nxtscara_controller.mdl

matlab con robot scara

Model {
  Name			  "nxtscara_controller"
  Version		  7.0
  MdlSubVersion		  0
  GraphicalInterface {
    NumRootInports	    6
    Inport {
      Name		      "enter_button"
    }
    Inport {
      Name		      "run_button"
    }
    Inport {
      Name		      "touch1"
    }
    Inport {
      Name		      "touch2"
    }
    Inport {
      Name		      "theta1m"
    }
    Inport {
      Name		      "theta2m"
    }
    NumRootOutports	    3
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "pwm1"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "pwm2"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "pwm3"
    }
    ParameterArgumentNames  ""
    ComputedModelVersion    "1.2062"
    NumModelReferences	    0
    NumTestPointedSignals   0
  }
  SavedCharacterEncoding  "Shift_JIS"
  PreLoadFcn		  "param_nxtscara"
  SaveDefaultBlockParams  on
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  on
  ShowLoopsOnError	  on
  IgnoreBidirectionalLines off
  ShowStorageClass	  off
  ShowTestPointIcons	  on
  ShowViewerIcons	  on
  SortedOrder		  off
  ExecutionContextIcon	  off
  ShowLinearizationAnnotations on
  ScopeRefreshTime	  0.035000
  OverrideScopeRefreshTime on
  DisableAllScopes	  off
  DataTypeOverride	  "UseLocalSettings"
  MinMaxOverflowLogging	  "UseLocalSettings"
  MinMaxOverflowArchiveMode "Overwrite"
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  CloseFcn		  "rtwprivate ssgencode ModelCloseRequest nxtscara_controller_new"
  Created		  "Tue Sep 25 11:37:09 2007"
  Creator		  "y_yama"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "y_yama"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Fri Oct 31 11:36:34 2008"
  RTWModifiedTimeStamp	  0
  ModelVersionFormat	  "1.%<AutoIncrement:2062>"
  ConfigurationManager	  "None"
  SimulationMode	  "normal"
  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  TryForcingSFcnDF	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  covSaveCumulativeToWorkspaceVar on
  CovSaveSingleToWorkspaceVar on
  CovCumulativeVarName	  "covCumulativeData"
  CovCumulativeReport	  off
  CovReportOnPause	  on
  ExtModeBatchMode	  off
  ExtModeEnableFloating	  on
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "normal"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigDurationFloating "auto"
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  on
  ExtModeSkipDownloadWhenConnect off
  ExtModeLogAll		  on
  ExtModeAutoUpdateStatusClock on
  BufferReuse		  on
  ShowModelReferenceBlockVersion off
  ShowModelReferenceBlockIO off
  Array {
    Type		    "Handle"
    Dimension		    1
    Simulink.ConfigSet {
      $ObjectID		      1
      Version		      "1.3.0"
      Array {
	Type			"Handle"
	Dimension		8
	Simulink.SolverCC {
	  $ObjectID		  2
	  Version		  "1.3.0"
	  StartTime		  "0"
	  StopTime		  "inf"
	  AbsTol		  "auto"
	  FixedStep		  "TS"
	  InitialStep		  "auto"
	  MaxNumMinSteps	  "-1"
	  MaxOrder		  5
	  ConsecutiveZCsStepRelTol "10*128*eps"
