% ---------------- Main figure ----------------
hFig = figure('Name', 'Robot Control System', ...
    'NumberTitle', 'off', ...
    'Position', [100, 100, 1200, 700], ...
    'CloseRequestFcn', @closeGUI, ...
    'Tag', 'mainFigure');
% ---------------- State / handles ----------------
handles = struct();
handles.figure = hFig;
% ===== ROBOT CONFIGURATION =====
handles.ModelName = 'armpiwithcoords';
handles.RPi_IP = '192.168.1.14';
handles.RPi_Port = 5005;
try
    handles.udpObj = udpport("IPv4");
catch
    warning('Could not create UDP object. Network communication disabled.');
    handles.udpObj = [];
end
handles.toggleLoop = false;
handles.Kp = 1; handles.Ki = 0; handles.Kd = 0;
handles.prevError = 0; handles.integral = 0;
% ===== VISION SYSTEM CONFIGURATION =====
handles.CAM_INDEX   = 2*1;
handles.CAM_WIDTH   = 1280;
handles.CAM_HEIGHT  = 720;
handles.BELT_WIDTH_M  = 0.60;   % physical belt span (X) in meters
handles.BELT_HEIGHT_M = 0.30;   % physical belt span (Y) in meters
handles.MIN_AREA_PX   = 1200;
handles.cam = [];
handles.visionActive = false;
% Calibration/top-down
handles.calibrated = false;
handles.H_rect = [];            % projective2d transform image->topdown px
handles.OUT_W = []; handles.OUT_H = [];
handles.px_per_m_x = []; handles.px_per_m_y = [];
handles.detected_objects = [];
handles.visionLoopActive = false;
% ArUco placeholders (we use manual 4-click for now)
handles.ARUCO_DICT = 'DICT_4X4_50';
handles.ID_TL = 0; handles.ID_TR = 1; handles.ID_BR = 2; handles.ID_BL = 3;
% Belt HSV (OpenCV scale), with padding
handles.BELT_HSV_LOW  = [71, 139, 42];
handles.BELT_HSV_HIGH = [79, 238, 90];
handles.BELT_PAD      = [3, 12, 12];
% Picking rules (OpenCV-like ranges)
handles.RED_HSV  = struct('h', [0, 10; 170, 179], 's', [90, 255], 'v', [60, 255]);
handles.BLUE_HSV = struct('h', [100, 130],        's', [90, 255], 'v', [60, 255]);
handles.stats = struct('red', 0, 'blue', 0, 'other', 0, 'total', 0);
% Create UI
createGUIComponents(hFig, handles);
disp('✅ Standalone Robot Control System Initialized');
% ================= GUI builder =================
    function createGUIComponents(fig, h)
        % Title
        uicontrol('Parent', fig, 'Style', 'text', 'String', 'ROBOT CONTROL SYSTEM', ...
            'Position', [400, 650, 400, 40], 'FontSize', 18, 'FontWeight', 'bold');
        
        % Joint Sliders and Edit Boxes
        yPos = 600;
        slider_limits = [-180, 180; -180, 180; -180, 180; -180, 180; -180, 180; 0, 90];
        for i = 1:6
            uicontrol('Parent', fig, 'Style', 'text', ...
                'String', sprintf('Joint %d:', i), ...
                'Position', [50, yPos - (i-1)*80, 80, 20], ...
                'HorizontalAlignment', 'right');
            h.(['slider' num2str(i)]) = uicontrol('Parent', fig, 'Style', 'slider', ...
                'Min', slider_limits(i,1), 'Max', slider_limits(i,2), ...
                'Value', 0, ...
                'Position', [150, yPos - (i-1)*80, 300, 20], ...
                'Callback', @(src,evt)sliderCallback(i));
            h.(['edit' num2str(i)]) = uicontrol('Parent', fig, 'Style', 'edit', ...
                'String', '0', ...
                'Position', [470, yPos - (i-1)*80, 60, 25], ...
                'Callback', @(src,evt)editCallback(i));
        end
        
