testbcirobot.mdl

simulink real-time workshop for dragon12 development board from

      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskToolTipString	      "on,on,on"
      MaskVarAliasString      ",,"
      MaskVariables	      "Nmax=@1;Ninc=@2;Ts=@3;"
      MaskInitialization      "Nmax = floor(abs(Nmax));\nNinc = max(1, floor(a"
"bs(Ninc)));\nif (Ninc > Nmax)\n	error(['Stepper motor driver: Invalid "
"number of increments (Ninc = ' num2str(Ninc) '; value must be smaller or equa"
"l to Nmax = ' num2str(Nmax) ')'])\nend\n\n% work out pulse length\nTpulse_ = "
"1/Nmax/2;\n%disp(['Pulse length: ' num2str(1000*Tpulse_) ' ms.'])\n\n% ensure"
" that sample time is fixed multiple of 'Ts'\nTpulse = ceil(Tpulse_/Ts)*Ts;\ni"
"f (Tpulse > Tpulse_)\n	disp('Decreasing maximum number of pulses per s"
"econd to ensure that the pulse duration is an integer multiple of ''Ts''')\n"
"	\n	% adjust Nmax\n	Nmax = floor(1/Tpulse/2);\n	d"
"isp(['New Nmax: ' num2str(Nmax) ' pulses per second.'])\nend\n	\n% wor"
"k out quantization interval\ndQ = floor(Nmax/Ninc);"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "200|20|2e-3"
      System {
	Name			"right stepper motor driver"
	Location		[115, 151, 1014, 474]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "VelocityIn [-1 to 1]"
	  Position		  [825, 223, 855, 237]
	  Orientation		  "left"
	}
	Block {
	  BlockType		  Saturate
	  Name			  "0 ... 1"
	  Position		  [525, 215, 555, 245]
	  Orientation		  "left"
	  UpperLimit		  "1"
	  LowerLimit		  "0"
	}
	Block {
	  BlockType		  Abs
	  Name			  "Abs"
	  Position		  [575, 215, 605, 245]
	  Orientation		  "left"
	  ShowName		  off
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant"
	  Position		  [190, 40, 220, 70]
	  Orientation		  "left"
	  ShowName		  off
	  Value			  "0"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant1"
	  Position		  [40, 85, 70, 115]
	  ShowName		  off
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant3"
	  Position		  [525, 175, 555, 205]
	  Orientation		  "left"
	  ShowName		  off
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant4"
	  Position		  [665, 180, 695, 210]
	  Orientation		  "left"
	  ShowName		  off
	  Value			  "0"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant5"
	  Position		  [250, 260, 280, 290]
	  ShowName		  off
	  Value			  "Nmax"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant6"
	  Position		  [350, 180, 380, 210]
	  Orientation		  "left"
	  ShowName		  off
	}
	Block {
	  BlockType		  DataTypeConversion
	  Name			  "Data Type Conversion"
	  Position		  [730, 86, 785, 114]
	  ShowName		  off
	  DataType		  "double"
	}
	Block {
	  BlockType		  DataTypeConversion
	  Name			  "Data Type Conversion1"
	  Position		  [730, 146, 785, 174]
	  ShowName		  off
	  DataType		  "double"
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain"
	  Position		  [400, 213, 445, 247]
	  Orientation		  "left"
	  Gain			  "Nmax"
	}
	Block {
	  BlockType		  Quantizer
	  Name			  "Quantizer"
	  Position		  [350, 215, 380, 245]
	  Orientation		  "left"
	  QuantizationInterval	  "dQ"
	}
	Block {
	  BlockType		  RelationalOperator
	  Name			  "Relational\nOperator"
	  Position		  [350, 82, 380, 113]
	  ShowName		  off
	  InputSameDT		  off
	  LogicOutDataTypeMode	  "Specify via dialog"
	}
	Block {
	  BlockType		  RelationalOperator
	  Name			  "Relational\nOperator1"
	  Position		  [250, 222, 280, 253]
	  Orientation		  "left"
	  ShowName		  off
	  Operator		  "=="
	  InputSameDT		  off
	  LogicOutDataTypeMode	  "Specify via dialog"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1]
	  Position		  [105, 90, 125, 110]
	  NamePlacement		  "alternate"
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "++|"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum1"
	  Ports			  [2, 1]
	  Position		  [480, 220, 500, 240]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "+-|"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum2"
	  Ports			  [2, 1]
	  Position		  [225, 125, 245, 145]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum3"
	  Ports			  [2, 1]
	  Position		  [305, 185, 325, 205]
	  Orientation		  "up"
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|++"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Switch
	  Name			  "Switch"
	  Position		  [190, 75, 220, 105]
	  Criteria		  "u2 > Threshold"
	  InputSameDT		  off
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  UnitDelay
	  Name			  "Unit Delay"
	  Position		  [245, 73, 280, 107]
	  ShowName		  off
	  SampleTime		  "Tpulse"
	}
	Block {
	  BlockType		  RelationalOperator
	  Name			  "compare"
	  Position		  [665, 142, 695, 173]
	  ShowName		  off
	  InputSameDT		  off
	  LogicOutDataTypeMode	  "Specify via dialog"
	}
	Block {
	  BlockType		  Outport