	  MaxConsecutiveZCs	  "1000"
	  ExtrapolationOrder	  4
	  NumberNewtonIterations  1
	  MaxStep		  "auto"
	  MinStep		  "auto"
	  MaxConsecutiveMinStep	  "1"
	  RelTol		  "1e-3"
	  SolverMode		  "SingleTasking"
	  Solver		  "FixedStepDiscrete"
	  SolverName		  "FixedStepDiscrete"
	  ZeroCrossControl	  "UseLocalSettings"
	  AlgebraicLoopSolver	  "TrustRegion"
	  SolverResetMethod	  "Fast"
	  PositivePriorityOrder	  off
	  AutoInsertRateTranBlk	  off
	  SampleTimeConstraint	  "Unconstrained"
	  RateTranMode		  "Deterministic"
	}
	Simulink.DataIOCC {
	  $ObjectID		  3
	  Version		  "1.3.0"
	  Decimation		  "1"
	  ExternalInput		  "[t, u]"
	  FinalStateName	  "xFinal"
	  InitialState		  "xInitial"
	  LimitDataPoints	  on
	  MaxDataPoints		  "1000"
	  LoadExternalInput	  off
	  LoadInitialState	  off
	  SaveFinalState	  off
	  SaveFormat		  "Array"
	  SaveOutput		  off
	  SaveState		  off
	  SignalLogging		  off
	  InspectSignalLogs	  off
	  SaveTime		  off
	  StateSaveName		  "xout"
	  TimeSaveName		  "tout"
	  OutputSaveName	  "yout"
	  SignalLoggingName	  "logsout"
	  OutputOption		  "RefineOutputTimes"
	  OutputTimes		  "[]"
	  Refine		  "1"
	}
	Simulink.OptimizationCC {
	  $ObjectID		  4
	  Version		  "1.3.0"
	  BlockReduction	  on
	  BooleanDataType	  on
	  ConditionallyExecuteInputs on
	  InlineParams		  on
	  InlineInvariantSignals  on
	  OptimizeBlockIOStorage  on
	  BufferReuse		  on
	  EnforceIntegerDowncast  off
	  ExpressionFolding	  on
	  ExpressionDepthLimit	  2147483647
	  FoldNonRolledExpr	  on
	  LocalBlockOutputs	  on
	  RollThreshold		  2
	  SystemCodeInlineAuto	  off
	  StateBitsets		  on
	  DataBitsets		  on
	  UseTempVars		  on
	  ZeroExternalMemoryAtStartup off
	  ZeroInternalMemoryAtStartup off
	  InitFltsAndDblsToZero	  on
	  NoFixptDivByZeroProtection on
	  EfficientFloat2IntCast  on
	  OptimizeModelRefInitCode on
	  LifeSpan		  "1"
	  BufferReusableBoundary  on
	  SimCompilerOptimization "Off"
	  AccelVerboseBuild	  off
	}
	Simulink.DebuggingCC {
	  $ObjectID		  5
	  Version		  "1.3.0"
	  RTPrefix		  "error"
	  ConsistencyChecking	  "warning"
	  ArrayBoundsChecking	  "none"
	  SignalInfNanChecking	  "warning"
	  SignalRangeChecking	  "none"
	  ReadBeforeWriteMsg	  "DisableAll"
	  WriteAfterWriteMsg	  "DisableAll"
	  WriteAfterReadMsg	  "DisableAll"
	  AlgebraicLoopMsg	  "error"
	  ArtificialAlgebraicLoopMsg "warning"
	  SaveWithDisabledLinksMsg "warning"
	  SaveWithParameterizedLinksMsg	"warning"
	  CheckSSInitialOutputMsg off
	  CheckExecutionContextPreStartOutputMsg on
	  CheckExecutionContextRuntimeOutputMsg	on
	  SignalResolutionControl "UseLocalSettings"
	  BlockPriorityViolationMsg "warning"
	  MinStepSizeMsg	  "warning"
	  TimeAdjustmentMsg	  "none"
	  MaxConsecutiveZCsMsg	  "error"
	  SolverPrmCheckMsg	  "none"
	  InheritedTsInSrcMsg	  "warning"
	  DiscreteInheritContinuousMsg "warning"
	  MultiTaskDSMMsg	  "warning"
	  MultiTaskCondExecSysMsg "error"
	  MultiTaskRateTransMsg	  "error"
	  SingleTaskRateTransMsg  "warning"
