function [sys,x0,str,ts] = sfrobota(t,x,q,flag,tanim)

if flag == 2

  [flag,fig]=figflag('Robot',1);
  if flag==0
    return;
  end
  
  h = get(fig(1),'UserData');

  if size(h) ~= [1,16]
    return;
  end

  set(h(1),'Visible','off'); 		% Playback button
  
  Rot=[cos(q(3)),+sin(q(3));...
      -sin(q(3)),cos(q(3))];
  Ori=q(1:2);
  
  % Tyres
  
  tyre=[-.3,-.1;-.3,.1;.3,.1;.3,-.1;-.3,-.1];

  % Back tires  
  set(h(3),'xdata',Ori(1)+[tyre(:,1),tyre(:,2)-.7]*Rot(:,1),...
           'ydata',Ori(2)+[tyre(:,1),tyre(:,2)-.7]*Rot(:,2));
  set(h(4),'xdata',Ori(1)+[tyre(:,1),tyre(:,2)+.7]*Rot(:,1),...
           'ydata',Ori(2)+[tyre(:,1),tyre(:,2)+.7]*Rot(:,2));
      
  % Front tire       

  L=1;
  v=q(4);
  w=q(5);
  if (v==0 & w==0)
    th2=q(3);
  else
    th2=atan2(v*sin(q(3))+L*cos(q(3))*w,v*cos(q(3))-L*sin(q(3))*w);
  end    
   
  Rot0=[cos(th2),sin(th2);...
      -sin(th2),cos(th2)];
  set(h(5),'xdata',Ori(1)+[L,0]*Rot(:,1)+.7*[tyre(:,1),tyre(:,2)]*Rot0(:,1),...
           'ydata',Ori(2)+[L,0]*Rot(:,2)+.7*[tyre(:,1),tyre(:,2)]*Rot0(:,2));
  
  % Car Frame

  carframe=[0,0;NaN,NaN;-.5,-1;-.5,1;L+.5,1;L+.5,-1;-.5,-1];
%  carframe=[-.5,-1;-.5,1;L+.5,1;L+.5,-1;-.5,-1];
  set(h(7),'xdata',carframe(:,1),'ydata',carframe(:,2));
  set(h(2),'xdata',Ori(1)+carframe*Rot(:,1),'ydata',Ori(2)+carframe*Rot(:,2));

  % Switching diagram

%  if q(5) < 4  
%    set(h(8),'xdata',[h(9),h(10+q(5))],'ydata',[h(10),h(13+q(5))]);
%  else
%    set  (h(8),'xdata',[],'ydata',[]);  
%  end    
  
  drawnow
  
elseif flag==0
  sys=[0 				% 0 continuous states
      1 				% 1 discrete states
      6 				% 5 outputs
      5 				% dynamically_sized inputs
      0 				% 0 roots
      1 				% no direct feedthrough
      1]; 				% 1 sample time
  ts=[tanim,0];
  x0=[0];
  
  [flag,fig]=figflag('Robot',0);
  
  if flag==0 				% if figure does not exist create it
    fig=figure( ...
	'Name','Robot', ...
	'NumberTitle','off', ...
	'Color','k', ...
	'Visible','on', ...
	'Units','normalized', ...
	'Position',[0.25 0.25 0.5 0.48], ... % THIS IS WINDOW SIZE/POSITION
	'Backingstore','off');
  else
    delete(fig(2:length(fig)))
    fig=fig(1);
    
    h = get(fig(1),'UserData');
    if size(h)==[1,16]
      return;
    end
    
    clf
    set(fig, ...
	'Name','Robot', ...
	'NumberTitle','off', ...
	'Visible','on', ...
	'Units','normalized', ...
	... 				% 'Position',[.51 .98 .47 .5], ...
	'Backingstore','off');
  end
  
  axes( ...
      'Units','normalized', ...
      'Position',[0 0 1 1], ...
      'AspectRatio',[1 1], ...
      'Clipping','off', ...       
       'XLim',[-9 9],'YLim',[-7 9], ...
...%       'XTick',[],'YTick',[], ...
       'Drawmode','fast', ...
       'Visible','off', ... % the axes
       'Box','on', ...
...%       'dataaspectratiomode','auto',...
...%       'plotboxaspectratiomode','auto',...
       'NextPlot','add');
   
  
   car = line( ...
       'color','g', ...
       'linestyle','-', ...
       'markersize',1, ...
       'erase','background', ...
       'xdata',[],'ydata',[]);
   
   whe1 = patch( ...
       'EdgeColor','none', ...
       'FaceColor','r', ...
       'erase','background', ...
       'xdata',[],'ydata',[]);
   
   whe2 = patch( ...
       'EdgeColor','none', ...
       'FaceColor','r', ...
       'erase','background', ...
       'xdata',[],'ydata',[]);
   
   whe3 = patch( ...
       'EdgeColor','none', ...
       'FaceColor','r', ...
       'erase','background', ...
       'xdata',[],'ydata',[]);
   
   whe4 = patch( ...
       'EdgeColor','none', ...
       'FaceColor','r', ...
       'erase','background', ...
       'xdata',[],'ydata',[]);
   
   setpoint = line( ...
       'color','y', ...
       'linestyle','-', ...
       'markersize',1, ...
       'erase','background', ...
       'xdata',[],'ydata',[]);
  
   % Axis for the switching diagram
   
   sw=0;
   sw1=[0 0];
   sw2=zeros(1,6);
%   [sw,sw1,sw2]=switchdi([.62 .65 .4 .4]);

   playbk=uicontrol(fig, ...
       'Style','push', ...
       'String','Playback', ...
       'Unit','normalized', ...
       'Pos',[0.01 0.01 0.2 0.06], ...
       'Call', ...
       [	'if exist(''record'')==1,' ...
	     '   robotmovie(record);' ...
	     'else,' ...
	       '   disp(''Must run simulation first.''),' ...
	       'end'] );
     
   set(fig,'UserData',[playbk car whe1 whe2 whe3 whe4 setpoint sw sw1(1:2) sw2(1:6)])

   drawnow
elseif flag==3
  sys=[t;q];
elseif flag==9
  [flag,fig]=figflag('Robot',1);
  h = get(fig(1),'UserData');
  set(h(1),'Visible','on');
  
  sys=[];
else
  sys=[];
end