int mode=-1;
float phi=0;
float psi=0;
float t=0;

void setup (){
smooth();
size(500,500);
frameRate(50);
}

void planetgear(float phi, float psi){
float theta=phi/3+2*psi/3;
float alpha=(phi-psi)*4/3;
ellipse(0,0,400,400);    //outer circle
ellipse(0,0,200,200);    //inner circle
pushMatrix();
rotate(theta);
ellipse(150,0,100,100);  //planetgear
fill(255,0,0);
ellipse(-50*cos(alpha)+150,50*sin(alpha),10,10);
fill(0,255,0);
ellipse(50*cos(-alpha)+150,50*sin(-alpha),10,10);
fill(0,0,255);
ellipse(150,0,10,10);    //carrier center
popMatrix();
fill(255,0,0);
ellipse(100*cos(phi),100*sin(phi),10,10); //contact point
fill(0,255,0);
ellipse(200*cos(psi),200*sin(psi),10,10); //contact point
}

void draw (){
translate(250,250);
fill(255);
rect(-250,-250,500,500); //clear box
fill(255,0,0);
rect(-230,205,25,25);    //mode0 box
fill(0,255,0);
rect(-180,205,25,25);    //mode1 box
fill(255,166,0);
rect(155,205,25,25);     //mode2 box
fill(0,0,255);
rect(205,205,25,25);     //mode3 box
fill(255);
stroke(0);
planetgear(phi,psi);
if(mode==0){t+=1;phi=-PI*t/64;if(t>64*6){noLoop();}}
if(mode==1){t+=1;psi=-PI*t/96;if(t>96*6){noLoop();}}
if(mode==2)

{t+=1;
if(t<=64){phi=-PI*t/128;}
if(64<t && t<=64*3){psi=-PI*(t-64)/128;}
if(64*3<t && t<=64*5){phi=-PI*(t-64*2)/128;}
if(64*5<t && t<=64*7){psi=-PI*(t-64*3)/128;}
if(64*7<t && t<=64*8){phi=-PI*(t-64*4)/128;}
if(64*8<t){noLoop();t=0;phi=0;psi=0;}}




if(mode==3){t+=1;phi=-PI*sin(PI*t/128);psi=-PI*sin(PI*t/128/2);
if(t>128*4){noLoop();}}
}
void mousePressed(){
int x=mouseX; int y=mouseY;
mode=-1;phi=0;psi=0;t=0;noLoop();
if(20<=x && x<=45 && 455 <=y && y <= 480){mode=0;loop();}
if(70<=x && x<=95 && 455 <=y && y <= 480){mode=1;loop();}
if(405<=x && x<=430 && 455 <=y && y <= 480){mode=2;loop();}
if(455<=x && x<=480 && 455 <=y && y <= 480){mode=3;loop();}
println("mode="+mode);
}