        % Position Display (X, Y, Z)
        uicontrol('Parent', fig, 'Style', 'text', 'String', 'Position:', ...
            'Position', [50, 80, 80, 20], 'FontWeight', 'bold');
        uicontrol('Parent', fig, 'Style', 'text', 'String', 'X:', ...
            'Position', [50, 50, 30, 20]);
        h.edit7 = uicontrol('Parent', fig, 'Style', 'edit', 'String', '0', ...
            'Position', [80, 50, 80, 25], 'Enable', 'off');
        uicontrol('Parent', fig, 'Style', 'text', 'String', 'Y:', ...
            'Position', [180, 50, 30, 20]);
        h.edit8 = uicontrol('Parent', fig, 'Style', 'edit', 'String', '0', ...
            'Position', [210, 50, 80, 25], 'Enable', 'off');
        uicontrol('Parent', fig, 'Style', 'text', 'String', 'Z:', ...
            'Position', [310, 50, 30, 20]);
        h.edit9 = uicontrol('Parent', fig, 'Style', 'edit', 'String', '0', ...
            'Position', [340, 50, 80, 25], 'Enable', 'off');
        
        % Control Buttons (Right Panel)
        btnX = 600;
        uicontrol('Parent', fig, 'Style', 'pushbutton', 'String', 'PID', ...
            'Position', [btnX, 600, 120, 50], ...
            'Callback', @pidCallback);
        uicontrol('Parent', fig, 'Style', 'pushbutton', 'String', 'RUN', ...
            'Position', [btnX + 140, 600, 120, 50], ...
            'Callback', @runCallback);
        h.stopBtn = uicontrol('Parent', fig, 'Style', 'pushbutton', 'String', 'STOP', ...
            'Position', [btnX + 280, 600, 120, 50], ...
            'BackgroundColor', [1, 0.3, 0.3], ...
            'Callback', @stopCallback);
        uicontrol('Parent', fig, 'Style', 'pushbutton', 'String', 'DEFAULT', ...
            'Position', [btnX, 540, 120, 50], ...
            'Callback', @defaultCallback);
        uicontrol('Parent', fig, 'Style', 'pushbutton', 'String', 'GRAPH', ...
            'Position', [btnX + 140, 540, 120, 50], ...
            'Callback', @graphCallback);
        h.toggleAuto = uicontrol('Parent', fig, 'Style', 'togglebutton', 'String', 'AUTO', ...
            'Position', [btnX + 280, 540, 120, 50], ...
            'BackgroundColor', [0.4, 1, 0.4], ...
            'Callback', @autoCallback);
        
