--- /dev/null
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+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
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+ Name "Localize"
+ Location [64, 150, 1191, 493]
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+ PaperType "usletter"
+ PaperUnits "inches"
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+ ShowPageBoundaries off
+ ZoomFactor "100"
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+ BlockType Inport
+ Name "In1"
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+ IconDisplay "Port number"
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+ Block {
+ BlockType Demux
+ Name "Demux"
+ Ports [1, 3]
+ Position [95, 86, 100, 124]
+ BackgroundColor "black"
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
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+ Block {
+ BlockType SubSystem
+ Name "Graphs"
+ Ports [2]
+ Position [910, 115, 1010, 175]
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ System {
+ Name "Graphs"
+ Location [478, 120, 998, 439]
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+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
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+ PaperType "usletter"
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+ BlockType Inport
+ Name "Pos"
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+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
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+ Block {
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+ TimeRange "100"
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+ Block {
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+ OutScaling "2^0"
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+ Port {
+ PortNumber 1
+ Name "Angle [deg]"
+ RTWStorageClass "Auto"
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+ Block {
+ BlockType Mux
+ Name "Mux"
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+ Position [250, 46, 255, 84]
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+ PortNumber 1
+ Name "Position [m]"
+ PropagatedSignals ", , "
+ RTWStorageClass "Auto"
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+ BlockType Mux
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+ Block {
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+ Block {
+ BlockType Selector
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+ Position [110, 236, 150, 274]
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+ Block {
+ BlockType Selector
+ Name "Selector3"
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+ Position [110, 171, 150, 209]
+ InputPortWidth "3"
+ IndexOptions "Index vector (dialog)"
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+ Block {
+ BlockType Scope
+ Name "XY"
+ Ports [1]
+ Position [410, 49, 440, 81]
+ Floating off
+ Location [486, 362, 1140, 530]
+ Open off
+ NumInputPorts "1"
+ ZoomMode "xonly"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ TimeRange "100"
+ YMin "-0.5"
+ YMax "4"
+ DataFormat "StructureWithTime"
+ SampleTime "0"
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+ Line {
+ SrcBlock "Pos"
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+ Line {
+ SrcBlock "Selector"
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+ DstBlock "Mux"
+ DstPort 1
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+ Line {
+ Name "Position [m]"
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+ DstBlock "XY"
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+ SrcBlock "Selector3"
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+ SrcBlock "Selector2"
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+ DstPort 1
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+ }
+ Block {
+ BlockType "S-Function"
+ Name "MCL"
+ Ports [2, 2]
+ Position [620, 143, 800, 212]
+ BackgroundColor "green"
+ ShowName off
+ FunctionName "sf_mcl"
+ Parameters "count, noise_xy, noise_angle, aeval_sigma"
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+ MaskStyleString "edit,edit,edit,edit"
+ MaskTunableValueString "off,on,on,on"
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+ MaskVarAliasString ",,,"
+ MaskVariables "count=@1;noise_xy=@2;noise_angle=@3;aeval_sigma=@4;"
+ MaskDisplay "port_label('input', 1, '(dx,dy,da)')\nport_label('input', 2, '(th1,th2,th3)')\nport_label('output', 1, 'est_pos=(x,y,a)')\nport_label('output', 2, 'particle bitmap')\ndisp('MCL')"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ MaskValueString "3000|0.01|2/180*pi|2/180*pi"
+ MaskTabNameString ",,,"
+ }
+ Block {
+ BlockType SubSystem
+ Name "Measurement"
+ Ports [1, 1]
+ Position [395, 187, 470, 223]
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ System {
+ Name "Measurement"
