soccer.mdl

用于网络控制系统仿真

Model {
  Name			  "soccer"
  Version		  4.00
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  ShowStorageClass	  off
  ExecutionOrder	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  PostLoadFcn		  "init_motes"
  InitFcn		  "clear functions"
  Created		  "Tue Jun 26 13:16:28 2001"
  Creator		  "anton"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "anton"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Wed Jan  3 17:47:06 2007"
  ModelVersionFormat	  "1.%<AutoIncrement:335>"
  ConfigurationManager	  "none"
  SimParamPage		  "Solver"
  StartTime		  "0.0"
  StopTime		  "150"
  SolverMode		  "Auto"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  Refine		  "1"
  MaxStep		  "auto"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  off
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Array"
  LimitDataPoints	  on
  MaxDataPoints		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  SingleTaskRateTransMsg  "none"
  MultiTaskRateTransMsg	  "error"
  IntegerOverflowMsg	  "warning"
  CheckForMatrixSingularity "none"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  InvalidFcnCallConnMsg	  "error"
  SignalLabelMismatchMsg  "none"
  LinearizationMsg	  "none"
  VectorMatrixConversionMsg "none"
  SfunCompatibilityCheckMsg "none"
  BlockPriorityViolationMsg "warning"
  ArrayBoundsChecking	  "none"
  ConsistencyChecking	  "none"
  ZeroCross		  on
  Profile		  off
  SimulationMode	  "normal"
  RTWSystemTargetFile	  "grt.tlc"
  RTWOptions		  "-aEnforceIntegerDowncast=1 -aFoldNonRolledExpr=1 -a"
"InlineInvariantSignals=0 -aInlineParameters=0 -aLocalBlockOutputs=1 -aRollThr"
"eshold=5 -aGenerateReport=0 -aGenCodeOnly=0 -aRTWVerbose=1 -aIncludeHyperlink"
"InReport=0 -aLaunchReport=0 -aForceParamTrailComments=0 -aGenerateComments=1 "
"-aIgnoreCustomStorageClasses=1 -aIncHierarchyInIds=0 -aMaxRTWIdLen=31 -aShowE"
"liminatedStatements=0 -aPrefixModelToSubsysFcnNames=1 -aIncDataTypeInIds=0 -a"
"InsertBlockDesc=0 -aSimulinkBlockComments=1 -aInlinedPrmAccess=\"Literals\"  "
"-aSuppressErrorStatus=0 -aModelReferenceCompliant=1 -aSupportNonInlinedSFcns="
"1 -aSupportContinuousTime=1 -aSupportComplex=1 -aSupportNonFinite=1 -aSupport"
"AbsoluteTime=1 -aTargetPreCompLibLocation=\"\" -aTargetLibSuffix=\"\" -aTarge"
"tFcnLib=\"ansi_tfl_tmw.mat\" -aMultiInstanceERTCode=0 -aLogVarNameModifier=\""
"rt_\" -aERTFirstTimeCompliant=0 -aIsPILTarget=0 -aCombineOutputUpdateFcns=0 -"
"aGenerateASAP2=0 -aGenerateTestInterfaces=0 -aGenerateSampleERTMain=0 -aGener"
"ateFullHeader=1 -aUtilityFuncGeneration=\"Auto\" -aIncludeFileDelimiter=\"Aut"
"o\" -aIncludeERTFirstTime=1 -aIncludeMdlTerminateFcn=1 -aPurelyIntegerCode=0 "
"-aERTCustomFileBanners=0 -aRTWCAPIStates=0 -aRTWCAPIParams=0 -aRTWCAPISignals"
"=0 -aMatFileLogging=1 -aGenFloatMathFcnCalls=\"ANSI_C\" -aExtModeMexFile=\"ex"
"t_comm\" -aExtModeTransport=0 -aExtModeStaticAllocSize=1000000 -aExtModeTesti"
"ng=0 -aExtModeStaticAlloc=0 -aExtMode=0  "
  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  TLCProfiler		  off
  TLCDebug		  off
  TLCCoverage		  off
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  TryForcingSFcnDF	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "normal"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  on
  ExtModeSkipDownloadWhenConnect off
  ExtModeLogAll		  on
  ExtModeAutoUpdateStatusClock off
  OptimizeBlockIOStorage  on
  BufferReuse		  on
  ParameterPooling	  on
  BlockReductionOpt	  off
  RTWExpressionDepthLimit 5
  BooleanDataType	  off
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "soccer"
    Location		    [24, 69, 407, 743]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "portrait"
    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "Animation"
      Ports		      []
      Position		      [265, 189, 365, 266]
      BackgroundColor	      "green"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskPromptString	      "Number of nodes"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskToolTipString	      "on"
      MaskVariables	      "N=@1;"
      MaskInitialization      "%Remove all \"From\" blocks\n%Remove all lines "