        % Vision System Section
        uicontrol('Parent', fig, 'Style', 'text', 'String', 'VISION SYSTEM', ...
            'Position', [btnX, 480, 420, 30], ...
            'FontSize', 14, 'FontWeight', 'bold', ...
            'BackgroundColor', [0.9, 0.9, 1]);
        h.visionBtn = uicontrol('Parent', fig, 'Style', 'pushbutton', ...
            'String', 'START VISION', ...
            'Position', [btnX, 430, 180, 40], ...
            'Callback', @visionCallback);
        uicontrol('Parent', fig, 'Style', 'pushbutton', ...
            'String', 'MANUAL CALIBRATION', ...
            'Position', [btnX + 200, 430, 220, 40], ...
            'Callback', @manualCalibCallback);
        uicontrol('Parent', fig, 'Style', 'pushbutton', ...
            'String', 'RESET CALIBRATION', ...
            'Position', [btnX, 380, 180, 40], ...
            'Callback', @resetCalibCallback);
        uicontrol('Parent', fig, 'Style', 'pushbutton', ...
            'String', 'SAVE DATA', ...
            'Position', [btnX + 200, 380, 220, 40], ...
            'Callback', @saveDataCallback);
        uicontrol('Parent', fig, 'Style', 'pushbutton', ...
            'String', 'STATISTICS', ...
            'Position', [btnX, 330, 180, 40], ...
            'Callback', @statsCallback);
        uicontrol('Parent', fig, 'Style', 'pushbutton', ...
            'String', 'ADJUST HSV', ...
            'Position', [btnX + 200, 330, 220, 40], ...
            'Callback', @hsvCallback);
        h.statusText = uicontrol('Parent', fig, 'Style', 'text', ...
            'String', 'NOT CALIBRATED', ...
            'Position', [btnX, 270, 420, 40], ...
            'FontSize', 12, 'FontWeight', 'bold', ...
            'BackgroundColor', [1, 0.9, 0.9]);
        h.statsText = uicontrol('Parent', fig, 'Style', 'text', ...
            'String', 'RED: 0 | BLUE: 0 | OTHER: 0', ...
            'Position', [btnX, 230, 420, 30], ...
            'FontSize', 10);
        h.toggleVisionAuto = uicontrol('Parent', fig, 'Style', 'togglebutton', ...
            'String', 'VISION-GUIDED PICK AND PLACE', ...
            'Position', [btnX, 170, 420, 50], ...
            'FontSize', 11, 'FontWeight', 'bold', ...
            'BackgroundColor', [0.4, 0.8, 1], ...
            'Callback', @visionAutoCallback);
        guidata(fig, h);
    end
% ================= SLIDER/EDIT callbacks =================
    function sliderCallback(jointNum)
        h = guidata(gcf);
        val = get(h.(['slider' num2str(jointNum)]), 'Value');
        set(h.(['edit' num2str(jointNum)]), 'String', num2str(val, '%.2f'));
        updateRobot();
    end
    function editCallback(jointNum)
        h = guidata(gcf);
        val = str2double(get(h.(['edit' num2str(jointNum)]), 'String'));
        if ~isnan(val)
            slider = h.(['slider' num2str(jointNum)]);
            minVal = get(slider, 'Min');
            maxVal = get(slider, 'Max');
            val = max(min(val, maxVal), minVal);
            set(slider, 'Value', val);
            updateRobot();
        end
    end
% ================= Robot update / FK / Simulink / UDP =================
    function updateRobot()
        h = guidata(gcf);
        angles = zeros(1, 6);
        for i = 1:6
            angles(i) = get(h.(['slider' num2str(i)]), 'Value');
        end
        % FK (DH)
        T = forwardKinematics(angles);
        set(h.edit7, 'String', num2str(T(1,4), '%.2f'));
        set(h.edit8, 'String', num2str(T(2,4), '%.2f'));
        set(h.edit9, 'String', num2str(T(3,4), '%.2f'));
        % Simulink + RPi
        updateSimulink(h, fliplr(angles));
        sendToRPi(h, angles);
    end
    function T = forwardKinematics(angles)
        d = [450, 0, 0, 0, 0, 0];
        a = [0, 420, 380, 250, 150, 120];
        alpha = [90, 0, 0, 90, 0, 0];
        T = eye(4);
        for i = 1:6
            T = T * dhMatrix(angles(i), d(i), a(i), alpha(i));
        end
    end
    function A = dhMatrix(theta, d, a, alpha)
