📄 nxtscara_vr.mdl
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Block {
BlockType EnablePort
Name "Enable"
Ports []
Position [35, 20, 55, 40]
ShowName off
}
Block {
BlockType Outport
Name "clock0"
Position [300, 118, 330, 132]
IconDisplay "Port number"
}
Line {
SrcBlock "clock"
SrcPort 1
DstBlock "clock0"
DstPort 1
}
}
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [445, 230, 465, 250]
ShowName off
IconShape "round"
Inputs "|-+"
CollapseMode "All dimensions"
InputSameDT off
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "flag_stop_sim"
Position [675, 253, 705, 267]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "pwm1"
SrcPort 1
Points [35, 0]
Branch {
Points [0, 35]
DstBlock "Memory"
DstPort 1
}
Branch {
DstBlock "Relational\nOperator2"
DstPort 1
}
}
Line {
SrcBlock "pwm2"
SrcPort 1
Points [35, 0]
Branch {
DstBlock "Relational\nOperator1"
DstPort 1
}
Branch {
Points [0, 35]
DstBlock "Memory1"
DstPort 1
}
}
Line {
SrcBlock "Memory"
SrcPort 1
DstBlock "Relational\nOperator2"
DstPort 2
}
Line {
SrcBlock "Memory1"
SrcPort 1
DstBlock "Relational\nOperator1"
DstPort 2
}
Line {
SrcBlock "Relational\nOperator2"
SrcPort 1
DstBlock "Logical\nOperator2"
DstPort 1
}
Line {
SrcBlock "Relational\nOperator1"
SrcPort 1
Points [25, 0; 0, -50]
DstBlock "Logical\nOperator2"
DstPort 2
}
Line {
SrcBlock "Logical\nOperator2"
SrcPort 1
Points [30, 0]
DstBlock "Set_clock0 "
DstPort enable
}
Line {
SrcBlock "system_clock"
SrcPort 1
Points [195, 0]
Branch {
DstBlock "Set_clock0 "
DstPort 1
}
Branch {
Points [0, 60; 200, 0]
DstBlock "Sum2"
DstPort 2
}
}
Line {
SrcBlock "Set_clock0 "
SrcPort 1
DstBlock "Sum2"
DstPort 1
}
Line {
SrcBlock "Sum2"
SrcPort 1
DstBlock "Relational\nOperator3"
DstPort 1
}
Line {
SrcBlock "Constant7"
SrcPort 1
DstBlock "Relational\nOperator3"
DstPort 2
}
Line {
SrcBlock "Relational\nOperator3"
SrcPort 1
DstBlock "flag_stop_sim"
DstPort 1
}
}
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion1"
Position [160, 125, 205, 145]
ShowName off
AttributesFormatString "Round = %<RndMeth>"
OutDataTypeMode "double"
OutDataType "sfix(16)"
OutScaling "2^0"
RndMeth "Nearest"
SaturateOnIntegerOverflow off
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion2"
Position [160, 195, 205, 215]
ShowName off
AttributesFormatString "Round = %<RndMeth>"
OutDataTypeMode "double"
OutDataType "sfix(16)"
OutScaling "2^0"
RndMeth "Nearest"
SaturateOnIntegerOverflow off
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion3"
Position [160, 560, 205, 580]
ShowName off
AttributesFormatString "Round = %<RndMeth>"
OutDataTypeMode "double"
OutDataType "sfix(16)"
OutScaling "2^0"
RndMeth "Nearest"
SaturateOnIntegerOverflow off
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion4"
Position [160, 285, 205, 305]
ShowName off
AttributesFormatString "Round = %<RndMeth>"
OutDataTypeMode "double"
OutDataType "sfix(16)"
OutScaling "2^0"
RndMeth "Nearest"
SaturateOnIntegerOverflow off
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion5"
Position [630, 125, 675, 145]
ShowName off
AttributesFormatString "Round = %<RndMeth>"
OutDataTypeMode "int32"
OutDataType "sfix(16)"
OutScaling "2^0"
RndMeth "Nearest"
SaturateOnIntegerOverflow off
}
Block {
BlockType DataTypeConversion
Name "Data Type Conversion6"
Position [630, 195, 675, 215]
ShowName off
AttributesFormatString "Round = %<RndMeth>"
OutDataTypeMode "int32"
OutDataType "sfix(16)"
OutScaling "2^0"
RndMeth "Nearest"
SaturateOnIntegerOverflow off
}
Block {
BlockType SubSystem
Name "Detect_Engage1"
Ports [2, 1]