+ Location [458, 185, 768, 279]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
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+ PaperType "usletter"
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+ BlockType Inport
+ Name "Pos"
+ Position [25, 43, 55, 57]
+ IconDisplay "Port number"
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+ OutScaling "2^0"
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+ Block {
+ BlockType MATLABFcn
+ Name "Beacon Angles"
+ Ports [1, 1]
+ Position [125, 35, 185, 65]
+ MATLABFcn "mod(beacon_angles(u), 2*pi)"
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+ Block {
+ BlockType Outport
+ Name "Angles"
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+ IconDisplay "Port number"
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+ Block {
+ BlockType Reference
+ Name "Measurement noise\nstd. deviation [deg]"
+ Ports [1, 1]
+ Position [479, 255, 531, 275]
+ Orientation "up"
+ NamePlacement "alternate"
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+ SourceType "Slider Gain"
+ ShowPortLabels "FromPortIcon"
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+ FunctionWithSeparateData off
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+ RTWMemSecFuncExecute "Inherit from model"
+ RTWMemSecDataConstants "Inherit from model"
+ RTWMemSecDataInternal "Inherit from model"
+ RTWMemSecDataParameters "Inherit from model"
+ low "0"
+ gain "1"
+ high "5"
+ }
+ Block {
+ BlockType Mux
+ Name "Mux"
+ Ports [3, 1]
+ Position [275, 86, 280, 124]
+ ShowName off
+ Inputs "3"
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+ Block {
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+ Name "No laser"
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+ NamePlacement "alternate"
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+ SampleTime "-1"
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+ Block {
+ BlockType Constant
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+ NamePlacement "alternate"
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+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ SampleTime "0.1"
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+ Block {
+ BlockType SubSystem
+ Name "Pos to deltas"
+ Ports [1, 1]
+ Position [325, 86, 420, 124]
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ System {
+ Name "Pos to deltas"
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+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
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+ PaperType "usletter"
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+ ShowPageBoundaries off
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+ Position [30, 103, 60, 117]
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
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+ Block {
+ BlockType Selector
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+ Position [190, 21, 230, 59]
+ InputPortWidth "3"
+ IndexOptions "Index vector (dialog)"
+ Indices "3"
+ OutputSizes "1"
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+ Block {
+ BlockType Reference
+ Name "Difference"
+ Ports [1, 1]
+ Position [100, 92, 145, 128]
+ NamePlacement "alternate"
+ SourceBlock "simulink/Discrete/Difference"
+ SourceType "Difference"
+ 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"
+ ICPrevInput "0.0"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ OutputDataTypeScalingMode "Inherit via internal rule"
+ OutDataType "sfix(16)"
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+ LockScale off
+ RndMeth "Floor"
+ DoSatur off
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+ Block {
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+ Name "Gain"
+ Position [250, 24, 285, 56]
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+ ParameterDataType "sfix(16)"
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+ OutDataTypeMode "Inherit via internal rule"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ SaturateOnIntegerOverflow off
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+ Block {
+ BlockType Mux
+ Name "Mux1"
+ Ports [2, 1]
+ Position [315, 81, 320, 119]
+ ShowName off
+ Inputs "2"
+ DisplayOption "bar"
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+ Block {
+ BlockType Mux
+ Name "Mux2"
+ Ports [2, 1]
+ Position [460, 91, 465, 129]
+ ShowName off
+ Inputs "2"
+ DisplayOption "bar"
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+ Block {
+ BlockType MATLABFcn
+ Name "Rotate XY"
+ Ports [1, 1]
+ Position [350, 83, 435, 117]
+ MATLABFcn "[cos(u(1)) -sin(u(1)); sin(u(1)) cos(u(1))]*[u(2); u(3)]"
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+ BlockType Selector
+ Name "Speed XY"
+ Ports [1, 1]
+ Position [190, 91, 230, 129]
+ InputPortWidth "3"
+ IndexOptions "Index vector (dialog)"
