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📄 nxtscara_vr.mdl

📁 matlab con robot scara
💻 MDL
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	  ClipboardFcn		  "sigbuilder_block('clipboard');"
	  OpenFcn		  "sigbuilder_block('open',[209.25 110.25 463.5 469.5 ]);"
	  CloseFcn		  "sigbuilder_block('close');"
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskType		  "Sigbuilder block"
	  MaskDescription	  "Sigbuilder GUI"
	  MaskInitialization	  "if ~strcmp(get_param(bdroot(gcbh),'SimulationStatus'),'stopped') tuvar = sigbuilder_block('maskInit'); end"
	  MaskDisplay		  "plot(0,0,100,100,[10,10,40,40,10],[80,20,20,80,80],[40,10],[50,50], [40,27,10],[65,72,56],[40,25,25,10],[28,28,43,43]);"
	  MaskIconFrame		  on
	  MaskIconOpaque	  off
	  MaskIconRotate	  "port"
	  MaskIconUnits		  "autoscale"
	  MaskCapabilities	  "slmaskedcaps(gcbh)"
	  System {
	    Name		    "Signal Builder"
	    Location		    [480, 85, 980, 386]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "A4"
	    PaperUnits		    "centimeters"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Demux
	      Name		      "Demux"
	      Tag		      "STV Demux"
	      Ports		      [1, 4]
	      Position		      [150, 44, 160, 621]
	    }
	    Block {
	      BlockType		      FromWorkspace
	      Name		      "FromWs"
	      Tag		      "STV FromWs"
	      Position		      [30, 300, 115, 350]
	      VariableName	      "tuvar"
	      SampleTime	      "0"
	      ZeroCross		      on
	      SigBuilderData	      "DataTag0"
	      VnvData		      "DataTag1"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "enter_button"
	      Tag		      "STV Outport"
	      Position		      [280, 30, 300, 40]
	      IconDisplay	      "Port number"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "run_button"
	      Tag		      "STV Outport"
	      Position		      [280, 60, 300, 70]
	      Port		      "2"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "touch1"
	      Tag		      "STV Outport"
	      Position		      [280, 90, 300, 100]
	      Port		      "3"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "touch2"
	      Tag		      "STV Outport"
	      Position		      [280, 120, 300, 130]
	      Port		      "4"
	      IconDisplay	      "Port number"
	    }
	    Line {
	      SrcBlock		      "FromWs"
	      SrcPort		      1
	      Points		      [15, 0]
	      DstBlock		      "Demux"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux"
	      SrcPort		      1
	      DstBlock		      "enter_button"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux"
	      SrcPort		      2
	      DstBlock		      "run_button"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux"
	      SrcPort		      3
	      DstBlock		      "touch1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux"
	      SrcPort		      4
	      DstBlock		      "touch2"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "enter_button"
	  Position		  [295, 98, 325, 112]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "run_button"
	  Position		  [295, 143, 325, 157]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "touch1"
	  Position		  [295, 188, 325, 202]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "touch2"
	  Position		  [295, 233, 325, 247]
	  Port			  "4"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "Signal Builder"
	  SrcPort		  1
	  DstBlock		  "Data Type Conversion3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Data Type Conversion3"
	  SrcPort		  1
	  DstBlock		  "enter_button"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Data Type Conversion1"
	  SrcPort		  1
	  DstBlock		  "run_button"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Signal Builder"
	  SrcPort		  2
	  DstBlock		  "Data Type Conversion1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Data Type Conversion4"
	  SrcPort		  1
	  DstBlock		  "touch1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Data Type Conversion2"
	  SrcPort		  1
	  DstBlock		  "touch2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Signal Builder"
	  SrcPort		  3
	  DstBlock		  "Data Type Conversion4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Signal Builder"
	  SrcPort		  4
	  DstBlock		  "Data Type Conversion2"
	  DstPort		  1
	}
	Annotation {
	  Name			  "Button and Touch Sensor"
	  Position		  [19, 22]
	  HorizontalAlignment	  "left"
	  FontName		  "Arial"
	  FontSize		  16
	  FontWeight		  "bold"
	}
	Annotation {
	  Name			  "Signal generator of the buttons and touch sensors."