        A = [cosd(theta), -sind(theta)*cosd(alpha), sind(theta)*sind(alpha), a*cosd(theta);
            sind(theta),  cosd(theta)*cosd(alpha), -cosd(theta)*sind(alpha), a*sind(theta);
            0,            sind(alpha),             cosd(alpha),              d;
            0,            0,                       0,                        1];
    end
    function updateSimulink(h, angles)
        try
            for i = 1:5
                block_path = [h.ModelName, '/slider', num2str(i)];
                set_param(block_path, 'Gain', num2str(angles(i)));
            end
            set_param(h.ModelName, 'SimulationCommand', 'update');
        catch
            % Silently ignore if model not available
        end
    end
    function sendToRPi(h, angles)
        try
            if ~isempty(h.udpObj)
                msg = sprintf('%f,%f,%f,%f,%f,%f', angles);
                write(h.udpObj, uint8(msg), "uint8", h.RPi_IP, h.RPi_Port);
                % disp(['Sent: ', msg]);
            end
        catch
        end
    end
% ================= Top buttons =================
    function pidCallback(~, ~)
        t = linspace(0, 5, 500);
        responses = {
            1 - exp(-2*t) .* cos(4*t),
            1 - exp(-2.5*t) .* cos(3*t),
            1 - exp(-3*t) .* cos(2*t),
            1 - exp(-2*t) .* cos(5*t),
            1 - exp(-2.2*t) .* cos(3.5*t),
            1 - exp(-1.5*t) .* cos(6*t)
            };
        figure('Name', 'Motor Responses', 'NumberTitle', 'off');
        hold on;
        for i = 1:6
            plot(t, responses{i}, 'DisplayName', ['Motor ' num2str(i)], 'LineWidth', 2);
        end
        xlabel('Time (s)'); ylabel('Output');
        title('Motor Step Responses');
        legend('show'); grid on;
    end
    function runCallback(~, ~)
        h = guidata(gcf);
        try
            open_system(h.ModelName);
            set_param(h.ModelName, 'SimulationCommand', 'Start');
            disp('Simulation started');
        catch ME
            errordlg(['Error: ', ME.message]);
        end
    end
    function stopCallback(~, ~)
        h = guidata(gcf);
        try
            set_param(h.ModelName, 'SimulationCommand', 'stop');
        catch
        end
        h.toggleLoop = false;
        h.visionLoopActive = false;
        set(h.toggleAuto, 'Value', 0);
        set(h.toggleVisionAuto, 'Value', 0);
        guidata(gcf, h);
        disp('🛑 STOP - All operations halted');
    end
    function defaultCallback(~, ~)
        h = guidata(gcf);
        for i = 1:6
            set(h.(['slider' num2str(i)]), 'Value', 0);
            set(h.(['edit' num2str(i)]), 'String', '0');
        end
        updateRobot();
        disp('Reset to default');
    end
    function graphCallback(~, ~)
        figure('Name', 'PID Tuning', 'NumberTitle', 'off');
        h_line = animatedline('Color', 'b', 'LineWidth', 2);
        r_line = animatedline('Color', 'r', 'LineStyle', '--');
        xlabel('Time'); ylabel('Output');
        title('Adam-Optimized PID'); legend('Response','Setpoint'); grid on;
        Kp = 1.0; Ki = 0.1; Kd = 0.05; setpoint = 50; measured = 0; integral = 0; prev_err = 0;
        for t = 1:100
            err = setpoint - measured;
            integral = integral + err * 0.1;
            deriv = (err - prev_err) / 0.1;
            output = Kp*err + Ki*integral + Kd*deriv;
            output = max(min(output, 100), -100);
            measured = measured + 0.2*(output - measured) + 0.05*randn();
            addpoints(h_line, t, measured); addpoints(r_line, t, setpoint); drawnow;
            prev_err = err; pause(0.1);
        end
        fprintf('Final PID: Kp=%.3f, Ki=%.3f, Kd=%.3f\n', Kp, Ki, Kd);
    end
% ================= Auto sequence =================
    function autoCallback(src, ~)
        h = guidata(gcf);
        h.toggleLoop = get(src, 'Value');
        guidata(gcf, h);
        if h.toggleLoop
            disp('Auto pick-place started');
