--- /dev/null
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+ ScreenColor "white"
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+ MaskIconOpaque on
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+ MaskIconOpaque on
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+ 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 [130, 369, 170, 411]
+ Orientation "left"
+ X0 "desc.initpos"
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition3"
+ Position [360, 254, 400, 296]
+ Orientation "left"
+ }
+ 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 "Sl. gains X,Y,A"
+ Ports [1, 1]
+ Position [465, 169, 510, 211]
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ System {
+ Name "Sl. gains X,Y,A"
+ Location [116, 203, 882, 663]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "In1"
+ Position [145, 213, 175, 227]
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux"
+ Ports [1, 3]
+ Position [265, 201, 270, 239]
+ BackgroundColor "black"
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Mux
+ Name "Mux1"
+ Ports [3, 1]
+ Position [445, 201, 450, 239]
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain ANGLE"
+ Ports [1, 1]
+ Position [330, 280, 385, 310]
+ 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"
+ high "6.28"
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain X"
+ Ports [1, 1]
+ Position [330, 135, 385, 165]
+ 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 "0.75138"
+ high "3"
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain Y"
+ Ports [1, 1]
+ Position [325, 205, 385, 235]
+ 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 "0.4593"
+ high "2.1"
+ }
+ Block {
+ BlockType Outport
+ Name "Out1"
+ Position [575, 213, 605, 227]
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ }
+ Line {
+ SrcBlock "Slider\nGain X"
+ SrcPort 1
+ Points [40, 0]
+ DstBlock "Mux1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Slider\nGain Y"
+ SrcPort 1
+ DstBlock "Mux1"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Slider\nGain ANGLE"
+ SrcPort 1
+ Points [40, 0]
+ DstBlock "Mux1"
+ DstPort 3
+ }
+ Line {
+ SrcBlock "Mux1"
+ SrcPort 1
+ DstBlock "Out1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 1
+ Points [20, 0; 0, -60]
+ DstBlock "Slider\nGain X"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 2
+ DstBlock "Slider\nGain Y"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 3
+ Points [20, 0; 0, 65]
+ DstBlock "Slider\nGain ANGLE"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "In1"
+ SrcPort 1
+ DstBlock "Demux"
+ DstPort 1
+ }
+ }
+ }
+ 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 [165, 393, 999, 577]
+ 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"
+ }
+ Block {
+ BlockType MATLABFcn
+ Name "beacon_angles"
+ Ports [1, 1]
+ Position [270, 260, 330, 290]
+ Orientation "left"
+ BackgroundColor "yellow"
+ NamePlacement "alternate"
+ MATLABFcn "mod(beacon_angles(u), 2*pi)"
+ SampleTime "1/10"
+ }
+ Block {
+ BlockType SubSystem
+ Name "localize"
+ Ports [2, 1]
+ Position [590, 291, 745, 349]
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ MaskDisplay "port_label('input', 1, '(dx,dy,da)')\nport_label('input', 2, '(th1,th2,th3)')\nport_label('output', 1, 'est_pos=(x,y,a)')"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ System {
+ Name "localize"
+ Location [149, 141, 1011, 488]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "In1"
+ Position [30, 128, 60, 142]
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ }
