📄 testbcirobot3f_sim.mdl
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Block {
BlockType Step
Name "Step2"
Position [50, 165, 80, 195]
Time "2.1"
After "-1"
SampleTime "0"
}
Block {
BlockType Step
Name "Step3"
Position [50, 215, 80, 245]
Time "4"
After "2"
SampleTime "0"
}
Block {
BlockType Step
Name "Step4"
Position [50, 260, 80, 290]
Time "4.2"
After "-2"
SampleTime "0"
}
Block {
BlockType Sum
Name "Sum"
Ports [5, 1]
Position [190, 165, 220, 215]
ShowName off
Inputs "+++++"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
}
Block {
BlockType Quantizer
Name "integer"
Position [390, 175, 420, 205]
QuantizationInterval "1"
}
Block {
BlockType SubSystem
Name "myDLatch"
Ports [1, 1]
Position [565, 170, 630, 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 SubSystem
Name "myDLatch_nonZero"
Ports [1, 1]
Position [685, 55, 750, 95]
NamePlacement "alternate"
TreatAsAtomicUnit off
System {
Name "myDLatch_nonZero"
Location [52, 117, 695, 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 Constant
Name "Constant1"
Position [435, 79, 455, 101]
Orientation "left"
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 Logic
Name "Logical\nOperator"
Ports [1, 1]
Position [235, 199, 265, 231]
ShowName off
Operator "NOT"
AllPortsSameDT off
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator"
Position [160, 142, 190, 173]
ShowName off
Operator "~="
InputSameDT off
}
Block {
BlockType Scope
Name "Scope"
Ports [2]
Position [540, 20, 570, 55]
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 Switch
Name "Switch"
Position [430, 110, 460, 140]
NamePlacement "alternate"
ShowName off
Criteria "u2 > Threshold"
Threshold "0.5"
ShowAdditionalParam on
InputSameDT off
}
Block {
BlockType Terminator
Name "Terminator"
Position [320, 150, 340, 170]
ShowName off
}
Block {
BlockType Outport
Name "Out1"
Position [530, 118, 560, 132]
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
Points [5, 0]
Branch {
DstBlock "D Latch"
DstPort 2
}
Branch {
Points [0, 55]
DstBlock "Logical\nOperator"
DstPort 1
}
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Relational\nOperator"
DstPort 2
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 0; 55, 0]
Branch {
Points [65, 0]
Branch {
Points [0, -105]
DstBlock "Scope"
DstPort 1
}
Branch {
DstBlock "D Latch"
DstPort 1
}
}
Branch {
Points [0, 15]
DstBlock "Relational\nOperator"
DstPort 1
}
}
Line {
SrcBlock "D Latch"
SrcPort 1
DstBlock "Switch"
DstPort 3
}
Line {
SrcBlock "D Latch"
SrcPort 2
DstBlock "Terminator"
DstPort 1
}
Line {
SrcBlock "Switch"
SrcPort 1
Points [30, 0]
Branch {
DstBlock "Out1"
DstPort 1
}
Branch {
Points [0, -80]
DstBlock "Scope"
DstPort 2
}
}
Line {
SrcBlock "Constant1"
SrcPort 1
Points [-25, 0; 0, 25]
DstBlock "Switch"
DstPort 1
}
Line {
SrcBlock "Logical\nOperator"
SrcPort 1
Points [135, 0; 0, -90]
DstBlock "Switch"
DstPort 2
}
}
}
Block {
BlockType Outport
Name "active"
Position [875, 68, 905, 82]
}
Block {
BlockType Outport
Name "dir_L"
Position [875, 223, 905, 237]
Port "2"
}
Block {
BlockType Outport
Name "dir_R"
Position [875, 258, 905, 272]
Port "3"
}
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 "Constant"
SrcPort 1
DstBlock "Relational\nOperator"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator"
SrcPort 1
DstBlock "Data Type Conversion1"
DstPort 1
}
Line {
SrcBlock "Data Type Conversion"
SrcPort 1
DstBlock "active"
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 [0, 0; 35, 0]
Branch {
DstBlock "myDLatch"
DstPort 1
}
Branch {
Points [0, -110]
DstBlock "Relational\nOperator"
DstPort 2
}
Branch {
Points [0, 25]
DstBlock "Goto6"
DstPort 1
}
}
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 "myDLatch_nonZero"
SrcPort 1
DstBlock "Data Type Conversion"
DstPort 1
}
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