📄 nxtscara_controller.mdl
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PaperPositionMode "auto"
PaperType "A4"
PaperUnits "centimeters"
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
ReportName "simulink-default.rpt"
Block {
BlockType Inport
Name "enter_button"
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IconDisplay "Port number"
DataType "uint8"
OutDataType "sfix(16)"
OutScaling "2^0"
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Block {
BlockType Inport
Name "run_button"
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Port "2"
IconDisplay "Port number"
DataType "uint8"
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Block {
BlockType Inport
Name "touch1"
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Port "3"
IconDisplay "Port number"
DataType "uint8"
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Block {
BlockType Inport
Name "touch2"
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IconDisplay "Port number"
DataType "uint8"
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OutScaling "2^0"
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Block {
BlockType Inport
Name "theta1m"
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Port "5"
IconDisplay "Port number"
DataType "int32"
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Block {
BlockType Inport
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Port "6"
IconDisplay "Port number"
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Block {
BlockType Demux
Name "Demux"
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Position [410, 133, 415, 257]
BackgroundColor "black"
ShowName off
Outputs "3"
DisplayOption "bar"
Port {
PortNumber 1
Name "task_init"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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Port {
PortNumber 2
Name "task_ts1"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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Port {
PortNumber 3
Name "task_ts2"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
BlockType Reference
Name "Enter Button Interface"
Ports [1]
Position [120, 405, 175, 445]
Priority "-1"
AttributesFormatString "Priority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/Enter Button\nInterface"
SourceType "Enter Button Interface"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
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Block {
BlockType Reference
Name "ExpFcnCalls Scheduler"
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Priority "0"
AttributesFormatString "Priority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/ExpFcnCalls Scheduler"
SourceType "Exported Function-Calls Scheduler"
fcname "'task_init', 'task_ts1', 'task_ts2'"
fctrigger "[0, ts1, ts2]"
ts "0.001"
platform "LEJOS+OSEK"
stacksize "[512, 512, 512]"
bd_mode "Slave"
}
Block {
BlockType Reference
Name "Revolution Sensor Interface"
Ports [1]
Position [120, 125, 175, 165]
Priority "-1"
AttributesFormatString "Port = %<ip>\\nPriority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/Revolution Sensor\nInterface"
SourceType "Revolution Sensor Interface"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
ip "C"
}
Block {
BlockType Reference
Name "Revolution Sensor Interface1"
Ports [1]
Position [120, 195, 175, 235]
Priority "-1"
AttributesFormatString "Port = %<ip>\\nPriority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/Revolution Sensor\nInterface"
SourceType "Revolution Sensor Interface"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
ip "B"
}
Block {
BlockType Reference
Name "Run Button Interface"
Ports [1]
Position [120, 470, 175, 510]
Priority "-1"
AttributesFormatString "Priority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/Run Button\nInterface"
SourceType "Run Button Interface"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
}
Block {
BlockType Reference
Name "Servo Motor Interface"
Ports [0, 1]
Position [650, 195, 705, 235]
Priority "1"
AttributesFormatString "Port = %<ip>\\nPriority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/Servo Motor\nInterface"
SourceType "Servo Motor Interface"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
ip "B"
mode "Brake"
}
Block {
BlockType Reference
Name "Servo Motor Interface1"
Ports [0, 1]
Position [650, 125, 705, 165]
Priority "1"
AttributesFormatString "Port = %<ip>\\nPriority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/Servo Motor\nInterface"
SourceType "Servo Motor Interface"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
ip "C"
mode "Brake"
}
Block {
BlockType Reference
Name "Servo Motor Interface2"
Ports [0, 1]
Position [650, 265, 705, 305]
Priority "1"
AttributesFormatString "Port = %<ip>\\nPriority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/Servo Motor\nInterface"
SourceType "Servo Motor Interface"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
ip "A"
mode "Brake"
}
Block {
BlockType Reference
Name "Sound Tone Interface"
Ports [0, 2]
Position [650, 335, 705, 375]
Priority "1"
AttributesFormatString "Priority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/Sound Tone \nInterface"
SourceType "Sound Tone Interface"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
}
Block {
BlockType Reference
Name "System Clock Interface"
Ports []
Position [120, 535, 175, 575]
Priority "-1"
AttributesFormatString "Priority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/System Clock\nInterface"
SourceType "System Clock Interface"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
}
Block {
BlockType Terminator
Name "Terminator1"
Position [775, 337, 790, 353]
ShowName off
}
Block {
BlockType Terminator
Name "Terminator2"
Position [775, 357, 790, 373]
ShowName off
}
Block {
BlockType Reference
Name "Touch Sensor Interface"
Ports [1]
Position [120, 265, 175, 305]
Priority "-1"
AttributesFormatString "Port = %<ip>\\nPriority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/Touch Sensor\nInterface"
SourceType "Touch Sensor Interface"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
ip "S1"
}
Block {
BlockType Reference
Name "Touch Sensor Interface1"
Ports [1]
Position [120, 335, 175, 375]
Priority "-1"
AttributesFormatString "Port = %<ip>\\nPriority = %<Priority>"
SourceBlock "ecrobot_nxt_lib/Touch Sensor\nInterface"
SourceType "Touch Sensor Interface"
ShowPortLabels "FromPortIcon"
SystemSampleTime "-1"
FunctionWithSeparateData off
RTWMemSecFuncInitTerm "Inherit from model"
RTWMemSecFuncExecute "Inherit from model"
RTWMemSecDataConstants "Inherit from model"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
ip "S2"
}
Block {
BlockType SubSystem
Name "nxtscara_app"
Ports [3]
Position [475, 133, 595, 257]
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
FunctionWithSeparateData off
System {
Name "nxtscara_app"
Location [156, 129, 776, 655]
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 "task_init_fc"
Position [35, 98, 65, 112]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "task_ts1_fc"
Position [180, 98, 210, 112]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "task_ts2_fc"
Position [325, 98, 355, 112]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType DataStoreMemory
Name "Data Store\nMemory1"
Position [355, 430, 425, 450]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
DataStoreName "theta1m_ref_bl"
ReadBeforeWriteMsg "warning"
WriteAfterWriteMsg "warning"
WriteAfterReadMsg "warning"
RTWStateStorageClass "Auto"
VectorParams1D on
DataType "single"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "real"
}
Block {
BlockType DataStoreMemory
Name "Data Store\nMemory14"
Position [355, 380, 425, 400]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
DataStoreName "pen_idx"
ReadBeforeWriteMsg "warning"
WriteAfterWriteMsg "warning"
WriteAfterReadMsg "warning"
RTWStateStorageClass "Auto"
VectorParams1D on
DataType "uint8"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "real"
}
Block {
BlockType DataStoreMemory
Name "Data Store\nMemory2"
Position [35, 330, 105, 350]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
DataStoreName "operation_mode"
ReadBeforeWriteMsg "warning"
WriteAfterWriteMsg "warning"
WriteAfterReadMsg "warning"
RTWStateStorageClass "Auto"
VectorParams1D on
DataType "uint8"
OutDataType "sfix(16)"
OutScaling "2^0"
SignalType "real"
}
Block {
BlockType DataStoreMemory
Name "Data Store\nMemory5"
Position [355, 475, 425, 495]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
DataStoreName "theta2m_ref_bl"
ReadBeforeWriteMsg "warning"
WriteAfterWriteMsg "warning"
WriteAfterReadMsg "warning"
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