📄 testbcirobot3e_sim.mdl
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ShowName off
Inputs "3"
ShowAdditionalParam on
InputSameDT off
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator1"
Position [505, 47, 535, 78]
ShowName off
Operator "~="
InputSameDT off
LogicOutDataTypeMode "Specify via dialog"
}
Block {
BlockType Step
Name "Step"
Position [65, 70, 95, 100]
After "3"
SampleTime "0"
}
Block {
BlockType Step
Name "Step1"
Position [65, 115, 95, 145]
Time "2"
After "-2"
SampleTime "0"
}
Block {
BlockType Step
Name "Step2"
Position [65, 165, 95, 195]
Time "2.1"
After "-1"
SampleTime "0"
}
Block {
BlockType Step
Name "Step3"
Position [65, 215, 95, 245]
Time "4"
After "2"
SampleTime "0"
}
Block {
BlockType Step
Name "Step4"
Position [65, 260, 95, 290]
Time "4.2"
After "-2"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [5, 1]
Position [205, 165, 235, 215]
ShowName off
Inputs "+++++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType ZeroOrderHold
Name "Zero-Order\nHold"
Position [760, 116, 795, 154]
ShowName off
SampleTime "0.1"
}
Block {
BlockType Quantizer
Name "integer"
Position [405, 175, 435, 205]
QuantizationInterval "1"
}
Block {
BlockType SubSystem
Name "myDLatch"
Ports [1, 1]
Position [580, 170, 645, 210]
NamePlacement "alternate"
TreatAsAtomicUnit off
System {
Name "myDLatch"
Location [52, 117, 528, 412]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
ZoomFactor "100"
Block {
BlockType Inport
Name "In1"
Position [45, 128, 75, 142]
}
Block {
BlockType Constant
Name "Constant"
Position [105, 154, 125, 176]
ShowName off
Value "0"
}
Block {
BlockType Reference
Name "D Latch"
Ports [2, 2]
Position [225, 122, 275, 173]
SourceBlock "simulink_extras/Flip Flops/D Latch"
SourceType "DLatch"
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator"
Position [160, 142, 190, 173]
ShowName off
Operator "~="
InputSameDT off
}
Block {
BlockType Scope
Name "Scope"
Ports [2]
Position [340, 50, 370, 85]
Location [188, 365, 512, 604]
Open off
NumInputPorts "2"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
axes2 "%<SignalLabel>"
}
List {
ListType SelectedSignals
axes1 ""
axes2 ""
}
YMin "-5~-5"
YMax "5~5"
SaveName "ScopeData3"
DataFormat "StructureWithTime"
}
Block {
BlockType Terminator
Name "Terminator"
Position [320, 150, 340, 170]
ShowName off
}
Block {
BlockType Outport
Name "Out1"
Position [360, 128, 390, 142]
}
Line {
SrcBlock "D Latch"
SrcPort 2
DstBlock "Terminator"
DstPort 1
}
Line {
SrcBlock "D Latch"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "Out1"
DstPort 1
}
Branch {
Points [0, -60]
DstBlock "Scope"
DstPort 2
}
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 0; 55, 0]
Branch {
Points [0, 15]
DstBlock "Relational\nOperator"
DstPort 1
}
Branch {
Points [65, 0]
Branch {
DstBlock "D Latch"
DstPort 1
}
Branch {
Points [0, -75]
DstBlock "Scope"
DstPort 1
}
}
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Relational\nOperator"
DstPort 2
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
DstBlock "D Latch"
DstPort 2
}
}
}
Block {
BlockType Outport
Name "left"
Position [890, 33, 920, 47]
}
Block {
BlockType Outport
Name "dir_L"
Position [890, 223, 920, 237]
Port "2"
}
Block {
BlockType Outport
Name "right"
Position [890, 83, 920, 97]
Port "3"
}
Block {
BlockType Outport
Name "dir_R"
Position [890, 258, 920, 272]
Port "4"
}
Line {
SrcBlock "0 ... 3"
SrcPort 1
DstBlock "integer"
DstPort 1
}
Line {
SrcBlock " left "
