📄 nxtscara_controller.mdl
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BlockType Goto
Name "Goto"
Position [455, 230, 515, 250]
ShowName off
GotoTag "pwm1_1"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto1"
Position [455, 260, 515, 280]
ShowName off
GotoTag "pwm2_1"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto2"
Position [455, 290, 515, 310]
ShowName off
GotoTag "pwm3_1"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto3"
Position [455, 370, 515, 390]
ShowName off
GotoTag "pwm1_2"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto4"
Position [455, 400, 515, 420]
ShowName off
GotoTag "pwm2_2"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto5"
Position [455, 430, 515, 450]
ShowName off
GotoTag "pwm3_2"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto6"
Position [455, 510, 515, 530]
ShowName off
GotoTag "pwm1_3"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto7"
Position [455, 540, 515, 560]
ShowName off
GotoTag "pwm2_3"
TagVisibility "local"
}
Block {
BlockType Goto
Name "Goto8"
Position [455, 570, 515, 590]
ShowName off
GotoTag "pwm3_3"
TagVisibility "local"
}
Block {
BlockType If
Name "If"
Ports [1, 3]
Position [115, 131, 205, 209]
IfExpression "u1 == 1"
ElseIfExpressions "u1 == 2"
}
Block {
BlockType Merge
Name "Merge"
Ports [3, 1]
Position [635, 221, 665, 319]
ShowName off
Inputs "3"
}
Block {
BlockType Merge
Name "Merge1"
Ports [3, 1]
Position [635, 362, 665, 458]
ShowName off
Inputs "3"
}
Block {
BlockType Merge
Name "Merge2"
Ports [3, 1]
Position [635, 503, 665, 597]
ShowName off
Inputs "3"
}
Block {
BlockType SubSystem
Name "Motor1"
Ports [2, 3, 0, 0, 0, 0, 0, 1]
Position [295, 225, 405, 315]
MinAlgLoopOccurrences off
RTWSystemCode "Inline"
FunctionWithSeparateData off
Port {
PortNumber 1
Name "pwm1"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
PortNumber 2
Name "pwm2"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
PortNumber 3
Name "pwm3"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
System {
Name "Motor1"
Location [130, 148, 639, 539]
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 [30, 108, 60, 122]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "flag_touch2"
Position [30, 188, 60, 202]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType ActionPort
Name "Action Port"
Position [25, 20, 72, 42]
ShowName off
ActionType "then"
}
Block {
BlockType Constant
Name "Constant1"
Position [95, 155, 165, 175]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
Value "pwm1_adjst"
VectorParams1D off
OutDataTypeMode "int8"
OutDataType "FIXDT"
OutScaling "2^0"
SampleTime "-1"
}
Block {
BlockType Constant
Name "Constant2"
Position [125, 215, 160, 235]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
Value "0"
VectorParams1D off
OutDataTypeMode "int8"
OutDataType "FIXDT"
OutScaling "2^0"
SampleTime "-1"
}
Block {
BlockType Constant
Name "Constant3"
Position [95, 75, 165, 95]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
Value "pwm1_adjst"
VectorParams1D off
OutDataTypeMode "int8"
OutDataType "FIXDT"
OutScaling "2^0"
SampleTime "-1"
}
Block {
BlockType Constant
Name "Constant4"
Position [125, 270, 160, 290]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
Value "0"
VectorParams1D off
OutDataTypeMode "int8"
OutDataType "FIXDT"
OutScaling "2^0"
SampleTime "-1"
}
Block {
BlockType Constant
Name "Constant5"
Position [125, 325, 160, 345]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
Value "0"
VectorParams1D off
OutDataTypeMode "int8"
OutDataType "FIXDT"
OutScaling "2^0"
SampleTime "-1"
}
Block {
BlockType Gain
Name "Gain2"
Position [205, 150, 245, 180]
ShowName off
Gain "-1"
ParameterDataType "sfix(16)"
ParameterScaling "2^0"
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Switch
Name "Switch1"
Position [375, 69, 395, 161]
ShowName off
Criteria "u2 ~= 0"
InputSameDT off
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Switch
Name "Switch2"
Position [280, 149, 300, 241]
ShowName off
Criteria "u2 ~= 0"
InputSameDT off
OutDataType "sfix(16)"
OutScaling "2^0"
SaturateOnIntegerOverflow off
}
Block {
BlockType Outport
Name "pwm1"
Position [455, 108, 485, 122]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "pwm2"
Position [455, 273, 485, 287]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Outport
Name "pwm3"
Position [455, 328, 485, 342]
Port "3"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Line {
SrcBlock "flag_touch1"
SrcPort 1
DstBlock "Switch1"
DstPort 2
}
Line {
SrcBlock "Switch2"
SrcPort 1
Points [30, 0; 0, -50]
DstBlock "Switch1"
DstPort 3
}
Line {
SrcBlock "flag_touch2"
SrcPort 1
DstBlock "Switch2"
DstPort 2
}
Line {
SrcBlock "Constant3"
SrcPort 1
DstBlock "Switch1"
DstPort 1
}
Line {
SrcBlock "Constant2"
SrcPort 1
DstBlock "Switch2"
DstPort 3
}
Line {
SrcBlock "Switch1"
SrcPort 1
DstBlock "pwm1"
DstPort 1
}
Line {
SrcBlock "Constant4"
SrcPort 1
DstBlock "pwm2"
DstPort 1
}
Line {
SrcBlock "Constant5"
SrcPort 1
DstBlock "pwm3"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Switch2"
DstPort 1
}
Line {
SrcBlock "Constant1"
SrcPort 1
DstBlock "Gain2"
DstPort 1
}
}
}
Block {
BlockType SubSystem
Name "Motor2"
Ports [2, 3, 0, 0, 0, 0, 0, 1]
Position [295, 365, 405, 455]
MinAlgLoopOccurrences off
RTWSystemCode "Inline"
FunctionWithSeparateData off
Port {
PortNumber 1
Name "pwm1"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
PortNumber 2
Name "pwm2"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
PortNumber 3
Name "pwm3"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
System {
Name "Motor2"
Location [129, 512, 640, 903]
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 [30, 108, 60, 122]
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType Inport
Name "flag_touch2"
Position [30, 188, 60, 202]
Port "2"
IconDisplay "Port number"
OutDataType "sfix(16)"
OutScaling "2^0"
}
Block {
BlockType ActionPort
Name "Action Port"
Position [25, 20, 72, 42]
ShowName off
ActionType "elseif"
}
Block {
BlockType Constant
Name "Constant1"
Position [100, 155, 170, 175]
ShowName off
AttributesFormatString "DataType = %<OutDataTypeStr>"
Value "pwm2_adjst"
VectorParams1D off
OutDataTypeMode "int8"
OutDataType "FIXDT"
OutScaling "2^0"
SampleTime "-1"
}
Block {
BlockType Constant
Name "Constant2"
Position [135, 215, 170, 235]
ShowName off
AttributesFormatString "DataType = %<OutDataTyp⌨️ 快捷键说明
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