testbcirobot3f_sim.mdl

simulink real-time workshop for dragon12 development board from

	  Ports			  [2, 1]
	  Position		  [245, 105, 265, 125]
	  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		  [650, 115, 670, 135]
	  NamePlacement		  "alternate"
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "+-|"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Switch
	  Name			  "Switch"
	  Position		  [330, 90, 360, 120]
	  Criteria		  "u2 > Threshold"
	  InputSameDT		  off
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  DiscretePulseGenerator
	  Name			  "Tcount"
	  Position		  [695, 158, 740, 192]
	  SampleTime		  "Tcount"
	}
	Block {
	  BlockType		  UnitDelay
	  Name			  "Unit Delay"
	  Position		  [385, 88, 420, 122]
	  ShowName		  off
	  SampleTime		  "Tcount"
	}
	Block {
	  BlockType		  UnitDelay
	  Name			  "Unit Delay1"
	  Position		  [570, 228, 605, 262]
	  Orientation		  "left"
	  ShowName		  off
	  SampleTime		  "Tcount"
	}
	Block {
	  BlockType		  ZeroOrderHold
	  Name			  "Zero-Order\nHold"
	  Position		  [75, 91, 100, 119]
	  ShowName		  off
	  SampleTime		  "Tcount"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "latched high"
	  Ports			  [2, 1]
	  Position		  [140, 95, 205, 135]
	  TreatAsAtomicUnit	  off
	  System {
	    Name		    "latched high"
	    Location		    [181, 194, 702, 429]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "trig"
	      Position		      [40, 28, 70, 42]
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "reset"
	      Position		      [40, 128, 70, 142]
	      Port		      "2"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant1"
	      Position		      [40, 170, 70, 200]
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant4"
	      Position		      [265, 20, 295, 50]
	      Orientation	      "left"
	      ShowName		      off
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant5"
	      Position		      [40, 70, 70, 100]
	      ShowName		      off
	    }
	    Block {
	      BlockType		      DataTypeConversion
	      Name		      "Data Type Conversion"
	      Position		      [150, 166, 205, 194]
	      ShowName		      off
	      DataType		      "double"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Gain"
	      Position		      [240, 165, 270, 195]
	      Gain		      "-1"
	    }
	    Block {
	      BlockType		      RelationalOperator
	      Name		      "Relational\nOperator2"
	      Position		      [90, 62, 120, 93]
	      ShowName		      off
	      Operator		      "=="
	      InputSameDT	      off
	      LogicOutDataTypeMode    "Specify via dialog"
	    }
	    Block {
	      BlockType		      RelationalOperator
	      Name		      "Relational\nOperator3"
	      Position		      [90, 162, 120, 193]
	      ShowName		      off
	      Operator		      "=="
	      InputSameDT	      off
	      LogicOutDataTypeMode    "Specify via dialog"
	    }
	    Block {
	      BlockType		      Sum
	      Name		      "Sum2"
	      Ports		      [2, 1]
	      Position		      [270, 105, 290, 125]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      ShowName		      off
	      IconShape		      "round"
	      Inputs		      "|++"
	      InputSameDT	      off
	      OutDataTypeMode	      "Inherit via internal rule"
	      SaturateOnIntegerOverflow	off
	    }
	    Block {
	      BlockType		      Switch
	      Name		      "Switch"
	      Position		      [265, 55, 295, 85]
	      Criteria		      "u2 > Threshold"
	      InputSameDT	      off
	      SaturateOnIntegerOverflow	off
	    }
	    Block {
	      BlockType		      UnitDelay
	      Name		      "Unit Delay2"
	      Position		      [315, 53, 350, 87]
	      ShowName		      off
	      SampleTime	      "-1"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "high"
	      Position		      [430, 63, 460, 77]
	    }
	    Line {
	      SrcBlock		      "Constant5"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Relational\nOperator2"
	      SrcPort		      1
	      DstBlock		      "Switch"
	      DstPort		      3
	    }
	    Line {
	      SrcBlock		      "Unit Delay2"
	      SrcPort		      1
	      Points		      [0, 0; 10, 0]
	      Branch {
		Points			[0, 45]
		DstBlock		"Sum2"
		DstPort			1
	      }
	      Branch {
		DstBlock		"high"
		DstPort			1
	      }
	    }
	    Line {
	      SrcBlock		      "Constant4"
	      SrcPort		      1
	      Points		      [-25, 0; 0, 25]
	      DstBlock		      "Switch"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Switch"
	      SrcPort		      1
	      DstBlock		      "Unit Delay2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Sum2"
	      SrcPort		      1
	      Points		      [-30, 0; 0, -45]
	      DstBlock		      "Switch"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Constant1"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator3"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Relational\nOperator3"
	      SrcPort		      1
	      DstBlock		      "Data Type Conversion"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Gain"
	      SrcPort		      1
	      Points		      [5, 0]
	      DstBlock		      "Sum2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Data Type Conversion"
	      SrcPort		      1
	      DstBlock		      "Gain"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "reset"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator3"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "trig"