+ Indices "[1 2]"
+ OutputSizes "1"
+ Port {
+ PortNumber 1
+ Name "dx, dy"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Block {
+ BlockType Selector
+ Name "Speed angle"
+ Ports [1, 1]
+ Position [190, 151, 230, 189]
+ InputPortWidth "3"
+ IndexOptions "Index vector (dialog)"
+ Indices "3"
+ OutputSizes "1"
+ Port {
+ PortNumber 1
+ Name "dangle"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Block {
+ BlockType UnitDelay
+ Name "Unit Delay"
+ Position [110, 23, 145, 57]
+ SampleTime "-1"
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+ Block {
+ BlockType Outport
+ Name "Odometry"
+ Position [500, 103, 530, 117]
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
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+ Line {
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+ Branch {
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+ Line {
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+ DstBlock "Rotate XY"
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+ Line {
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+ Line {
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+ DstBlock "Odometry"
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+ Line {
+ Name "dangle"
+ Labels [0, 0]
+ SrcBlock "Speed angle"
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+ Points [210, 0]
+ DstBlock "Mux2"
+ DstPort 2
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+ Line {
+ Name "dx, dy"
+ Labels [0, 0]
+ SrcBlock "Speed XY"
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+ DstBlock "Mux1"
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+ Line {
+ SrcBlock "Difference"
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+ Points [5, 0]
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+ DstPort 1
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+ Branch {
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+ DstBlock "Speed angle"
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+ Line {
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+ DstBlock "Angle"
+ DstPort 1
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+ Line {
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+ DstBlock "Gain"
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+ Line {
+ SrcBlock "Gain"
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+ Points [0, 50]
+ DstBlock "Mux1"
+ DstPort 1
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+ }
+ }
+ Block {
+ BlockType RandomNumber
+ Name "Random\nNumber"
+ Position [490, 295, 520, 325]
+ Orientation "up"
+ NamePlacement "alternate"
+ Variance "(1/180*pi)^2"
+ Seed "abs(rand(3,1)*10000)"
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition"
+ Position [325, 184, 365, 226]
+ OutPortSampleTime "1"
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain ANGLE"
+ Ports [1, 1]
+ Position [160, 165, 210, 195]
+ SourceBlock "simulink/Math\nOperations/Slider\nGain"
+ SourceType "Slider Gain"
+ 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"
+ low "0"
+ gain "90"
+ high "360"
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain X"
+ Ports [1, 1]
+ Position [160, 18, 210, 52]
+ SourceBlock "simulink/Math\nOperations/Slider\nGain"
+ SourceType "Slider Gain"
+ 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"
+ low "0"
+ gain "1"
+ high "3"
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain Y"
+ Ports [1, 1]
+ Position [160, 90, 210, 120]
+ SourceBlock "simulink/Math\nOperations/Slider\nGain"
+ SourceType "Slider Gain"
+ 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"
+ low "0"
+ gain "0.5"
+ high "2.1"
+ }
+ Block {
+ BlockType Sum
+ Name "Sum"
+ Ports [2, 1]
+ Position [495, 195, 515, 215]
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ CollapseMode "All dimensions"
+ InputSameDT off
+ OutDataTypeMode "Inherit via internal rule"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Reference
+ Name "Switch"
+ Ports [2, 1]
+ Position [555, 177, 585, 213]
+ SourceBlock "simulink/Signal\nRouting/Manual Switch"
+ SourceType "Manual Switch"
+ 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"
+ sw "0"
+ action "0"
+ varsize off
+ }
+ Block {
+ BlockType Reference
+ Name "Switch1"
+ Ports [2, 1]
+ Position [570, 77, 600, 113]
+ NamePlacement "alternate"
+ SourceBlock "simulink/Signal\nRouting/Manual Switch"
+ SourceType "Manual Switch"
+ 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"
+ sw "0"
+ action "0"
+ varsize off
+ }
+ Block {
+ BlockType "M-S-Function"
+ Name "draw probability bitmap"
+ Ports [1]
+ Position [650, 228, 740, 262]
+ Orientation "left"
+ ForegroundColor "gray"
+ BackgroundColor "black"
+ FunctionName "sfdrawbitmap"
+ }
+ Block {
+ BlockType Gain
+ Name "to rad"
+ Position [229, 125, 261, 160]
+ Orientation "up"
+ NamePlacement "alternate"
+ ShowName off