	  Name			  "PulseOut"
	  Position		  [825, 93, 855, 107]
	}
	Block {
	  BlockType		  Outport
	  Name			  "Sign"
	  Position		  [825, 153, 855, 167]
	  Port			  "2"
	}
	Line {
	  SrcBlock		  "Data Type Conversion1"
	  SrcPort		  1
	  DstBlock		  "Sign"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Data Type Conversion"
	  SrcPort		  1
	  DstBlock		  "PulseOut"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Switch"
	  SrcPort		  1
	  DstBlock		  "Unit Delay"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Unit Delay"
	  SrcPort		  1
	  Points		  [30, 0]
	  Branch {
	    DstBlock		    "Relational\nOperator"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -60; -200, 0]
	    DstBlock		    "Sum"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Relational\nOperator"
	  SrcPort		  1
	  Points		  [0, 0; 25, 0]
	  Branch {
	    DstBlock		    "Data Type Conversion"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 35]
	    DstBlock		    "Sum2"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Switch"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Constant"
	  SrcPort		  1
	  Points		  [-20, 0; 0, 25]
	  DstBlock		  "Switch"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "compare"
	  SrcPort		  1
	  DstBlock		  "Data Type Conversion1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Constant4"
	  SrcPort		  1
	  Points		  [-15, 0; 0, -30]
	  DstBlock		  "compare"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Quantizer"
	  SrcPort		  1
	  Points		  [0, 0; -30, 0]
	  Branch {
	    DstBlock		    "Relational\nOperator1"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Sum3"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Gain"
	  SrcPort		  1
	  DstBlock		  "Quantizer"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "VelocityIn [-1 to 1]"
	  SrcPort		  1
	  Points		  [-105, 0; -80, 0]
	  Branch {
	    DstBlock		    "Abs"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -80]
	    DstBlock		    "compare"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Constant3"
	  SrcPort		  1
	  Points		  [-30, 0]
	  DstBlock		  "Sum1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Abs"
	  SrcPort		  1
	  DstBlock		  "0 ... 1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "Gain"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "0 ... 1"
	  SrcPort		  1
	  DstBlock		  "Sum1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Constant5"
	  SrcPort		  1
	  Points		  [10, 0]
	  DstBlock		  "Relational\nOperator1"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum2"
	  SrcPort		  1
	  Points		  [-60, 0; 0, -45]
	  DstBlock		  "Switch"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Relational\nOperator1"
	  SrcPort		  1
	  Points		  [-10, 0]
	  DstBlock		  "Sum2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Constant6"
	  SrcPort		  1
	  DstBlock		  "Sum3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Sum3"
	  SrcPort		  1
	  Points		  [0, -75]
	  DstBlock		  "Relational\nOperator"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Constant1"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      Constant
      Name		      "vleft"
      Position		      [55, 155, 85, 185]
      NamePlacement	      "alternate"
      Value		      "-0.9"
    }
    Block {
      BlockType		      Constant
      Name		      "vright"
      Position		      [55, 195, 85, 225]
      Value		      "0.8"
    }
    Line {
      SrcBlock		      "left stepper motor driver"
      SrcPort		      1
      Points		      [100, 0]
      DstBlock		      "Velocity left"
      DstPort		      1
    }
    Line {
      SrcBlock		      "left stepper motor driver"
      SrcPort		      2
      Points		      [100, 0]
      DstBlock		      "Direction left"
      DstPort		      1
    }
    Line {
      SrcBlock		      "right stepper motor driver"
      SrcPort		      1
      Points		      [100, 0]
      DstBlock		      "Velocity right"
      DstPort		      1
    }
    Line {
      SrcBlock		      "right stepper motor driver"
      SrcPort		      2
      Points		      [100, 0]
      DstBlock		      "Direction right"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Motor Power\nControl"
      SrcPort		      1
      DstBlock		      "Motor Enable Pin"
      DstPort		      1
    }
    Line {
      SrcBlock		      "vleft"
      SrcPort		      1
      Points		      [50, 0]
      Branch {
	DstBlock		"Motor Power\nControl"
	DstPort			1
      }
      Branch {
	Points			[0, -70]
	DstBlock		"left stepper motor driver"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "vright"
      SrcPort		      1
      Points		      [50, 0]
      Branch {
	DstBlock		"Motor Power\nControl"
	DstPort			2
      }
      Branch {
	Points			[0, 75]
	DstBlock		"right stepper motor driver"
	DstPort			1
      }
    }
  }
}