nxtscara_controller.mdl

matlab con robot scara

	  RTWStateStorageClass	  "Auto"
	  VectorParams1D	  on
	  DataType		  "single"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  SignalType		  "real"
	}
	Block {
	  BlockType		  DataStoreMemory
	  Name			  "Data Store\nMemory7"
	  Position		  [355, 330, 425, 350]
	  ShowName		  off
	  AttributesFormatString  "DataType = %<OutDataTypeStr>"
	  DataStoreName		  "timer_trj"
	  ReadBeforeWriteMsg	  "warning"
	  WriteAfterWriteMsg	  "warning"
	  WriteAfterReadMsg	  "warning"
	  RTWStateStorageClass	  "Auto"
	  VectorParams1D	  on
	  DataType		  "uint32"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  SignalType		  "real"
	}
	Block {
	  BlockType		  DataStoreMemory
	  Name			  "Data Store\nMemory9"
	  Position		  [35, 385, 105, 405]
	  ShowName		  off
	  AttributesFormatString  "DataType = %<OutDataTypeStr>"
	  DataStoreName		  "motor_number"
	  ReadBeforeWriteMsg	  "warning"
	  WriteAfterWriteMsg	  "warning"
	  WriteAfterReadMsg	  "warning"
	  RTWStateStorageClass	  "Auto"
	  VectorParams1D	  on
	  DataType		  "uint8"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  SignalType		  "real"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "task_init"
	  Ports			  [0, 0, 0, 1]
	  Position		  [50, 144, 170, 188]
	  TreatAsAtomicUnit	  on
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  System {
	    Name		    "task_init"
	    Location		    [181, 199, 632, 559]
	    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		      TriggerPort
	      Name		      "function"
	      Ports		      []
	      Position		      [30, 75, 50, 95]
	      ShowName		      off
	      TriggerType	      "function-call"
	      StatesWhenEnabling      "held"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant2"
	      Position		      [130, 165, 170, 185]
	      ShowName		      off
	      AttributesFormatString  "DataType = %<OutDataTypeStr>"
	      OutDataTypeMode	      "uint8"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	      SampleTime	      "-1"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant3"
	      Position		      [130, 105, 170, 125]
	      ShowName		      off
	      AttributesFormatString  "DataType = %<OutDataTypeStr>"
	      OutDataTypeMode	      "uint8"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	      SampleTime	      "-1"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant6"
	      Position		      [95, 290, 170, 310]
	      ShowName		      off
	      AttributesFormatString  "DataType = %<OutDataTypeStr>"
	      Value		      "intmax('uint32')"
	      OutDataTypeMode	      "uint32"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	      SampleTime	      "-1"
	    }
	    Block {
	      BlockType		      Constant
	      Name		      "Constant8"
	      Position		      [130, 225, 170, 245]
	      ShowName		      off
	      AttributesFormatString  "DataType = %<OutDataTypeStr>"
	      Value		      "0"
	      OutDataTypeMode	      "uint8"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	      SampleTime	      "-1"
	    }
	    Block {
	      BlockType		      DataStoreWrite
	      Name		      "Data Store\nWrite1"
	      Position		      [250, 165, 320, 185]
	      ShowName		      off
	      DataStoreName	      "motor_number"
	      SampleTime	      "-1"
	    }
	    Block {
	      BlockType		      DataStoreWrite
	      Name		      "Data Store\nWrite2"
	      Position		      [250, 105, 320, 125]
	      ShowName		      off
	      DataStoreName	      "operation_mode"
	      SampleTime	      "-1"
	    }
	    Block {
	      BlockType		      DataStoreWrite
	      Name		      "Data Store\nWrite6"
	      Position		      [250, 290, 320, 310]
	      ShowName		      off
	      DataStoreName	      "timer_trj"
	      SampleTime	      "-1"
	    }
	    Block {
	      BlockType		      DataStoreWrite
	      Name		      "Data Store\nWrite7"
	      Position		      [250, 225, 320, 245]
	      ShowName		      off
	      DataStoreName	      "pen_idx"
	      SampleTime	      "-1"
	    }
	    Line {
	      SrcBlock		      "Constant2"
	      SrcPort		      1
	      DstBlock		      "Data Store\nWrite1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant3"
	      SrcPort		      1
	      DstBlock		      "Data Store\nWrite2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant6"
	      SrcPort		      1
	      DstBlock		      "Data Store\nWrite6"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Constant8"
	      SrcPort		      1
	      DstBlock		      "Data Store\nWrite7"
	      DstPort		      1
	    }
	    Annotation {
	      Name		      "Initialization Task"
	      Position		      [24, 22]
	      HorizontalAlignment     "left"
	      FontName		      "Arial"
	      FontSize		      16
	      FontWeight	      "bold"
	    }
	    Annotation {
	      Name		      "Set initial values and reset tracking timer."