"from the \"From\" blocks\nmuxblocks = {'xMux', 'yMux'};\nfromblocks={'x', 'y'"
"};\nfor j=1:length(muxblocks),\n  Nold=str2num(get_param(strcat(strcat(gcb,'/"
"'), muxblocks{j}),'Inputs'));\n  for k=1:Nold\n    to_name=strcat(strcat(muxb"
"locks{j}, '/'), num2str(k));\n    from_name=strcat(strcat(fromblocks{j}, num2"
"str(k)), '/1');\n    delete_line(gcb, from_name, to_name);\n    delete_block("
"strcat(strcat(gcb, '/'), strcat(fromblocks{j}, num2str(k))));\n  end\n  set_p"
"aram(strcat(strcat(gcb,'/'), muxblocks{j}),'Inputs',num2str(N));\nend\n\nfor "
"k=1:N\n    name=strcat(strcat(gcb,'/x'),num2str(k));\n    add_block('built-in"
"/From',name,'Position',[15 15+(k-1)*20 45 15+k*20],'GotoTag',strcat('x',num2s"
"tr(k)));\n    add_line(gcb,strcat(strcat('x',num2str(k)),'/1'),strcat('xMux/'"
",num2str(k)));\n    \n    name=strcat(strcat(gcb,'/y'),num2str(k));\n    add_"
"block('built-in/From',name,'Position',[80 150+(k-1)*20 110 150+k*20],'GotoTag"
"',strcat('y',num2str(k)));\n    add_line(gcb,strcat(strcat('y',num2str(k)),'/"
"1'),strcat('yMux/',num2str(k)));\nend    "
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "10"
      System {
	Name			"Animation"
	Location		[495, 301, 999, 681]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  SubSystem
	  Name			  "Ball Motion1"
	  Ports			  [2]
	  Position		  [235, 167, 310, 218]
	  ShowPortLabels	  on
	  TreatAsAtomicUnit	  off
	  RTWSystemCode		  "Auto"
	  RTWFcnNameOpts	  "Auto"
	  RTWFileNameOpts	  "Auto"
	  MaskPromptString	  "Number of Motes"
	  MaskStyleString	  "edit"
	  MaskTunableValueString  "on"
	  MaskEnableString	  "on"
	  MaskVisibilityString	  "on"
	  MaskToolTipString	  "on"
	  MaskVariables		  "numMotes=@1;"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	  MaskValueString	  "10"
	  System {
	    Name		    "Ball Motion1"
	    Location		    [471, 761, 694, 881]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "x"
	      Position		      [20, 28, 50, 42]
	      Port		      "1"
	      LatchInput	      off
	      Interpolate	      on
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "y"
	      Position		      [20, 63, 50, 77]
	      Port		      "2"
	      LatchInput	      off
	      Interpolate	      on
	    }
	    Block {
	      BlockType		      "S-Function"
	      Name		      "Mote Animation"
	      Ports		      [1]
	      Position		      [115, 37, 195, 73]
	      DeleteFcn		      "if ~isempty(findobj('type','figure','na"
"me','dblpend1 Animation'));close('dblpend1 Animation'); end;"
	      FunctionName	      "ballmotion"
	      Parameters	      "[numMotes,xBall,yBall]"
	      PortCounts	      "[]"
	      SFunctionModules	      "''"
	    }
	    Block {
	      BlockType		      Mux
	      Name		      "Mux"
	      Ports		      [2, 1]
	      Position		      [85, 36, 90, 74]
	      ShowName		      off
	      Inputs		      "2"
	      DisplayOption	      "bar"
	    }
	    Line {
	      SrcBlock		      "x"
	      SrcPort		      1
	      Points		      [5, 0; 0, 10]
	      DstBlock		      "Mux"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "y"
	      SrcPort		      1
	      Points		      [5, 0; 0, -5]
	      DstBlock		      "Mux"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Mux"
	      SrcPort		      1
	      DstBlock		      "Mote Animation"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "Mote Animation"
	  Ports			  []
	  Position		  [365, 117, 445, 153]
	  DeleteFcn		  "if ~isempty(findobj('type','figure','name',"
"'dblpend1 Animation'));close('dblpend1 Animation'); end;"
	  FunctionName		  "mote_state"
	  PortCounts		  "[]"
	  SFunctionModules	  "''"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Mote Animation1"
	  Ports			  [2]
	  Position		  [230, 57, 305, 108]
	  ShowPortLabels	  on
	  TreatAsAtomicUnit	  off
	  RTWSystemCode		  "Auto"
	  RTWFcnNameOpts	  "Auto"
	  RTWFileNameOpts	  "Auto"
	  MaskPromptString	  "Number of Motes|xMax|YMax|Update period|x0|"
"y0"
	  MaskStyleString	  "edit,edit,edit,edit,edit,edit"
	  MaskTunableValueString  "on,on,on,on,on,on"
	  MaskCallbackString	  "|||||"
	  MaskEnableString	  "on,on,on,on,on,on"
	  MaskVisibilityString	  "on,on,on,on,on,on"
	  MaskToolTipString	  "on,on,on,on,on,on"