+ Gain "pi/180"
+ ParameterDataTypeMode "Inherit via internal rule"
+ ParameterDataType "sfix(16)"
+ ParameterScaling "2^0"
+ OutDataTypeMode "Inherit via internal rule"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Outport
+ Name "Out1"
+ Position [1050, 243, 1080, 257]
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ }
+ Block {
+ BlockType Outport
+ Name "Out2"
+ Position [1050, 293, 1080, 307]
+ Port "2"
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ }
+ Line {
+ SrcBlock "MCL"
+ SrcPort 1
+ Points [40, 0]
+ Branch {
+ DstBlock "Graphs"
+ DstPort 2
+ }
+ Branch {
+ Points [0, 90]
+ DstBlock "Out1"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "MCL"
+ SrcPort 2
+ Points [10, 0; 0, 50]
+ DstBlock "draw probability bitmap"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Slider\nGain X"
+ SrcPort 1
+ Points [45, 0]
+ DstBlock "Mux"
+ DstPort 1
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+ Line {
+ SrcBlock "Slider\nGain Y"
+ SrcPort 1
+ DstBlock "Mux"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Slider\nGain ANGLE"
+ SrcPort 1
+ Points [30, 0]
+ DstBlock "to rad"
+ DstPort 1
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+ Line {
+ Labels [0, 0]
+ SrcBlock "Switch"
+ SrcPort 1
+ Points [5, 0]
+ Branch {
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+ Branch {
+ Points [0, 105]
+ DstBlock "Out2"
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+ }
+ Line {
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+ SrcPort 1
+ DstBlock "Measurement noise\nstd. deviation [deg]"
+ DstPort 1
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+ Line {
+ SrcBlock "Switch1"
+ SrcPort 1
+ DstBlock "MCL"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "No laser"
+ SrcPort 1
+ Points [20, 0]
+ DstBlock "Switch"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "No odometry"
+ SrcPort 1
+ DstBlock "Switch1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Pos to deltas"
+ SrcPort 1
+ DstBlock "Switch1"
+ DstPort 2
+ }
+ Line {
+ Labels [0, 0]
+ SrcBlock "Rate Transition"
+ SrcPort 1
+ DstBlock "Measurement"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Mux"
+ SrcPort 1
+ Points [10, 0]
+ Branch {
+ DstBlock "Pos to deltas"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 100]
+ DstBlock "Rate Transition"
+ DstPort 1
+ }
+ Branch {
+ Points [0, -60; 550, 0; 0, 85]
+ DstBlock "Graphs"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "to rad"
+ SrcPort 1
+ Points [0, -5]
+ DstBlock "Mux"
+ DstPort 3
+ }
+ Line {
+ SrcBlock "In1"
+ SrcPort 1
+ DstBlock "Demux"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 1
+ Points [5, 0; 0, -60]
+ DstBlock "Slider\nGain X"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 3
+ Points [5, 0; 0, 65]
+ DstBlock "Slider\nGain ANGLE"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 2
+ DstBlock "Slider\nGain Y"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Reference
+ Name "Manual Switch"
+ Ports [2, 1]
+ Position [130, 122, 160, 158]
+ SourceBlock "simulink/Signal\nRouting/Manual Switch"
+ SourceType "Manual Switch"
+ 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"
+ sw "1"
+ action "0"
+ varsize off
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition1"
+ Position [115, 279, 155, 321]
+ Orientation "left"
+ X0 "desc.initpos"
+ }
+ Block {
+ BlockType "S-Function"
+ Name "S-Function"
+ Ports [2, 1]
+ Position [180, 116, 235, 149]
+ BackgroundColor "green"
+ FunctionName "sf_posreg"
+ Parameters "[2 2 10],0.02"
+ }
+ Block {
+ BlockType "S-Function"
+ Name "S-Function2"
+ Ports [0, 1]
+ Position [35, 74, 95, 106]
+ BackgroundColor "green"
+ FunctionName "sf_trgen"
+ Parameters "path, desc.initpos, desc.wayconstraints"
+ }
+ Block {
+ BlockType SubSystem
+ Name "Subsystem"
+ Ports [1, 1]
+ Position [310, 111, 435, 159]
+ BackgroundColor "yellow"
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ MaskDisplay "disp('Robot\\n\\n')\nport_label('input', 1, 'u=(w1,w2)')\nport_label('output', 1, 'x=(X,Y,th)')"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ System {
+ Name "Subsystem"
+ Location [121, 481, 955, 665]
+ 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 "In1"
+ Position [15, 38, 45, 52]
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ Port {
+ PortNumber 1
+ Name "rad/s"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Integrator
+ Name "Integrator"
+ Ports [1, 1]
+ Position [530, 40, 560, 70]
+ InitialCondition "desc.initpos"
+ UpperSaturationLimit "[area.w area.h Inf]"
+ LowerSaturationLimit "[0 0 -Inf]"
+ Port {
+ PortNumber 1
+ Name "x,y,phi [m,m,rad]"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Reference
+ Name "Manual Switch"
+ Ports [2, 1]
+ Position [250, 27, 280, 63]
+ SourceBlock "simulink/Signal\nRouting/Manual Switch"
