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📄 nxtscara_controller.mdl

📁 matlab con robot scara
💻 MDL
📖 第 1 页 / 共 5 页
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    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "centimeters"
    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
    TiledPageScale	    1
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      BlockType		      Inport
      Name		      "enter_button"
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      IconDisplay	      "Port number"
      DataType		      "uint8"
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      OutScaling	      "2^0"
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    Block {
      BlockType		      Inport
      Name		      "run_button"
      Position		      [25, 483, 55, 497]
      Port		      "2"
      IconDisplay	      "Port number"
      DataType		      "uint8"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
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    Block {
      BlockType		      Inport
      Name		      "touch1"
      Position		      [25, 278, 55, 292]
      Port		      "3"
      IconDisplay	      "Port number"
      DataType		      "uint8"
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      OutScaling	      "2^0"
    }
    Block {
      BlockType		      Inport
      Name		      "touch2"
      Position		      [25, 348, 55, 362]
      Port		      "4"
      IconDisplay	      "Port number"
      DataType		      "uint8"
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      OutScaling	      "2^0"
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    Block {
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      Name		      "theta1m"
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    Block {
      BlockType		      Inport
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      Port		      "6"
      IconDisplay	      "Port number"
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    Block {
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      BackgroundColor	      "black"
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      Port {
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	Name			"task_init"
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      Port {
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      Port {
	PortNumber		3
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    Block {
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      Priority		      "-1"
      AttributesFormatString  "Priority = %<Priority>"
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      SourceType	      "Enter Button Interface"
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      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
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      RTWMemSecDataParameters "Inherit from model"
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    Block {
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      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]"
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    Block {
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      Name		      "Revolution Sensor Interface"
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      RTWMemSecFuncInitTerm   "Inherit from model"
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      RTWMemSecDataParameters "Inherit from model"
      ip		      "C"
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    Block {
      BlockType		      Reference
      Name		      "Revolution Sensor Interface1"
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      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"
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      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
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      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      ip		      "B"
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    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"
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    Block {
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      SourceType	      "Servo Motor Interface"
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      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"
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    Block {
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      Name		      "Servo Motor Interface1"
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      Position		      [650, 125, 705, 165]
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      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"
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    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]
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	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
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	  IconDisplay		  "Port number"
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	Block {
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	  Position		  [180, 98, 210, 112]
	  Port			  "2"
	  IconDisplay		  "Port number"
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	Block {
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	  DataStoreName		  "theta1m_ref_bl"
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	  DataType		  "uint8"
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	  OutScaling		  "2^0"
	  SignalType		  "real"
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	Block {
	  BlockType		  DataStoreMemory
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	  Position		  [35, 330, 105, 350]
	  ShowName		  off
	  AttributesFormatString  "DataType = %<OutDataTypeStr>"
	  DataStoreName		  "operation_mode"
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	  VectorParams1D	  on
	  DataType		  "uint8"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  SignalType		  "real"
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	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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