	      SrcPort		      1
	      DstBlock		      "Relational\nOperator2"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "pulses"
	  Position		  [870, 128, 900, 142]
	}
	Block {
	  BlockType		  Outport
	  Name			  "gate"
	  Position		  [870, 63, 900, 77]
	  Port			  "2"
	}
	Line {
	  SrcBlock		  "Zero-Order\nHold"
	  SrcPort		  1
	  DstBlock		  "latched high"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Logical\nOperator"
	  SrcPort		  1
	  Points		  [0, 0; 15, 0]
	  Branch {
	    Points		    [0, 100]
	    DstBlock		    "Scope1"
	    DstPort		    3
	  }
	  Branch {
	    DstBlock		    "pulses"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Tcount"
	  SrcPort		  1
	  Points		  [5, 0; 0, -35]
	  DstBlock		  "Logical\nOperator"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "0 ... 1"
	  SrcPort		  1
	  Points		  [15, 0]
	  Branch {
	    Points		    [0, -55]
	    DstBlock		    "gate"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Logical\nOperator"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Unit Delay1"
	  SrcPort		  1
	  Points		  [0, 0; -35, 0]
	  Branch {
	    Points		    [-415, 0; 0, -120]
	    DstBlock		    "latched high"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, -110]
	    DstBlock		    " latched high "
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  " latched high "
	  SrcPort		  1
	  Points		  [0, 0; 5, 0]
	  Branch {
	    Points		    [0, 90]
	    Branch {
	      Points		      [0, 30]
	      DstBlock		      "Unit Delay1"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [-325, 0; 0, -110]
	      DstBlock		      "Switch"
	      DstPort		      2
	    }
	    Branch {
	      DstBlock		      "Scope1"
	      DstPort		      2
	    }
	  }
	  Branch {
	    DstBlock		    "Sum1"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Relational\nOperator"
	  SrcPort		  1
	  DstBlock		  " latched high "
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Sum1"
	  SrcPort		  1
	  DstBlock		  "0 ... 1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Switch"
	  SrcPort		  1
	  DstBlock		  "Unit Delay"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Unit Delay"
	  SrcPort		  1
	  Points		  [0, 0; 30, 0]
	  Branch {
	    Points		    [0, -60; -200, 0]
	    DstBlock		    "Sum"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Relational\nOperator"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Switch"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Constant"
	  SrcPort		  1
	  Points		  [-25, 0; 0, 25]
	  DstBlock		  "Switch"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Constant5"
	  SrcPort		  1
	  Points		  [0, -35]
	  DstBlock		  "Relational\nOperator"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "start"
	  SrcPort		  1
	  DstBlock		  "Zero-Order\nHold"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "latched high"
	  SrcPort		  1
	  Points		  [0, 0; 10, 0]
	  Branch {
	    Points		    [0, -85; 440, 0]
	    Branch {
	      Points		      [185, 0]
	      DstBlock		      "Scope1"
	      DstPort		      1
	    }
	    Branch {
	      DstBlock		      "Sum1"
	      DstPort		      1
	    }
	  }
	  Branch {
	    DstBlock		    "Sum"
	    DstPort		    2
	  }
	}
      }
    }
    Line {
      SrcBlock		      "Logical\nOperator"
      SrcPort		      1
      DstBlock		      "Goto4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "myGatedPulseTrain left"
      SrcPort		      2
      DstBlock		      "Terminator"
      DstPort		      1
    }
    Line {
      SrcBlock		      "myGatedPulseTrain left"
      SrcPort		      1
      Points		      [0, 0; 75, 0]
      Branch {
	DstBlock		"Goto"
	DstPort			1
      }
      Branch {
	Points			[0, 20]
	DstBlock		"Goto1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Command (RX)"
      SrcPort		      1
      Points		      [0, 0; 180, 0]
      Branch {
	DstBlock		"myGatedPulseTrain left"
	DstPort			1
      }
      Branch {
	Points			[0, 60]
	DstBlock		"Logical\nOperator"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Command (RX)"
      SrcPort		      2
      DstBlock		      "Goto5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Command (RX)"
      SrcPort		      3
      DstBlock		      "Goto6"
      DstPort		      1
    }
    Line {
      Name		      "command"
      Labels		      [0, 0]
      SrcBlock		      "From3"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      1
    }
    Line {
      Name		      "pulse left"
      Labels		      [0, 0]
      SrcBlock		      "From4"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      2
    }
    Line {
      Name		      "pulse right"
      Labels		      [0, 0]
      SrcBlock		      "From1"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      3
    }
    Line {
      Name		      "dir left"
      Labels		      [0, 0]
      SrcBlock		      "From5"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      4
    }
    Line {
      Name		      "dir right"
      Labels		      [0, 0]
      SrcBlock		      "From6"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      5
    }
    Line {
      Name		      "motor ctrl"
      Labels		      [0, 0]
      SrcBlock		      "From"
      SrcPort		      1
      DstBlock		      "Scope"
      DstPort		      6
    }
  }
}