            runAutoLoop();
        end
    end
    function runAutoLoop()
        h = guidata(gcf);
        sequence = {
            [34, 0, -53, -49, 0, 0],
            [34, 0, -53, -49, 0, 79],
            [34, 0, -42, -39, 0, 79],
            [23, 0, -42, -39, 0, 79],
            [4, 0, -42, -39, 0, 79],
            [4, 0, -47, -49, 0, 79],
            [4, 0, -47, -49, 0, 0],
            [25, 0, -36, -49, 0, 0]
            };
        while h.toggleLoop
            for s = 1:length(sequence)
                for i = 1:6
                    set(h.(['slider' num2str(i)]), 'Value', sequence{s}(i));
                    set(h.(['edit' num2str(i)]), 'String', num2str(sequence{s}(i)));
                end
                updateRobot(); pause(1.5);
                h = guidata(gcf);
                if ~h.toggleLoop, return; end
            end
        end
    end
% ================= Vision start/stop & loop =================
    function visionCallback(src, ~)
        h = guidata(gcf);
        if ~h.visionActive
            try
                h.cam = webcam(h.CAM_INDEX);
                h.cam.Resolution = sprintf('%dx%d', h.CAM_WIDTH, h.CAM_HEIGHT);
                h.visionActive = true;
                set(src, 'String', 'STOP VISION', 'BackgroundColor', [1, 0.3, 0.3]);
                guidata(gcf, h);
                h.figVision = figure('Name', 'Vision System', 'NumberTitle', 'off');
                disp('🎥 Vision started');
                runVisionLoop();
            catch ME
                errordlg(['Vision error: ', ME.message]);
                h.visionActive = false;
                guidata(gcf, h);
            end
        else
            h.visionActive = false;
            set(src, 'String', 'START VISION', 'BackgroundColor', [0.94, 0.94, 0.94]);
            guidata(gcf, h);
        end
    end
    function runVisionLoop()
        h = guidata(gcf);
        while h.visionActive && ishandle(h.figVision)
            try
                disp('=== Vision loop iteration start ===');
                frame = snapshot(h.cam);
                % If calibrated, warp to top-down belt canvas (meters-to-pixels known)
                if h.calibrated && ~isempty(h.H_rect)
                    top = imwarp(frame, h.H_rect, 'OutputView', imref2d([h.OUT_H h.OUT_W]));
                else
                    top = frame;
                end
                % --- BELT MASK from fixed HSV (in OpenCV scale; we convert) ---
                if h.calibrated
                    mask_belt = hsvMask_openCV(top, h.BELT_HSV_LOW, h.BELT_HSV_HIGH, h.BELT_PAD);
                else
                    % If not calibrated, skip belt removal to avoid false "not belt"
                    mask_belt = false(size(top,1), size(top,2));
                end
                % Objects = NOT belt
                obj_mask = ~mask_belt;
                obj_mask = imopen(obj_mask, strel('disk',3));
                obj_mask = imclose(obj_mask, strel('disk',5));
                % Find blobs
                disp('Finding blobs...');
                CC = bwconncomp(obj_mask);
                S  = regionprops(CC,'Area','BoundingBox','Centroid','Orientation','PixelIdxList');
                disp(['Found ' num2str(numel(S)) ' blobs']);
                detections = struct('x',{},'y',{},'yaw',{},'width',{},'cat',{},'pick',{});
                imshow(top); title('Top-down (if calibrated)'); hold on;
                disp('Processing blobs...');
                for i = 1:numel(S)
                    if S(i).Area < h.MIN_AREA_PX, continue; end
                    disp(['  Processing blob ' num2str(i)]);
                    bb = S(i).BoundingBox;
                    cx = S(i).Centroid(1); cy = S(i).Centroid(2);
                    angle = S(i).Orientation;   % deg, MATLAB convention
                    patch = imcrop(top, bb);
                    % Mean HSV in OpenCV-like ranges (H:0..179, S/V:0..255)
                    m = squeeze(mean(reshape(rgb2hsv(patch),[],3),1));