	  TasksWithSamePriorityMsg "none"
	  SigSpecEnsureSampleTimeMsg "warning"
	  CheckMatrixSingularityMsg "none"
	  IntegerOverflowMsg	  "none"
	  Int32ToFloatConvMsg	  "warning"
	  ParameterDowncastMsg	  "error"
	  ParameterOverflowMsg	  "error"
	  ParameterUnderflowMsg	  "none"
	  ParameterPrecisionLossMsg "none"
	  ParameterTunabilityLossMsg "warning"
	  UnderSpecifiedDataTypeMsg "none"
	  UnnecessaryDatatypeConvMsg "none"
	  VectorMatrixConversionMsg "none"
	  InvalidFcnCallConnMsg	  "error"
	  FcnCallInpInsideContextMsg "Use local settings"
	  SignalLabelMismatchMsg  "none"
	  UnconnectedInputMsg	  "error"
	  UnconnectedOutputMsg	  "error"
	  UnconnectedLineMsg	  "error"
	  SFcnCompatibilityMsg	  "none"
	  UniqueDataStoreMsg	  "error"
	  BusObjectLabelMismatch  "error"
	  RootOutportRequireBusObject "error"
	  AssertControl		  "UseLocalSettings"
	  EnableOverflowDetection off
	  ModelReferenceIOMsg	  "none"
	  ModelReferenceVersionMismatchMessage "none"
	  ModelReferenceIOMismatchMessage "none"
	  ModelReferenceCSMismatchMessage "none"
	  ModelReferenceSimTargetVerbose off
	  UnknownTsInhSupMsg	  "warning"
	  ModelReferenceDataLoggingMessage "warning"
	  ModelReferenceSymbolNameMessage "warning"
	  ModelReferenceExtraNoncontSigs "error"
	  StateNameClashWarn	  "warning"
	  StrictBusMsg		  "Warning"
	  LoggingUnavailableSignals "error"
	}
	Simulink.HardwareCC {
	  $ObjectID		  6
	  Version		  "1.3.0"
	  ProdBitPerChar	  8
	  ProdBitPerShort	  16
	  ProdBitPerInt		  32
	  ProdBitPerLong	  32
	  ProdIntDivRoundTo	  "Zero"
	  ProdEndianess		  "LittleEndian"
	  ProdWordSize		  32
	  ProdShiftRightIntArith  on
	  ProdHWDeviceType	  "ARM7"
	  TargetBitPerChar	  8
	  TargetBitPerShort	  16
	  TargetBitPerInt	  32
	  TargetBitPerLong	  32
	  TargetShiftRightIntArith on
	  TargetIntDivRoundTo	  "Undefined"
	  TargetEndianess	  "Unspecified"
	  TargetWordSize	  32
	  TargetTypeEmulationWarnSuppressLevel 0
	  TargetPreprocMaxBitsSint 32
	  TargetPreprocMaxBitsUint 32
	  TargetHWDeviceType	  "32-bit Generic"
	  TargetUnknown		  off
	  ProdEqTarget		  on
	}
	Simulink.ModelReferenceCC {
	  $ObjectID		  7
	  Version		  "1.3.0"
	  UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
	  CheckModelReferenceTargetMessage "error"
	  ModelReferenceNumInstancesAllowed "Single"
	  ModelReferencePassRootInputsByReference on
	  ModelReferenceMinAlgLoopOccurrences off
	}
	Simulink.RTWCC {
	  $BackupClass		  "Simulink.RTWCC"
	  $ObjectID		  8
	  Version		  "1.3.0"
	  SystemTargetFile	  "ert.tlc"
	  GenCodeOnly		  on
	  MakeCommand		  "make_rtw"
	  GenerateMakefile	  off
	  TemplateMakefile	  "ert_default_tmf"
	  Description		  "Real-Time Workshop Embedded Coder (no auto configuration)"
	  GenerateReport	  on
	  SaveLog		  off
	  RTWVerbose		  off
	  RetainRTWFile		  off
	  ProfileTLC		  off
	  TLCDebug		  off
	  TLCCoverage		  off
	  TLCAssert		  off
	  ProcessScriptMode	  "Default"
	  ConfigurationMode	  "Optimized"
	  ProcessScript		  "ert_make_rtw_hook"
	  ConfigAtBuild		  off