+ Block {
+ BlockType Inport
+ Name "In2"
+ Position [30, 173, 60, 187]
+ Port "2"
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ }
+ Block {
+ BlockType Scope
+ Name "Angle"
+ Ports [1]
+ Position [645, 129, 675, 161]
+ Floating off
+ Location [625, 791, 1275, 973]
+ Open off
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ TimeRange "100"
+ YMin "0"
+ YMax "7"
+ SaveName "ScopeData1"
+ DataFormat "StructureWithTime"
+ SampleTime "0"
+ }
+ Block {
+ BlockType Reference
+ Name "Difference"
+ Ports [1, 1]
+ Position [135, 117, 195, 153]
+ 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)"
+ OutScaling "2^-10"
+ LockScale off
+ RndMeth "Floor"
+ DoSatur off
+ }
+ Block {
+ BlockType "S-Function"
+ Name "S-Function"
+ Ports [2, 2]
+ Position [255, 129, 455, 196]
+ FunctionName "sf_mcl"
+ Parameters "100"
+ 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')\n"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ }
+ Block {
+ BlockType Selector
+ Name "Selector"
+ Ports [1, 1]
+ Position [570, 66, 610, 104]
+ InputPortWidth "3"
+ IndexOptions "Index vector (dialog)"
+ Indices "[1 2]"
+ OutputSizes "1"
+ }
+ Block {
+ BlockType Selector
+ Name "Selector1"
+ Ports [1, 1]
+ Position [570, 126, 610, 164]
+ InputPortWidth "3"
+ IndexOptions "Index vector (dialog)"
+ Indices "3"
+ OutputSizes "1"
+ }
+ Block {
+ BlockType Scope
+ Name "XY"
+ Ports [1]
+ Position [645, 69, 675, 101]
+ Floating off
+ Location [621, 562, 1275, 730]
+ Open off
+ NumInputPorts "1"
+ ZoomMode "xonly"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ TimeRange "100"
+ YMin "-0.5"
+ YMax "3"
+ DataFormat "StructureWithTime"
+ SampleTime "0"
+ }
+ Block {
+ BlockType "M-S-Function"
+ Name "draw probability bitmap"
+ Ports [1]
+ Position [570, 228, 660, 262]
+ FunctionName "sfdrawbitmap"
+ }
+ Block {
+ BlockType Outport
+ Name "Out1"
+ Position [750, 23, 780, 37]
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ }
+ Line {
+ SrcBlock "S-Function"
+ SrcPort 1
+ Points [50, 0]
+ Branch {
+ Points [25, 0]
+ Branch {
+ DstBlock "Selector1"
+ DstPort 1
+ }
+ Branch {
+ Points [0, -60]
+ DstBlock "Selector"
+ DstPort 1
+ }
+ }
+ Branch {
+ Points [0, -115]
+ DstBlock "Out1"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Selector"
+ SrcPort 1
+ DstBlock "XY"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Selector1"
+ SrcPort 1
+ DstBlock "Angle"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "S-Function"
+ SrcPort 2
+ Points [45, 0; 0, 65]
+ DstBlock "draw probability bitmap"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "In2"
+ SrcPort 1
+ DstBlock "S-Function"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Difference"
+ SrcPort 1
+ Points [15, 0; 0, 10]
+ DstBlock "S-Function"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "In1"
+ SrcPort 1
+ DstBlock "Difference"
+ DstPort 1
+ }
+ }
+ }
+ Line {
+ SrcBlock "S-Function"
+ SrcPort 1
+ DstBlock "Gain"
+ DstPort 1
+ }
+ Line {
+ Labels [1, 0]
+ SrcBlock "Subsystem"
+ SrcPort 1
+ Points [5, 0]
+ Branch {
+ DstBlock "Level-2 M-file\nS-Function"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 45]
+ Branch {
+ Points [-345, 0; 0, -30]
+ DstBlock "Manual Switch"
+ DstPort 2
+ }
+ Branch {
+ Points [0, 10]
+ DstBlock "Sl. gains X,Y,A"
+ 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, -260]
+ 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, -45]
+ DstBlock "Level-2 M-file\nS-Function2"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Rate Transition3"