SrcPort 1
DstBlock "Multiport\nSwitch1"
DstPort 2
}
Line {
SrcBlock " right "
SrcPort 1
DstBlock "Multiport\nSwitch1"
DstPort 3
}
Line {
SrcBlock " straight "
SrcPort 1
DstBlock "Multiport\nSwitch1"
DstPort 4
}
Line {
SrcBlock "Multiport\nSwitch1"
SrcPort 1
DstBlock "Demux1"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 1
DstBlock "Data Type Conversion2"
DstPort 1
}
Line {
SrcBlock "Demux1"
SrcPort 2
DstBlock "Data Type Conversion3"
DstPort 1
}
Line {
SrcBlock "1 ... 3"
SrcPort 1
DstBlock "Multiport\nSwitch1"
DstPort 1
}
Line {
SrcBlock "Data Type Conversion2"
SrcPort 1
DstBlock "dir_L"
DstPort 1
}
Line {
SrcBlock "Data Type Conversion3"
SrcPort 1
DstBlock "dir_R"
DstPort 1
}
Line {
SrcBlock "myDLatch"
SrcPort 1
DstBlock "1 ... 3"
DstPort 1
}
Line {
SrcBlock "Sum"
SrcPort 1
DstBlock "0 ... 3"
DstPort 1
}
Line {
SrcBlock "integer"
SrcPort 1
Points [35, 0]
Branch {
DstBlock "myDLatch"
DstPort 1
}
Branch {
Points [0, 25]
DstBlock "Goto6"
DstPort 1
}
Branch {
Points [0, -120]
DstBlock "Relational\nOperator1"
DstPort 2
}
}
Line {
SrcBlock "Step"
SrcPort 1
Points [65, 0; 0, 85]
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Step1"
SrcPort 1
Points [50, 0; 0, 50]
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Step2"
SrcPort 1
Points [35, 0; 0, 10]
DstBlock "Sum"
DstPort 3
}
Line {
SrcBlock "Step3"
SrcPort 1
Points [30, 0; 0, -30]
DstBlock "Sum"
DstPort 4
}
Line {
SrcBlock "Step4"
SrcPort 1
Points [65, 0; 0, -65]
DstBlock "Sum"
DstPort 5
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Relational\nOperator1"
DstPort 1
}
Line {
SrcBlock "Data Type Conversion"
SrcPort 1
DstBlock "left"
DstPort 1
}
Line {
SrcBlock "Data Type Conversion1"
SrcPort 1
DstBlock "right"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator1"
SrcPort 1
Points [0, 0; 85, 0]
Branch {
Points [0, -25]
DstBlock "Data Type Conversion"
DstPort 1
}
Branch {
Points [0, 25; 110, 0]
Branch {
DstBlock "Data Type Conversion1"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "Zero-Order\nHold"
DstPort 1
}
}
}
Line {
SrcBlock "Zero-Order\nHold"
SrcPort 1
DstBlock "Display1"
DstPort 1
}
}
}
Block {
BlockType From
Name "From"
Position [75, 488, 140, 502]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "mot_ctrl"
Port {
PortNumber 1
Name "motor ctrl"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType From
Name "From1"
Position [75, 428, 140, 442]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "pulse_right"
Port {
PortNumber 1
Name "pulse right"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType From
Name "From3"
Position [75, 388, 140, 402]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "command"
Port {
PortNumber 1
Name "command"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType From
Name "From4"
Position [75, 408, 140, 422]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "pulse_left"
Port {
PortNumber 1
Name "pulse left"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
Block {
BlockType From
Name "From5"
Position [75, 448, 140, 462]
BackgroundColor "red"
ShowName off
CloseFcn "tagdialog Close"
GotoTag "dir_left"
Port {
PortNumber 1
Name "dir left"
TestPoint off
LinearAnalysisOutput off
LinearAnalysisInput off
RTWStorageClass "Auto"
DataLogging off
DataLoggingNameMode "SignalName"
DataLoggingDecimateData off
DataLoggingDecimation "2"
DataLoggingLimitDataPoints off
DataLoggingMaxPoints "5000"
}
}
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