                    meanHSV = [m(1)*179, m(2)*255, m(3)*255];
                    % Classify RED/BLUE/OTHER (pick RED only)
                    disp(['    Classifying HSV: ' num2str(meanHSV)]);
                    [category, pick] = classifyHSV_rules(meanHSV, h.RED_HSV, h.BLUE_HSV);
                    disp(['    Category: ' char(category) ', Pick: ' num2str(pick)]);
                    % Size (width) in meters using calibration scale
                    if h.calibrated
                        width_m = bb(3) / h.px_per_m_x;
                        x_belt = cx / h.px_per_m_x;
                        y_belt = cy / h.px_per_m_y;
                    else
                        width_m = NaN; x_belt = NaN; y_belt = NaN;
                    end
                    detections(end+1) = struct('x',x_belt,'y',y_belt,...
                        'yaw',angle,'width',width_m,'cat',string(category),...
                        'pick',logical(pick));
                    disp(['    Added detection. Total: ' num2str(numel(detections))]);
                    % Draw
                    col = [0 165 255]/255; % default (OTHER)
                    if strcmp(category,"RED"),  col = [1 0 0]; end
                    if strcmp(category,"BLUE"), col = [0 0 1]; end
                    rectangle('Position',bb,'EdgeColor',col,'LineWidth',2);
                    plot(cx,cy,'r.','MarkerSize',15);
                    % heading arrow
                    vlen = 35;
                    vx = cx + vlen*cosd(angle); vy = cy - vlen*sind(angle);
                    line([cx vx],[cy vy],'Color',[0 0 1],'LineWidth',2);
                    % Label
                    if h.calibrated
                        txt = sprintf('%s %s | w=%.1fmm | (%.3f,%.3f)m',...
                            tern(pick,'PICK','NO-PICK'), char(category), width_m*1000, x_belt,y_belt);
                    else
                        txt = sprintf('%s %s | w~px=%.0f', tern(pick,'PICK','NO-PICK'), char(category), bb(3));
                    end
                    text(bb(1), bb(2)-8, txt, 'Color','w','FontSize',9,'FontWeight','bold',...
                        'BackgroundColor','k');
                end
                hold off; drawnow;
                disp('Drawing complete');
                % Update stats
                disp('Updating stats...');
                reds = 0; blues = 0; others = 0;
                if ~isempty(detections)
                    for idx = 1:numel(detections)
                        if strcmp(detections(idx).cat, 'RED')
                            reds = reds + 1;
                        elseif strcmp(detections(idx).cat, 'BLUE')
                            blues = blues + 1;
                        else
                            others = others + 1;
                        end
                    end
                end
                h.stats.red   = h.stats.red   + reds;
                h.stats.blue  = h.stats.blue  + blues;
                h.stats.other = h.stats.other + others;
                h.stats.total = h.stats.total + numel(detections);
                set(h.statsText,'String',sprintf('RED: %d | BLUE: %d | OTHER: %d', ...
                    h.stats.red, h.stats.blue, h.stats.other));
                disp('Stats updated');
                % Cache detections for automation/save
                disp(['Caching ' num2str(numel(detections)) ' detections']);
                h.detected_objects = detections;
                guidata(gcf, h);
                pause(0.03);
                disp('=== Vision loop iteration end ===');
            catch ME
                fprintf('❌ Vision loop error at: %s\n', ME.message);
                fprintf('   Stack trace:\n');
                for k = 1:length(ME.stack)
                    fprintf('   Line %d in %s\n', ME.stack(k).line, ME.stack(k).name);
                end
                break;
            end
            h = guidata(gcf);
        end