+ SrcPort 1
+ DstBlock "beacon_angles"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "localize"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ DstBlock "Level-2 M-file\nS-Function1"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 70]
+ DstBlock "Rate Transition1"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Sl. gains X,Y,A"
+ SrcPort 1
+ Points [10, 0; 0, 85]
+ Branch {
+ Points [0, 30]
+ DstBlock "localize"
+ DstPort 1
+ }
+ Branch {
+ Labels [1, 0]
+ DstBlock "Rate Transition3"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "beacon_angles"
+ SrcPort 1
+ Points [-25, 0; 0, 60; 310, 0]
+ Branch {
+ DstBlock "localize"
+ DstPort 2
+ }
+ Branch {
+ Points [0, -175]
+ 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_1"
+ 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]
+ }
+}
--- /dev/null
+Model {
+ Name "reg_test_beta_2"
+ Version 7.0
+ MdlSubVersion 0
+ GraphicalInterface {
+ NumRootInports 0
+ NumRootOutports 0
+ ParameterArgumentNames ""
+ ComputedModelVersion "1.224"
+ NumModelReferences 0
+ NumTestPointedSignals 0
+ }
+ SavedCharacterEncoding "iso-8859-2"
+ PreLoadFcn "init"
+ PostLoadFcn "figure(2); hold off\nfigure(1);\nsim('reg_test', 0); % show figures"
+ SaveDefaultBlockParams on
+ SampleTimeColors off
+ LibraryLinkDisplay "none"
+ WideLines off
+ ShowLineDimensions on
+ ShowPortDataTypes off
+ ShowLoopsOnError on
+ IgnoreBidirectionalLines off
+ ShowStorageClass off
+ ShowTestPointIcons on
+ ShowViewerIcons on
+ SortedOrder off
+ ExecutionContextIcon off
+ ShowLinearizationAnnotations on
+ ScopeRefreshTime 0.035000
+ OverrideScopeRefreshTime on
+ DisableAllScopes off
+ DataTypeOverride "UseLocalSettings"
+ MinMaxOverflowLogging "UseLocalSettings"
+ MinMaxOverflowArchiveMode "Overwrite"
+ BlockNameDataTip off
+ BlockParametersDataTip off
+ BlockDescriptionStringDataTip off
+ ToolBar on
+ StatusBar on
+ BrowserShowLibraryLinks off
+ BrowserLookUnderMasks off
+ InitFcn "figure(2); hold off\nfigure(1);"
+ Created "Thu Mar 29 23:35:11 2007"
+ Creator "wsh"
+ UpdateHistory "UpdateHistoryNever"
+ ModifiedByFormat "%<Auto>"
+ LastModifiedBy "andrei"
+ ModifiedDateFormat "%<Auto>"
+ LastModifiedDate "Mon Apr 21 22:34:13 2008"
+ RTWModifiedTimeStamp 0
+ ModelVersionFormat "1.%<AutoIncrement:224>"
+ ConfigurationManager "None"
+ SimulationMode "normal"
+ LinearizationMsg "none"
+ Profile off
+ ParamWorkspaceSource "MATLABWorkspace"
+ AccelSystemTargetFile "accel.tlc"
+ AccelTemplateMakefile "accel_default_tmf"
+ AccelMakeCommand "make_rtw"
+ TryForcingSFcnDF off
+ RecordCoverage off
+ CovPath "/"
+ CovSaveName "covdata"
+ CovMetricSettings "dw"
+ CovNameIncrementing off
+ CovHtmlReporting on
+ covSaveCumulativeToWorkspaceVar on
+ CovSaveSingleToWorkspaceVar on
+ CovCumulativeVarName "covCumulativeData"
+ CovCumulativeReport off
+ CovReportOnPause on
+ ExtModeBatchMode off
+ ExtModeEnableFloating on
+ ExtModeTrigType "manual"
+ ExtModeTrigMode "normal"
+ ExtModeTrigPort "1"
+ ExtModeTrigElement "any"
+ ExtModeTrigDuration 1000
+ ExtModeTrigDurationFloating "auto"
+ ExtModeTrigHoldOff 0
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+ 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 [165, 393, 999, 577]
+ 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 Sum
+ Name "Sum"
+ Ports [2, 1]
+ Position [355, 315, 375, 335]
+ 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 ToWorkspace
+ Name "To Workspace"
+ Position [240, 75, 300, 105]
+ VariableName "trajectory"
+ MaxDataPoints "inf"