	  IncludeHyperlinkInReport on
	  LaunchReport		  on
	  TargetLang		  "C"
	  IncludeBusHierarchyInRTWFileBlockHierarchyMap	off
	  IncludeERTFirstTime	  off
	  GenerateTraceInfo	  off
	  RTWCompilerOptimization "Off"
	  Array {
	    Type		    "Handle"
	    Dimension		    2
	    Simulink.CodeAppCC {
	      $ObjectID		      9
	      Array {
		Type			"Cell"
		Dimension		2
		Cell			"ShowEliminatedStatement"
		Cell			"ForceParamTrailComments"
		PropName		"DisabledProps"
	      }
	      Version		      "1.3.0"
	      ForceParamTrailComments off
	      GenerateComments	      off
	      IgnoreCustomStorageClasses off
	      IncHierarchyInIds	      off
	      MaxIdLength	      63
	      PreserveName	      off
	      PreserveNameWithParent  off
	      ShowEliminatedStatement off
	      IncAutoGenComments      off
	      SimulinkDataObjDesc     off
	      SFDataObjDesc	      off
	      IncDataTypeInIds	      off
	      MangleLength	      1
	      CustomSymbolStrGlobalVar "rt$N$M"
	      CustomSymbolStrType     "$N$M"
	      CustomSymbolStrField    "$N$M"
	      CustomSymbolStrFcn      "$N$M$F"
	      CustomSymbolStrBlkIO    "rtb_$N$M"
	      CustomSymbolStrTmpVar   "$N$M"
	      CustomSymbolStrMacro    "$N$M"
	      DefineNamingRule	      "None"
	      ParamNamingRule	      "None"
	      SignalNamingRule	      "None"
	      InsertBlockDesc	      off
	      SimulinkBlockComments   off
	      EnableCustomComments    off
	      InlinedPrmAccess	      "Literals"
	      ReqsInCode	      off
	    }
	    Simulink.ERTTargetCC {
	      $BackupClass	      "Simulink.TargetCC"
	      $ObjectID		      10
	      Version		      "1.3.0"
	      TargetFcnLib	      "ansi_tfl_tmw.mat"
	      TargetLibSuffix	      ""
	      TargetPreCompLibLocation ""
	      GenFloatMathFcnCalls    "GNU"
	      UtilityFuncGeneration   "Auto"
	      GenerateFullHeader      on
	      GenerateSampleERTMain   off
	      GenerateTestInterfaces  off
	      IsPILTarget	      off
	      ModelReferenceCompliant on
	      CompOptLevelCompliant   on
	      IncludeMdlTerminateFcn  off
	      CombineOutputUpdateFcns on
	      SuppressErrorStatus     on
	      IncludeFileDelimiter    "Auto"
	      ERTCustomFileBanners    on
	      SupportAbsoluteTime     off
	      LogVarNameModifier      "rt_"
	      MatFileLogging	      off
	      MultiInstanceERTCode    off
	      SupportNonFinite	      off
	      SupportComplex	      off
	      PurelyIntegerCode	      off
	      SupportContinuousTime   off
	      SupportNonInlinedSFcns  off
	      EnableShiftOperators    on
	      ParenthesesLevel	      "Nominal"
	      PortableWordSizes	      off
	      ModelStepFunctionPrototypeControlCompliant on
	      GenerateErtSFunction    off
	      GenerateASAP2	      off
	      ExtMode		      off
	      ExtModeTransport	      0
	      ExtModeStaticAlloc      off
	      ExtModeStaticAllocSize  1000000
	      ExtModeTesting	      off
	      ExtModeMexFile	      "ext_comm"
	      ExtModeIntrfLevel	      "Level1"
	      InlinedParameterPlacement	"NonHierarchical"