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📄 nxtscara_vr.mdl

📁 matlab con robot scara
💻 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"
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      MaskDisplay	      "fprintf('D2C')"
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      MaskIconUnits	      "autoscale"
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	  BlockType		  Inport
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	Block {
	  BlockType		  Inport
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	  BlockType		  Outport
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	  SrcBlock		  "In1"
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	  SrcBlock		  "Rate Transition1"
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	  SrcBlock		  "In3"
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	  DstPort		  1
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    }
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      BlockType		      SubSystem
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	Name			"Environment"
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	  RndMeth		  "Nearest"
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	  BlockType		  DigitalClock
	  Name			  "Digital Clock"
	  Position		  [60, 120, 110, 140]
	  SampleTime		  "TS"
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	  BlockType		  Gain
	  Name			  "Gain1"
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	  ShowName		  off
	  Gain			  "1000"
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	  OutDataType		  "sfix(16)"
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	Block {
	  BlockType		  Outport
	  Name			  "system_clock"
	  Position		  [360, 123, 390, 137]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
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	Line {
	  SrcBlock		  "Data Type Conversion2"
	  SrcPort		  1
	  DstBlock		  "system_clock"
	  DstPort		  1
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	Line {
	  SrcBlock		  "Digital Clock"
	  SrcPort		  1
	  DstBlock		  "Gain1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain1"
	  SrcPort		  1
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	  DstPort		  1
	}
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	  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"
	}
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    }
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      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]
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	  RTWSystemCode		  "Auto"
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	    Location		    [230, 335, 960, 675]
	    Open		    off
	    ModelBrowserVisibility  off
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	    ScreenColor		    "white"
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	    PaperUnits		    "centimeters"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
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	      BlockType		      Inport
	      Name		      "pwm1"
	      Position		      [25, 43, 55, 57]
	      IconDisplay	      "Port number"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
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	    Block {
	      BlockType		      Inport
	      Name		      "pwm2"
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	      Port		      "2"
	      IconDisplay	      "Port number"
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	      OutScaling	      "2^0"
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	    Block {
	      BlockType		      Inport
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	      Port		      "3"
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	      BlockType		      Constant
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	      ShowName		      off
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	      Value		      "TIME_STOP_SIM"
	      OutDataTypeMode	      "uint32"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	      SampleTime	      "-1"
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	    Block {
	      BlockType		      Logic
	      Name		      "Logical\nOperator2"
	      Ports		      [2, 1]
	      Position		      [290, 48, 315, 137]
	      ShowName		      off
	      AllPortsSameDT	      off
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	    Block {
	      BlockType		      Memory
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	      ShowName		      off
	      AttributesFormatString  "Initial = %<X0>"
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	    Block {
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	      ShowName		      off
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		ScreenColor		"white"
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		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
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		ZoomFactor		"100"
		Block {
		  BlockType		  Inport
		  Name			  "clock"
		  Position		  [105, 118, 135, 132]
		  IconDisplay		  "Port number"
		}

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