📄 roblocks.mdl
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Library { Name "roblocks" Version 4.00 LibraryLinkDisplay "all" CovSaveName "covdata" CovNameIncrementing off CovHtmlReporting on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar off StatusBar off BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Tue Nov 6 20:25:41 2001" Creator "pic" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%<Auto>" LastModifiedBy "pic" ModifiedDateFormat "%<Auto>" LastModifiedDate "Mon Apr 8 11:39:30 2002" ModelVersionFormat "1.%<AutoIncrement:23>" ConfigurationManager "none" SimParamPage "Solver" AlgebraicLoopMsg "warning" MinStepSizeMsg "warning" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" InheritedTsInSrcMsg "warning" SingleTaskRateTransMsg "none" MultiTaskRateTransMsg "error" IntegerOverflowMsg "warning" CheckForMatrixSingularity "none" UnnecessaryDatatypeConvMsg "none" Int32ToFloatConvMsg "warning" SignalLabelMismatchMsg "none" LinearizationMsg "none" VectorMatrixConversionMsg "none" SfunCompatibilityCheckMsg "none" BlockPriorityViolationMsg "warning" ArrayBoundsChecking "none" ConsistencyChecking "none" Profile off SimulationMode "normal" RTWRetainRTWFile off RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off TLCProfiler off TLCDebug off TLCCoverage 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 ExtModeLogAll on 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 "roblocks" Location [320, 113, 1117, 459] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "lightBlue" PaperOrientation "portrait" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom off ReportName "simulink-default.rpt" Block { BlockType SubSystem Name "Robot" Ports [1, 3] Position [35, 79, 150, 151] BackgroundColor "red" DropShadow on ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" MaskDescription "Rigid-body dynamic model of robot." MaskHelp "Simulates the forward (direct) rigid-body dynam""ics of the robot described by the given robot object.\n" MaskPromptString "Robot object|Initial state" MaskStyleString "edit,edit" MaskTunableValueString "on,on" MaskCallbackString "|" MaskEnableString "on,on" MaskVisibilityString "on,on" MaskToolTipString "on,on" MaskVariables "robot=@1;q0=@2;" MaskInitialization "n = robot.n;\nname = robot.name;\n" MaskDisplay "port_label('input', 1, 'tau')\nport_label('outp""ut', 1, 'q')\nport_label('output', 2, 'qd')\nport_label('output', 3, 'qdd')\n""text(0.1, 0.9, robot.name, 'horizontalAlignment', 'left')\n\n" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "normalized" MaskValueString "robot|[0 0 0 0 0 0]" MaskVariableAliases "," System { Name "Robot" Location [26, 97, 558, 325] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "tau" Position [20, 98, 50, 112] Port "1" Interpolate on } Block { BlockType Integrator Name "Integrator" Ports [1, 1] Position [265, 65, 295, 95] ShowName off ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" Port { PortNumber 1 Name "qd" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" } } Block { BlockType Integrator Name "Integrator1" Ports [1, 1] Position [345, 65, 375, 95] ShowName off ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" } Block { BlockType Mux Name "Mux" Ports [3, 1] Position [105, 44, 115, 116] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType "S-Function" Name "S-Function" Ports [1, 1] Position [150, 65, 210, 95] FunctionName "slaccel" Parameters "robot" PortCounts "[]" SFunctionModules "''" Port { PortNumber 1 Name "qdd" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" } } Block { BlockType Outport Name "q" Position [440, 73, 470, 87] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "qd" Position [440, 128, 470, 142] Port "2" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "qdd" Position [440, 173, 470, 187] Port "3" OutputWhenDisabled "held" InitialOutput "[]" } Line { Name "qdd" Labels [0, 0] SrcBlock "S-Function" SrcPort 1 Points [35, 0] Branch { Points [0, 100] DstBlock "qdd" DstPort 1 } Branch { DstBlock "Integrator" DstPort 1 } } Line { SrcBlock "Mux" SrcPort 1 DstBlock "S-Function" DstPort 