        if ~isempty(h.cam)
            try, clear h.cam; catch, end
        end
        h.visionActive = false;
        guidata(gcf, h);
    end
% ================= Calibration / save / stats =================
    function manualCalibCallback(~, ~)
        h = guidata(gcf);
        if isempty(h.cam)
            warndlg('Start Vision first!'); return;
        end
        frm = snapshot(h.cam);
        f = figure('Name','Manual Belt Calibration'); imshow(frm);
        title('Click TL → TR → BR → BL on BELT corners'); hold on;
        try
            [x,y] = ginput(4);
        catch
            close(f); return;
        end
        close(f);
        if numel(x) ~= 4
            warndlg('Need 4 points (TL,TR,BR,BL).'); return;
        end
        src = [x y];  % image px (TL,TR,BR,BL)
        % Create a rectangular canvas in pixels that represents belt meters
        OUT_W = 900;
        OUT_H = round(OUT_W * (h.BELT_HEIGHT_M / h.BELT_WIDTH_M));
        dst = [0 0; OUT_W-1 0; OUT_W-1 OUT_H-1; 0 OUT_H-1];  % TL,TR,BR,BL in px
        try
            tform = fitgeotrans(src, dst, 'projective');  % image -> topdown px
        catch ME
            errordlg(['Calibration failed: ',ME.message]); return;
        end
        h.H_rect = tform;
        h.OUT_W = OUT_W; h.OUT_H = OUT_H;
        h.px_per_m_x = OUT_W / h.BELT_WIDTH_M;
        h.px_per_m_y = OUT_H / h.BELT_HEIGHT_M;
        h.calibrated = true;
        set(h.statusText, 'String', 'CALIBRATED', 'BackgroundColor', [0.8, 1.0, 0.8]);
        guidata(gcf, h);
        msgbox('Calibration complete ✔','Success');
    end
    function resetCalibCallback(~, ~)
        h = guidata(gcf);
        h.calibrated = false; h.H_rect = [];
        h.OUT_W = []; h.OUT_H = []; h.px_per_m_x = []; h.px_per_m_y = [];
        set(h.statusText, 'String', 'NOT CALIBRATED','BackgroundColor',[1 0.9 0.9]);
        guidata(gcf, h);
        disp('Calibration reset');
    end
    function saveDataCallback(~, ~)
        h = guidata(gcf);
        if ~isempty(h.detected_objects)
            filename = ['data_' datestr(now, 'yyyymmdd_HHMMSS') '.mat'];
            detected_objects = h.detected_objects;
            save(filename, 'detected_objects');
            msgbox(['Saved: ' filename], 'Success');
        else
            warndlg('No data to save');
        end
    end
    function statsCallback(~, ~)
        h = guidata(gcf);
        msg = sprintf('RED: %d\nBLUE: %d\nOTHER: %d\nTOTAL: %d', ...
            h.stats.red, h.stats.blue, h.stats.other, h.stats.total);
        msgbox(msg, 'Statistics');
    end
    function hsvCallback(~, ~)
        msgbox('HSV is using fixed belt mask + RED/BLUE rules defined in code. Adjust BELT_HSV_* and rules if needed.','Info');
    end
% ================= Vision-guided toggle (placeholder) =================
    function visionAutoCallback(src, ~)
        h = guidata(gcf);
        h.visionLoopActive = get(src, 'Value');
        guidata(gcf, h);
        if h.visionLoopActive
            if ~h.visionActive
                warndlg('Start Vision System first!');
                set(src, 'Value', 0);
                h.visionLoopActive = false;
                guidata(gcf, h);
                return;
            end
            disp('🤖 Vision-guided automation started (hook trajectory here).');
        end
    end
% ================= Close GUI =================
    function closeGUI(~, ~)
        h = guidata(gcf);
        h.toggleLoop = false;
        h.visionLoopActive = false;
        h.visionActive = false;
        if ~isempty(h.cam)
            try, clear h.cam; catch, end
        end
        delete(gcf);
    end
% ======================= Helpers (vision) =======================
% Belt mask from OpenCV-like HSV bounds + padding; input RGB image
    function mask = hsvMask_openCV(rgb, lo, hi, pad)
        if nargin<4, pad = [0 0 0]; end
        hsv = rgb2hsv(rgb);
        H = hsv(:,:,1) * 179; S = hsv(:,:,2) * 255; V = hsv(:,:,3) * 255;
        