+ SampleTime "-1"
+ SaveFormat "Structure With Time"
+ }
+ Block {
+ BlockType MATLABFcn
+ Name "beacon_angles"
+ Ports [1, 1]
+ Position [305, 195, 365, 225]
+ Orientation "left"
+ BackgroundColor "yellow"
+ MATLABFcn "mod(beacon_angles(u), 2*pi)"
+ SampleTime "1/10"
+ }
+ Block {
+ BlockType SubSystem
+ Name "localize"
+ Ports [2, 1]
+ Position [520, 286, 685, 339]
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ MaskDisplay "port_label('input', 1, '(dx,dy,da)')\nport_label('input', 2, '(th1,th2,th3)')\nport_label('output', 1, 'est_pos=(x,y,a)')"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ System {
+ Name "localize"
+ Location [95, 177, 1223, 724]
+ Open on
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "In1"
+ Position [15, 103, 45, 117]
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ }
+ Block {
+ BlockType Inport
+ Name "In2"
+ Position [320, 198, 350, 212]
+ Port "2"
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ }
+ Block {
+ BlockType Scope
+ Name "Angle"
+ Ports [1]
+ Position [935, 154, 965, 186]
+ Floating off
+ Location [625, 791, 1275, 973]
+ Open off
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ TimeRange "100"
+ YMin "0"
+ YMax "7"
+ SaveName "ScopeData1"
+ DataFormat "StructureWithTime"
+ SampleTime "0"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux"
+ Ports [1, 3]
+ Position [120, 91, 125, 129]
+ BackgroundColor "black"
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Reference
+ Name "Difference"
+ Ports [1, 1]
+ Position [425, 142, 485, 178]
+ 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)"
+ OutScaling "2^-10"
+ LockScale off
+ RndMeth "Floor"
+ DoSatur off
+ }
+ Block {
+ BlockType Mux
+ Name "Mux1"
+ Ports [3, 1]
+ Position [300, 91, 305, 129]
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType "S-Function"
+ Name "S-Function"
+ Ports [2, 2]
+ Position [545, 154, 745, 221]
+ FunctionName "sf_mcl"
+ Parameters "100"
+ 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')\n"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ }
+ Block {
+ BlockType Selector
+ Name "Selector"
+ Ports [1, 1]
+ Position [860, 91, 900, 129]
+ InputPortWidth "3"
+ IndexOptions "Index vector (dialog)"
+ Indices "[1 2]"
+ OutputSizes "1"
+ }
+ Block {
+ BlockType Selector
+ Name "Selector1"
+ Ports [1, 1]
+ Position [860, 151, 900, 189]
+ InputPortWidth "3"
+ IndexOptions "Index vector (dialog)"
+ Indices "3"
+ OutputSizes "1"
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain ANGLE"
+ Ports [1, 1]
+ Position [185, 170, 240, 200]
+ 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"
+ high "6.28"
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain X"
+ Ports [1, 1]
+ Position [185, 25, 240, 55]
+ 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 "0.75138"
+ high "3"
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain Y"
+ Ports [1, 1]
+ Position [180, 95, 240, 125]
+ 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 "0.4593"
+ high "2.1"
+ }
+ Block {
+ BlockType Scope
+ Name "XY"
+ Ports [1]
+ Position [935, 94, 965, 126]
+ Floating off
+ Location [621, 562, 1275, 730]
+ Open off
+ NumInputPorts "1"
+ ZoomMode "xonly"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ TimeRange "100"
+ YMin "-0.5"
+ YMax "3"
+ DataFormat "StructureWithTime"
+ SampleTime "0"
+ }
+ Block {
+ BlockType "M-S-Function"
+ Name "draw probability bitmap"
+ Ports [1]
+ Position [860, 253, 950, 287]
+ FunctionName "sfdrawbitmap"
+ }
+ Block {
+ BlockType Outport
