📄 nxtscara_vr.mdl
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}
}
}
Block {
BlockType ModelReference
Name "Controller"
Ports [6, 3]
Position [280, 183, 390, 377]
ModelName "nxtscara_controller"
SimulationMode "Normal"
ModelReferenceVersion "1.2062"
List {
ListType InputPortNames
port0 "enter_button"
port1 "run_button"
port2 "touch1"
port3 "touch2"
port4 "theta1m"
port5 "theta2m"
}
List {
ListType OutputPortNames
port0 "pwm1"
port1 "pwm2"
port2 "pwm3"
}
List {
ListType OutputPortOutputBusAsStructs
port0 "off"
port1 "off"
port2 "off"
}
CopyOfModelName "nxtscara_controller"
}
Block {
BlockType SubSystem
Name "D2C"
Ports [3, 3]
Position [435, 184, 465, 376]
ShowName off
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
MaskDisplay "fprintf('D2C')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "D2C"
Location [573, 501, 1071, 750]
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, 48, 165, 62]
ShowName off
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "In2"
Position [135, 113, 165, 127]
ShowName off
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "In3"
Position [135, 183, 165, 197]
ShowName off
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType RateTransition
Name "Rate Transition"
Position [230, 39, 260, 71]
ShowName off
AttributesFormatString "Ts=%<OutPortSampleTime>"
Integrity off
OutPortSampleTime "0"
}
Block {
BlockType RateTransition
Name "Rate Transition1"
Position [230, 104, 260, 136]
ShowName off
AttributesFormatString "Ts=%<OutPortSampleTime>"
Integrity off
OutPortSampleTime "0"
}
Block {
BlockType RateTransition
Name "Rate Transition2"
Position [230, 174, 260, 206]
ShowName off
AttributesFormatString "Ts=%<OutPortSampleTime>"
Integrity off
OutPortSampleTime "0"
}
Block {
BlockType Outport
Name "Out1"
Position [330, 48, 360, 62]
ShowName off
IconDisplay "Port number"
SampleTime "0"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Out2"
Position [330, 113, 360, 127]
ShowName off
Port "2"
IconDisplay "Port number"
SampleTime "0"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "Out3"
Position [330, 183, 360, 197]
ShowName off
Port "3"
IconDisplay "Port number"
SampleTime "0"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Rate Transition"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
DstBlock "Rate Transition"
DstPort 1
}
Line {
SrcBlock "Rate Transition1"
SrcPort 1
DstBlock "Out2"
DstPort 1
}
Line {
SrcBlock "In2"
SrcPort 1
DstBlock "Rate Transition1"
DstPort 1
}
Line {
SrcBlock "Rate Transition2"
SrcPort 1
DstBlock "Out3"
DstPort 1
}
Line {
SrcBlock "In3"
SrcPort 1
DstBlock "Rate Transition2"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Environment"
Ports [0, 1]
Position [20, 130, 120, 170]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
System {
Name "Environment"
Location [646, 480, 1114, 726]
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 DataTypeConversion
Name "Data Type Conversion2"
Position [255, 120, 300, 140]
ShowName off
AttributesFormatString "Round = %<RndMeth>"
OutDataTypeMode "uint32"
OutDataType "sfix(16)"
OutScaling "2^0"
RndMeth "Nearest"
SaturateOnIntegerOverflow off
}
Block {
BlockType DigitalClock
Name "Digital Clock"
Position [60, 120, 110, 140]
SampleTime "TS"
}
Block {
BlockType Gain
Name "Gain1"
Position [160, 115, 210, 145]
ShowName off
Gain "1000"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "system_clock"
Position [360, 123, 390, 137]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Data Type Conversion2"
SrcPort 1
DstBlock "system_clock"
DstPort 1
}
Line {
SrcBlock "Digital Clock"
SrcPort 1
DstBlock "Gain1"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Data Type Conversion2"
DstPort 1
}
Annotation {
Name "Environment"
Position [24, 22]
HorizontalAlignment "left"
FontName "Arial"
FontSize 16
FontWeight "bold"
}
Annotation {
Name "The external environment and sensor charactaristics."
Position [39, 42]
HorizontalAlignment "left"
FontName "Arial"
FontSize 12
FontWeight "bold"
}
}
}
Block {
BlockType SubSystem
Name "NXT SCARA"
Ports [4, 5]
Position [510, 112, 610, 378]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
Port {
PortNumber 4
Name "theta1m"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
PortNumber 5
Name "theta2m"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
System {
Name "NXT SCARA"
Location [245, 283, 1034, 903]
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 "system_clock"
Position [25, 288, 55, 302]
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "pwm1"
Position [25, 128, 55, 142]
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "pwm2"
Position [25, 198, 55, 212]
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "pwm3"
Position [25, 563, 55, 577]
Port "4"
IconDisplay "Port number"
}
Block {
BlockType SubSystem
Name "Cal_flag_stop_sim"
Ports [3, 1]
Position [310, 431, 405, 509]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
System {
Name "Cal_flag_stop_sim"
Location [230, 335, 960, 675]
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 "pwm1"
Position [25, 43, 55, 57]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "pwm2"
Position [25, 138, 55, 152]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "system_clock"
Position [25, 233, 55, 247]
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Constant
Name "Constant7"
Position [490, 265, 570, 285]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
Value "TIME_STOP_SIM"
OutDataTypeMode "uint32"
OutDataType "sfix(16)"
OutScaling "2^0"
SampleTime "-1"
}
Block {
BlockType Logic
Name "Logical\nOperator2"
Ports [2, 1]
Position [290, 48, 315, 137]
ShowName off
AllPortsSameDT off
OutDataTypeMode "boolean"
}
Block {
BlockType Memory
Name "Memory"
Position [135, 70, 165, 100]
ShowName off
AttributesFormatString "Initial = %<X0>"
InheritSampleTime on
}
Block {
BlockType Memory
Name "Memory1"
Position [135, 165, 165, 195]
ShowName off
AttributesFormatString "Initial = %<X0>"
InheritSampleTime on
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator1"
Position [205, 126, 225, 199]
ShowName off
Operator "~="
InputSameDT off
LogicOutDataTypeMode "boolean"
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator2"
Position [205, 31, 225, 104]
ShowName off
Operator "~="
InputSameDT off
LogicOutDataTypeMode "boolean"
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator3"
Position [610, 222, 630, 293]
ShowName off
InputSameDT off
LogicOutDataTypeMode "boolean"
}
Block {
BlockType SubSystem
Name "Set_clock0 "
Ports [1, 1, 1]
Position [305, 219, 400, 261]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
System {
Name "Set_clock0 "
Location [392, 452, 852, 716]
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 "clock"
Position [105, 118, 135, 132]
IconDisplay "Port number"
}
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