Position [310, 255, 405, 310]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
System {
Name "Detect_Engage1"
Location [47, 481, 941, 849]
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, 88, 55, 102]
IconDisplay "Port number"
}
Block {
BlockType Inport
Name "system_clock"
Position [30, 238, 60, 252]
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Abs
Name "Abs"
Position [130, 81, 160, 109]
ShowName off
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Constant
Name "Constant10"
Position [120, 121, 170, 139]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
Value "PWM_BL"
OutDataTypeMode "double"
OutDataType "sfix(16)"
OutScaling "2^0"
SampleTime "-1"
}
Block {
BlockType Constant
Name "Constant7"
Position [390, 320, 440, 340]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
Value "time_en1"
OutDataTypeMode "double"
OutDataType "sfix(16)"
OutScaling "2^0"
SampleTime "-1"
}
Block {
BlockType Derivative
Name "Derivative"
Position [130, 30, 160, 60]
ShowName off
}
Block {
BlockType Memory
Name "Memory"
Position [375, 145, 405, 175]
ShowName off
AttributesFormatString "Initial = %<X0>"
X0 "engage1_iv"
InheritSampleTime on
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator1"
Position [775, 230, 795, 285]
ShowName off
Operator "<"
InputSameDT off
LogicOutDataTypeMode "boolean"
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator2"
Position [555, 93, 575, 182]
ShowName off
Operator "~="
InputSameDT off
LogicOutDataTypeMode "boolean"
}
Block {
BlockType RelationalOperator
Name "Relational\nOperator4"
Position [205, 75, 225, 150]
ShowName off
Operator ">"
InputSameDT off
LogicOutDataTypeMode "boolean"
}
Block {
BlockType SubSystem
Name "Set_clock0 "
Ports [1, 1, 1]
Position [570, 224, 665, 266]
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"
}
Block {
BlockType EnablePort
Name "Enable"
Ports []
Position [35, 20, 55, 40]
ShowName off
}
Block {
BlockType Outport
Name "clock0"
Position [300, 118, 330, 132]
IconDisplay "Port number"
}
Line {
SrcBlock "clock"
SrcPort 1
DstBlock "clock0"
DstPort 1
}
}
}
Block {
BlockType Signum
Name "Sign"
Position [480, 100, 510, 130]
ShowName off
}
Block {
BlockType Signum
Name "Sign1"
Position [480, 145, 510, 175]
ShowName off
}
Block {
BlockType Sum
Name "Sum1"
Ports [2, 1]
Position [480, 235, 500, 255]
ShowName off
IconShape "round"
Inputs "|++"
CollapseMode "All dimensions"
InputSameDT off
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Sum
Name "Sum2"
Ports [2, 1]
Position [700, 235, 720, 255]
ShowName off
IconShape "round"
Inputs "|-+"
CollapseMode "All dimensions"
InputSameDT off
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Switch
Name "Switch1"
Position [290, 68, 310, 162]
ShowName off
Criteria "u2 ~= 0"
InputSameDT off
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "flag_engage1"
Position [840, 253, 870, 267]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "Sign"
SrcPort 1
DstBlock "Relational\nOperator2"
DstPort 1
}
Line {
SrcBlock "Sign1"
SrcPort 1
DstBlock "Relational\nOperator2"
DstPort 2
}
Line {
SrcBlock "Abs"
SrcPort 1
DstBlock "Relational\nOperator4"
DstPort 1
}
Line {
SrcBlock "Constant10"
SrcPort 1
DstBlock "Relational\nOperator4"
DstPort 2
}
Line {
SrcBlock "Relational\nOperator4"
SrcPort 1
DstBlock "Switch1"
DstPort 2
}
Line {
SrcBlock "Switch1"
SrcPort 1
Points [25, 0]
Branch {
DstBlock "Sign"
DstPort 1
}
Branch {
Points [0, 45]
DstBlock "Memory"
DstPort 1
}
}
Line {
SrcBlock "Memory"
SrcPort 1
Points [30, 0]
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