+ Name "Out1"
+ Position [1040, 48, 1070, 62]
+ IconDisplay "Port number"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
+ }
+ Line {
+ SrcBlock "S-Function"
+ SrcPort 1
+ Points [50, 0]
+ Branch {
+ Points [25, 0]
+ Branch {
+ DstBlock "Selector1"
+ DstPort 1
+ }
+ Branch {
+ Points [0, -60]
+ DstBlock "Selector"
+ DstPort 1
+ }
+ }
+ Branch {
+ Points [0, -115]
+ DstBlock "Out1"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Selector"
+ SrcPort 1
+ DstBlock "XY"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Selector1"
+ SrcPort 1
+ DstBlock "Angle"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "S-Function"
+ SrcPort 2
+ Points [45, 0; 0, 65]
+ DstBlock "draw probability bitmap"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "In2"
+ SrcPort 1
+ DstBlock "S-Function"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Difference"
+ SrcPort 1
+ Points [15, 0; 0, 10]
+ DstBlock "S-Function"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Slider\nGain X"
+ SrcPort 1
+ Points [40, 0]
+ DstBlock "Mux1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Slider\nGain Y"
+ SrcPort 1
+ DstBlock "Mux1"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Slider\nGain ANGLE"
+ SrcPort 1
+ Points [40, 0]
+ DstBlock "Mux1"
+ DstPort 3
+ }
+ Line {
+ SrcBlock "Mux1"
+ SrcPort 1
+ Points [75, 0; 0, 50]
+ DstBlock "Difference"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 1
+ Points [20, 0; 0, -60]
+ DstBlock "Slider\nGain X"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 2
+ DstBlock "Slider\nGain Y"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 3
+ Points [20, 0; 0, 65]
+ DstBlock "Slider\nGain ANGLE"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "In1"
+ SrcPort 1
+ DstBlock "Demux"
+ DstPort 1
+ }
+ }
+ }
+ Line {
+ SrcBlock "S-Function"
+ SrcPort 1
+ DstBlock "Gain"
+ DstPort 1
+ }
+ Line {
+ Labels [1, 0]
+ SrcBlock "Subsystem"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ DstBlock "Level-2 M-file\nS-Function"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 40]
+ Branch {
+ Points [-365, 0; 0, -25]
+ DstBlock "Manual Switch"
+ DstPort 2
+ }
+ Branch {
+ Points [0, 35]
+ Branch {
+ DstBlock "Rate Transition3"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 90]
+ DstBlock "localize"
+ DstPort 1
+ }
+ }
+ }
+ }
+ Line {
+ SrcBlock "Sum"
+ SrcPort 1
+ Points [110, 0]
+ Branch {
+ Points [0, -165]
+ DstBlock "Level-2 M-file\nS-Function"
+ DstPort 2
+ }
+ Branch {
+ DstBlock "localize"
+ DstPort 2
+ }
+ }
+ Line {
+ SrcBlock "Random\nNumber"
+ SrcPort 1
+ DstBlock "Slider\nGain"
+ 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, -280]
+ 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, -45]
+ DstBlock "Level-2 M-file\nS-Function2"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Rate Transition3"
+ SrcPort 1
+ DstBlock "beacon_angles"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "beacon_angles"
+ SrcPort 1
+ Points [-70, 0; 0, 115]
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Slider\nGain"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "localize"
+ SrcPort 1
+ Points [35, 0]
+ Branch {
+ DstBlock "Level-2 M-file\nS-Function1"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 95]
+ DstBlock "Rate Transition1"
+ DstPort 1
+ }
+ }
+ }
+}
+# Finite State Machines
+#
+# Stateflow Version 6.7 (R2007b) dated Aug 7 2007, 16:20:55
+#
+#
+
+
+Stateflow {
+ machine {
+ id 1
+ name "reg_test_beta_2"
+ 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