	  Position		  [34, 42]
	  HorizontalAlignment	  "left"
	  FontName		  "Arial"
	  FontSize		  12
	  FontWeight		  "bold"
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "C2D"
      Ports		      [6, 6]
      Position		      [205, 195, 235, 365]
      ShowName		      off
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      MaskDisplay	      "fprintf('C2D')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      System {
	Name			"C2D"
	Location		[153, 307, 651, 698]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"A4"
	PaperUnits		"centimeters"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
	  Position		  [135, 43, 165, 57]
	  ShowName		  off
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Inport
	  Name			  "In2"
	  Position		  [135, 98, 165, 112]
	  ShowName		  off
	  Port			  "2"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Inport
	  Name			  "In3"
	  Position		  [135, 153, 165, 167]
	  ShowName		  off
	  Port			  "3"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Inport
	  Name			  "In4"
	  Position		  [135, 208, 165, 222]
	  ShowName		  off
	  Port			  "4"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Inport
	  Name			  "In5"
	  Position		  [135, 263, 165, 277]
	  ShowName		  off
	  Port			  "5"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Inport
	  Name			  "In6"
	  Position		  [135, 323, 165, 337]
	  ShowName		  off
	  Port			  "6"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  RateTransition
	  Name			  "Rate Transition1"
	  Position		  [230, 254, 260, 286]
	  ShowName		  off
	  AttributesFormatString  "Ts=%<OutPortSampleTime>"
	  Integrity		  off
	  OutPortSampleTime	  "TS"
	}
	Block {
	  BlockType		  RateTransition
	  Name			  "Rate Transition2"
	  Position		  [230, 34, 260, 66]
	  ShowName		  off
	  AttributesFormatString  "Ts=%<OutPortSampleTime>"
	  Integrity		  off
	  OutPortSampleTime	  "TS"
	}
	Block {
	  BlockType		  RateTransition
	  Name			  "Rate Transition3"
	  Position		  [230, 89, 260, 121]
	  ShowName		  off
	  AttributesFormatString  "Ts=%<OutPortSampleTime>"
	  Integrity		  off
	  OutPortSampleTime	  "TS"
	}
	Block {
	  BlockType		  RateTransition
	  Name			  "Rate Transition4"
	  Position		  [230, 144, 260, 176]
	  ShowName		  off
	  AttributesFormatString  "Ts=%<OutPortSampleTime>"
	  Integrity		  off
	  OutPortSampleTime	  "TS"
	}
	Block {
	  BlockType		  RateTransition
	  Name			  "Rate Transition5"
	  Position		  [230, 199, 260, 231]
	  ShowName		  off
	  AttributesFormatString  "Ts=%<OutPortSampleTime>"
	  Integrity		  off
	  OutPortSampleTime	  "TS"
	}
	Block {
	  BlockType		  RateTransition
	  Name			  "Rate Transition6"
	  Position		  [230, 314, 260, 346]
	  ShowName		  off
	  AttributesFormatString  "Ts=%<OutPortSampleTime>"
	  Integrity		  off
	  OutPortSampleTime	  "TS"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [325, 43, 355, 57]
	  ShowName		  off
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out2"
	  Position		  [325, 98, 355, 112]
	  ShowName		  off
	  Port			  "2"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out3"
	  Position		  [325, 153, 355, 167]
	  ShowName		  off
	  Port			  "3"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out4"
	  Position		  [325, 208, 355, 222]
	  ShowName		  off
	  Port			  "4"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out5"
	  Position		  [325, 263, 355, 277]
	  ShowName		  off
	  Port			  "5"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out6"
	  Position		  [325, 323, 355, 337]
	  ShowName		  off
	  Port			  "6"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Rate Transition2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Rate Transition2"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In2"
	  SrcPort		  1
	  DstBlock		  "Rate Transition3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In3"
	  SrcPort		  1
	  DstBlock		  "Rate Transition4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Rate Transition3"
	  SrcPort		  1
	  DstBlock		  "Out2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Rate Transition4"
	  SrcPort		  1
	  DstBlock		  "Out3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In4"
	  SrcPort		  1
	  DstBlock		  "Rate Transition5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Rate Transition5"
	  SrcPort		  1
	  DstBlock		  "Out4"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In5"
	  SrcPort		  1
	  DstBlock		  "Rate Transition1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Rate Transition1"
	  SrcPort		  1
	  DstBlock		  "Out5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In6"
	  SrcPort		  1
	  DstBlock		  "Rate Transition6"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Rate Transition6"
	  SrcPort		  1
	  DstBlock		  "Out6"
	  DstPort		  1

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