1 } Line { Name "qd" Labels [0, 0] SrcBlock "Integrator" SrcPort 1 Points [30, 0] Branch { Points [0, 55] DstBlock "qd" DstPort 1 } Branch { DstBlock "Integrator1" DstPort 1 } Branch { Points [0, -50; -285, 0; 0, 50] DstBlock "Mux" DstPort 2 } } Line { SrcBlock "tau" SrcPort 1 DstBlock "Mux" DstPort 3 } Line { SrcBlock "Integrator1" SrcPort 1 Points [25, 0] Branch { DstBlock "q" DstPort 1 } Branch { Points [0, -60; -325, 0; 0, 35] DstBlock "Mux" DstPort 1 } } } } Block { BlockType SubSystem Name "T2eul" Ports [1, 3] Position [705, 227, 755, 283] BackgroundColor "red" ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" MaskDescription "Convert transform to Euler angles." MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "normalized" System { Name "T2eul" Location [167, 513, 531, 662] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "T" Position [30, 63, 60, 77] Port "1" Interpolate on } Block { BlockType Demux Name "Demux" Ports [1, 3] Position [225, 13, 230, 127] BackgroundColor "black" ShowName off Outputs "3" BusSelectionMode off } Block { BlockType MATLABFcn Name "MATLAB Fcn" Position [105, 55, 165, 85] MATLABFcn "tr2eul(u)" OutputDimensions "3" OutputSignalType "auto" Output1D on } Block { BlockType Outport Name "a" Position [265, 23, 295, 37] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "b" Position [255, 63, 285, 77] Port "2" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "c" Position [255, 103, 285, 117] Port "3" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "Demux" SrcPort 3 DstBlock "c" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "b" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "a" DstPort 1 } Line { SrcBlock "MATLAB Fcn" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "T" SrcPort 1 DstBlock "MATLAB Fcn" DstPort 1 } } } Block { BlockType SubSystem Name "T2rpy" Ports [1, 3] Position [705, 147, 755, 203] BackgroundColor "red" ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" MaskDescription "Convert transform to roll/pitch/yaw angles." MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "normalized" System { Name "T2rpy" Location [167, 513, 531, 662] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "T" Position [30, 63, 60, 77] Port "1" Interpolate on } Block { BlockType Demux Name "Demux" Ports [1, 3] Position [225, 13, 230, 127] BackgroundColor "black" ShowName off Outputs "3" BusSelectionMode off } Block { BlockType MATLABFcn Name "MATLAB Fcn" Position [105, 55, 165, 85] MATLABFcn "tr2rpy(u)" OutputDimensions "3" OutputSignalType "auto" Output1D on } Block { BlockType Outport Name "roll" Position [265, 23, 295, 37] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "pitch" Position [255, 63, 285, 77] Port "2" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport Name "yaw" Position [255, 103, 285, 117] Port "3" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "Demux" SrcPort 3 DstBlock "yaw" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "pitch" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "roll" DstPort 1 } Line { SrcBlock "MATLAB Fcn" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "T" SrcPort 1 DstBlock "MATLAB Fcn" DstPort 1 } } } Block { BlockType SubSystem Name "T2xyz" Ports [1, 3] Position [700, 77, 750, 133] BackgroundColor "red" ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" MaskDescription "Convert transform to xyz scalars" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "normalized" System { Name "T2xyz" Location [167, 513, 531, 662] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "T" Position [30, 63, 60, 77] Port "1" Interpolate on } Block { BlockType Demux Name "Demux" Ports [1, 3] Position [225, 13, 230, 127] BackgroundColor "black" ShowName off Outputs "3" BusSelectionMode off } Block { BlockType MATLABFcn Name "MATLAB Fcn" Position [105, 55, 165, 85] MATLABFcn "transl(u)" OutputDimensions "3" OutputSignalType "auto" Output1D on } Block { BlockType Outport Name "x" Position [265, 23, 295, 37] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Outport
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