	  MaskVariables		  "numMotes=@1;xmax=@2;ymax=@3;ts=@4;x0=@5;y0="
"@6;"
	  MaskIconFrame		  on
	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	  MaskValueString	  "10|20|30|0.1|xPos|yPos"
	  MaskVariableAliases	  ",,,,,"
	  System {
	    Name		    "Mote Animation1"
	    Location		    [501, 650, 724, 770]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "x"
	      Position		      [20, 28, 50, 42]
	      Port		      "1"
	      LatchInput	      off
	      Interpolate	      on
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "y"
	      Position		      [20, 63, 50, 77]
	      Port		      "2"
	      LatchInput	      off
	      Interpolate	      on
	    }
	    Block {
	      BlockType		      "S-Function"
	      Name		      "Mote Animation"
	      Ports		      [1]
	      Position		      [115, 37, 195, 73]
	      DeleteFcn		      "if ~isempty(findobj('type','figure','na"
"me','dblpend1 Animation'));close('dblpend1 Animation'); end;"
	      FunctionName	      "moteanimation"
	      Parameters	      "[numMotes ts xmax ymax] x0 y0"
	      PortCounts	      "[]"
	      SFunctionModules	      "''"
	    }
	    Block {
	      BlockType		      Mux
	      Name		      "Mux"
	      Ports		      [2, 1]
	      Position		      [85, 36, 90, 74]
	      ShowName		      off
	      Inputs		      "2"
	      DisplayOption	      "bar"
	    }
	    Line {
	      SrcBlock		      "Mux"
	      SrcPort		      1
	      DstBlock		      "Mote Animation"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "y"
	      SrcPort		      1
	      Points		      [5, 0; 0, -5]
	      DstBlock		      "Mux"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "x"
	      SrcPort		      1
	      Points		      [5, 0; 0, 10]
	      DstBlock		      "Mux"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  From
	  Name			  "x1"
	  Position		  [15, 15, 45, 35]
	  GotoTag		  "x1"
	}
	Block {
	  BlockType		  From
	  Name			  "x10"
	  Position		  [15, 195, 45, 215]
	  GotoTag		  "x10"
	}
	Block {
	  BlockType		  From
	  Name			  "x2"
	  Position		  [15, 35, 45, 55]
	  GotoTag		  "x2"
	}
	Block {
	  BlockType		  From
	  Name			  "x3"
	  Position		  [15, 55, 45, 75]
	  GotoTag		  "x3"
	}
	Block {
	  BlockType		  From
	  Name			  "x4"
	  Position		  [15, 75, 45, 95]
	  GotoTag		  "x4"
	}
	Block {
	  BlockType		  From
	  Name			  "x5"
	  Position		  [15, 95, 45, 115]
	  GotoTag		  "x5"
	}
	Block {
	  BlockType		  From
	  Name			  "x6"
	  Position		  [15, 115, 45, 135]
	  GotoTag		  "x6"
	}
	Block {
	  BlockType		  From
	  Name			  "x7"
	  Position		  [15, 135, 45, 155]
	  GotoTag		  "x7"
	}
	Block {
	  BlockType		  From
	  Name			  "x8"
	  Position		  [15, 155, 45, 175]
	  GotoTag		  "x8"
	}
	Block {
	  BlockType		  From
	  Name			  "x9"
	  Position		  [15, 175, 45, 195]
	  GotoTag		  "x9"
	}
	Block {
	  BlockType		  Mux
	  Name			  "xMux"
	  Ports			  [10, 1]
	  Position		  [85, 18, 90, 122]
	  Inputs		  "10"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  From
	  Name			  "y1"
	  Position		  [80, 150, 110, 170]
	  GotoTag		  "y1"
	}
	Block {
	  BlockType		  From
	  Name			  "y10"
	  Position		  [80, 330, 110, 350]
	  GotoTag		  "y10"
	}
	Block {
	  BlockType		  From
	  Name			  "y2"
	  Position		  [80, 170, 110, 190]
	  GotoTag		  "y2"
	}
	Block {
	  BlockType		  From
	  Name			  "y3"
	  Position		  [80, 190, 110, 210]
	  GotoTag		  "y3"
	}
	Block {
	  BlockType		  From
	  Name			  "y4"
	  Position		  [80, 210, 110, 230]
	  GotoTag		  "y4"
	}
	Block {
	  BlockType		  From
	  Name			  "y5"
	  Position		  [80, 230, 110, 250]
	  GotoTag		  "y5"
	}
	Block {
	  BlockType		  From
	  Name			  "y6"
	  Position		  [80, 250, 110, 270]
	  GotoTag		  "y6"
	}
	Block {
	  BlockType		  From
	  Name			  "y7"
	  Position		  [80, 270, 110, 290]
	  GotoTag		  "y7"
	}
	Block {
	  BlockType		  From
	  Name			  "y8"
	  Position		  [80, 290, 110, 310]
	  GotoTag		  "y8"
	}
	Block {
	  BlockType		  From
	  Name			  "y9"
	  Position		  [80, 310, 110, 330]
	  GotoTag		  "y9"
	}
	Block {
	  BlockType		  Mux
	  Name			  "yMux"
	  Ports			  [10, 1]
	  Position		  [155, 153, 160, 257]
	  Inputs		  "10"
	  DisplayOption		  "bar"
	}
	Line {
	  SrcBlock		  "xMux"