+ SourceType "Manual Switch"
+ 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"
+ sw "1"
+ action "0"
+ varsize off
+ }
+ Block {
+ BlockType Mux
+ Name "Mux1"
+ Ports [2, 1]
+ Position [380, 36, 385, 74]
+ ShowName off
+ Inputs "2"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Selector
+ Name "Selector"
+ Ports [1, 1]
+ Position [420, 121, 460, 159]
+ Orientation "left"
+ InputPortWidth "3"
+ IndexOptions "Index vector (dialog)"
+ Indices "[3]"
+ OutputSizes "1"
+ Port {
+ PortNumber 1
+ Name "angle"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Gain
+ Name "Wheel\nradius"
+ Position [90, 27, 135, 63]
+ Gain "robot.wheelr"
+ ParameterDataTypeMode "Inherit via internal rule"
+ ParameterDataType "sfix(16)"
+ ParameterScaling "2^0"
+ OutDataTypeMode "Inherit via internal rule"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ SaturateOnIntegerOverflow off
+ Port {
+ PortNumber 1
+ Name "m/s"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType MATLABFcn
+ Name "kinematics"
+ Ports [1, 1]
+ Position [430, 40, 490, 70]
+ MATLABFcn "kinematics"
+ }
+ Block {
+ BlockType RateLimiter
+ Name "max acc"
+ Position [190, 20, 220, 50]
+ RisingSlewLimit "3"
+ FallingSlewLimit "-3"
+ SampleTimeMode "inherited"
+ }
+ Block {
+ BlockType Saturate
+ Name "max m/s"
+ Position [320, 30, 350, 60]
+ UpperLimit "2"
+ LowerLimit "-2"
+ }
+ Block {
+ BlockType Outport
+ Name "Out1"
+ Position [725, 48, 755, 62]
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ }
+ Line {
+ SrcBlock "kinematics"
+ SrcPort 1
+ DstBlock "Integrator"
+ DstPort 1
+ }
+ Line {
+ Name "x,y,phi [m,m,rad]"
+ SrcBlock "Integrator"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ Points [0, 85]
+ DstBlock "Selector"
+ DstPort 1
+ }
+ Branch {
+ Labels [1, 0; 1, 1]
+ DstBlock "Out1"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Mux1"
+ SrcPort 1
+ DstBlock "kinematics"
+ DstPort 1
+ }
+ Line {
+ Name "angle"
+ Labels [0, 0]
+ SrcBlock "Selector"
+ SrcPort 1
+ Points [-60, 0; 0, -75]
+ DstBlock "Mux1"
+ DstPort 2
+ }
+ Line {
+ Name "rad/s"
+ Labels [0, 0]
+ SrcBlock "In1"
+ SrcPort 1
+ DstBlock "Wheel\nradius"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "max m/s"
+ SrcPort 1
+ DstBlock "Mux1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Manual Switch"
+ SrcPort 1
+ DstBlock "max m/s"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "max acc"
+ SrcPort 1
+ DstBlock "Manual Switch"
+ DstPort 1
+ }
+ Line {
+ Name "m/s"
+ Labels [0, 0]
+ SrcBlock "Wheel\nradius"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ Points [0, -10]
+ DstBlock "max acc"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 25; 75, 0]
+ DstBlock "Manual Switch"
+ DstPort 2
+ }
+ }
+ }
+ }
+ Block {
+ BlockType ToWorkspace
+ Name "To Workspace"
+ Position [240, 75, 300, 105]
+ VariableName "trajectory"
+ MaxDataPoints "inf"
+ SampleTime "-1"
+ SaveFormat "Structure With Time"
+ }
+ Line {
+ SrcBlock "S-Function"
+ SrcPort 1
+ DstBlock "Gain"
+ DstPort 1
+ }
+ Line {
+ Labels [1, 0]
+ SrcBlock "Subsystem"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ Points [0, 0; 0, 50]
+ Branch {
+ Points [-360, 0; 0, -35]
+ DstBlock "Manual Switch"
+ DstPort 2
+ }
+ Branch {
+ DstBlock "Localize"
+ DstPort 1
+ }
+ }
+ Branch {
+ DstBlock "Level-2 M-file\nS-Function"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Clock"
+ SrcPort 1
+ DstBlock "Display"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Manual Switch"
+ SrcPort 1
+ DstBlock "S-Function"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Rate Transition1"
+ SrcPort 1
+ Points [-30, 0; 0, -170]
+ DstBlock "Manual Switch"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Gain"
+ SrcPort 1
+ DstBlock "Subsystem"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "S-Function2"
+ SrcPort 1
+ Points [65, 0]
+ Branch {
+ DstBlock "S-Function"
+ DstPort 1
+ }
+ Branch {
+ DstBlock "To Workspace"
+ DstPort 1
+ }
+ Branch {
+ Points [0, -50]
+ DstBlock "Level-2 M-file\nS-Function2"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Localize"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ Points [0, 70]
+ DstBlock "Rate Transition1"
+ DstPort 1
+ }
+ Branch {
+ DstBlock "Level-2 M-file\nS-Function1"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Localize"
+ SrcPort 2
+ Points [70, 0; 0, -100]
+ DstBlock "Level-2 M-file\nS-Function"
+ DstPort 2
+ }
+ }
+}
+# Finite State Machines
+#
+# Stateflow Version 6.7 (R2007b) dated Aug 7 2007, 16:20:55
+#
+#
+
+
+Stateflow {
+ machine {
+ id 1
+ name "reg_test_beta"
+ created "29-Mar-2007 23:42:20"
+ isLibrary 0
+ firstTarget 2
+ sfVersion 67014000.000001
+ }
+ target {
+ id 2
+ name "sfun"
+ description "Default Simulink S-Function Target."
+ machine 1
+ linkNode [1 0 0]
+ }
+}
projects / eurobot / public.git / commitdiff