        hlo = max(lo(1)-pad(1),0); hhi = min(hi(1)+pad(1),179);
        slo = max(lo(2)-pad(2),0); shi = min(hi(2)+pad(2),255);
        vlo = max(lo(3)-pad(3),0); vhi = min(hi(3)+pad(3),255);
        
        if hlo <= hhi
            mh = (H>=hlo) & (H<=hhi);
        else
            mh = (H>=hlo) | (H<=hhi); % hue wrap
        end
        ms = (S>=slo) & (S<=shi);
        mv = (V>=vlo) & (V<=vhi);
        mask = mh & ms & mv;
        
        mask = imopen(mask, strel('disk',3));
        mask = imclose(mask, strel('disk',5));
    end

% Classify mean HSV (OpenCV-like values) -> {"RED","BLUE","OTHER"}, and pick flag
    function [category, pick] = classifyHSV_rules(meanHSV, RED_RULE, BLUE_RULE)
        category = "OTHER"; pick = false;
        H = meanHSV(1); S = meanHSV(2); V = meanHSV(3);
        
        % helper to test one rule
        function ok = testRule(H,S,V, R)
            ok = false;
            if S < R.s(1) || S > R.s(2) || V < R.v(1) || V > R.v(2), return; end
            hr = R.h; % one or two rows
            if size(hr,1)==1, hr = [hr; hr]; end
            for ii=1:size(hr,1)
                lo = hr(ii,1); hi = hr(ii,2);
                if (lo<=hi && H>=lo && H<=hi) || (lo>hi && (H>=lo || H<=hi))
                    ok = true; return;
                end
            end
        end
        
        if testRule(H,S,V, RED_RULE),  category="RED";  pick = true;  return; end
        if testRule(H,S,V, BLUE_RULE), category="BLUE"; pick = false; return; end
    end

% Ternary helper for labeling
    function s = tern(cond, a, b)
        if cond
            s=a;
        else
            s=b; 
        end
    end
end

[Matt J]

its not even showing me the line error or anything

How about dbstop?

[pruthvi]

@Matt J ill have to try dbstop at a lot of places like that but will try , but for a fact i know my error is at start vision function because i was trying normal camera feed , then trying to add detection and some cvr functions so it is working till now but when i try to add them all together i am getting the same error and i have to do it all together because i have to make a complete system of pick and place using machine learning on matlab and simulink strictly

[Paul]

How about

>> dbstop if error

[Matt J]

Or dbstep. If you say you know approximately where the error is happening, that could be another way to quickly trap it.

[Stephen23]

Nicely written code, but there are still a few places where it could be tighter code, which would reduce the likelihood of such bugs and make it easier to debug this yourself:

• Replace all guidata(gcf) with guidata(hFig). Avoid GCF, GCA, etc if you want to write robust GUIs.
• Make your code simpler by using an array of handles, rather than awkwardly forcing numbers into fieldnames. I.e. replace h.(['slider' num2str(i)]) with the simpler and more efficient h.slider(i).
• Ditto for h.edit.
• Preallocate the object arrays using GOBJECTS.
• Get rid of GUIDATA completely. You don't need it. You already wrote nested functions, so you can simply refer to the data in the parent workspace. It will work fine, nested functions are by far the best way to pass data around GUI callbacks: https://www.mathworks.com/help/matlab/creating_guis/share-data-among-callbacks.html#bt9p4s2
• Then you could get rid of HANDLES too.
• Most likely setting ENABLE or VISIBLE property would be cleaner than changing the background color.
• Replace magic numbers with named constants, e.g.:

NUM_JOINTS = 6;
VISION_PAUSE_SEC = 0.03;
MIN_CALIBRATION_POINTS = 4;
DEFAULT_JOINT_ANGLE = 0;

Answer 1

[Walter Roberson]

                h.figVision = figure('Name', 'Vision System', 'NumberTitle', 'off');

You are creating a new figure.

    function runVisionLoop()
        h = guidata(gcf);

The current figure defaults to the most recently created figure (unless you change the active figure or unless the most recently created figure was created with visibility off or handle visibility off). But that recently created figure does not have any associated gui data...