	      Position		      [39, 42]
	      HorizontalAlignment     "left"
	      FontName		      "Arial"
	      FontSize		      12
	      FontWeight	      "bold"
	    }
	  }
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "task_ts1"
	  Ports			  [0, 0, 0, 1]
	  Position		  [190, 144, 310, 188]
	  TreatAsAtomicUnit	  on
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  System {
	    Name		    "task_ts1"
	    Location		    [249, 291, 834, 922]
	    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		      TriggerPort
	      Name		      "function"
	      Ports		      []
	      Position		      [30, 70, 50, 90]
	      ShowName		      off
	      TriggerType	      "function-call"
	      StatesWhenEnabling      "held"
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "Controller"
	      Ports		      [7, 3]
	      Position		      [295, 115, 395, 535]
	      MinAlgLoopOccurrences   off
	      RTWSystemCode	      "Auto"
	      FunctionWithSeparateData off
	      System {
		Name			"Controller"
		Location		[9, 260, 742, 764]
		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			  "theta1m"
		  Position		  [30, 198, 60, 212]
		  IconDisplay		  "Port number"
		  OutDataType		  "sfix(16)"
		  OutScaling		  "2^0"
		}
		Block {
		  BlockType		  Inport
		  Name			  "theta2m"
		  Position		  [30, 223, 60, 237]
		  Port			  "2"
		  IconDisplay		  "Port number"
		  OutDataType		  "sfix(16)"
		  OutScaling		  "2^0"
		}
		Block {
		  BlockType		  Inport
		  Name			  "flag_touch1"
		  Position		  [30, 273, 60, 287]
		  Port			  "3"
		  IconDisplay		  "Port number"
		  OutDataType		  "sfix(16)"
		  OutScaling		  "2^0"
		}
		Block {
		  BlockType		  Inport
		  Name			  "flag_touch2"
		  Position		  [30, 433, 60, 447]
		  Port			  "4"
		  IconDisplay		  "Port number"
		  OutDataType		  "sfix(16)"
		  OutScaling		  "2^0"
		}
		Block {
		  BlockType		  Inport
		  Name			  "operation_mode"
		  Position		  [30, 123, 60, 137]
		  Port			  "5"
		  IconDisplay		  "Port number"
		  OutDataType		  "sfix(16)"
		  OutScaling		  "2^0"
		}
		Block {
		  BlockType		  Inport
		  Name			  "motor_number"
		  Position		  [30, 398, 60, 412]
		  Port			  "6"
		  IconDisplay		  "Port number"
		  OutDataType		  "sfix(16)"
		  OutScaling		  "2^0"
		}
		Block {
		  BlockType		  Inport
		  Name			  "system_clock"
		  Position		  [30, 248, 60, 262]
		  Port			  "7"
		  IconDisplay		  "Port number"
		  OutDataType		  "sfix(16)"
		  OutScaling		  "2^0"
		}
		Block {
		  BlockType		  SubSystem
		  Name			  "Adjustment_Mode"
		  Ports			  [3, 3, 0, 0, 0, 0, 0, 1]
		  Position		  [270, 350, 375, 460]
		  MinAlgLoopOccurrences	  off
		  RTWSystemCode		  "Inline"
		  FunctionWithSeparateData off
		  System {
		    Name		    "Adjustment_Mode"
		    Location		    [182, 217, 952, 846]
		    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		    "flag_touch1"
		    Position		    [35, 243, 65, 257]
		    IconDisplay		    "Port number"
		    OutDataType		    "sfix(16)"
		    OutScaling		    "2^0"
		    }
		    Block {
		    BlockType		    Inport
		    Name		    "motor_number"
		    Position		    [35, 163, 65, 177]
		    Port		    "2"
		    IconDisplay		    "Port number"
		    OutDataType		    "sfix(16)"
		    OutScaling		    "2^0"
		    }
		    Block {
		    BlockType		    Inport
		    Name		    "flag_touch2"
		    Position		    [35, 288, 65, 302]
		    Port		    "3"
		    IconDisplay		    "Port number"
		    OutDataType		    "sfix(16)"
		    OutScaling		    "2^0"
		    }
		    Block {
		    BlockType		    ActionPort
		    Name		    "Action Port"
		    Position		    [25, 90, 72, 112]
		    ShowName		    off
		    ActionType		    "else"
		    }
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		    BlockType		    From
		    Name		    "From"
		    Position		    [535, 230, 595, 250]
		    ShowName		    off
		    CloseFcn		    "tagdialog Close"
		    GotoTag		    "pwm1_1"
		    }
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		    CloseFcn		    "tagdialog Close"
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		    ShowName		    off
		    CloseFcn		    "tagdialog Close"
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		    ShowName		    off
		    CloseFcn		    "tagdialog Close"
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		    ShowName		    off
		    CloseFcn		    "tagdialog Close"
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		    Block {