Chanages for workshop

[eurobot/public.git] / src / mcl / matlab / reg_mcl.mdl

diff --git a/src/mcl/matlab/reg_mcl.mdl b/src/mcl/matlab/reg_mcl.mdl
index 6c056b8bc2dfee16b0654b91e99114e685679a22..8dd7a855c906cebd33ec727e262123a4090e5d72 100644 (file)
--- a/src/mcl/matlab/reg_mcl.mdl
+++ b/src/mcl/matlab/reg_mcl.mdl
@@ -6,7 +6,7 @@ Model {
     NumRootInports         0
     NumRootOutports        0
     ParameterArgumentNames  ""
-    ComputedModelVersion    "1.334"
+    ComputedModelVersion    "1.341"
     NumModelReferences     0
     NumTestPointedSignals   0
   }
@@ -48,8 +48,8 @@ Model {
   ModifiedByFormat       "%<Auto>"
   LastModifiedBy         "wsh"
   ModifiedDateFormat     "%<Auto>"
-  LastModifiedDate       "Wed Apr 30 08:19:28 2008"
-  ModelVersionFormat     "1.%<AutoIncrement:334>"
+  LastModifiedDate       "Sun May  4 09:07:40 2008"
+  ModelVersionFormat     "1.%<AutoIncrement:341>"
   ConfigurationManager   "None"
   SimulationMode         "normal"
   LinearizationMsg       "none"
@@ -753,6 +753,15 @@ Model {
       ZeroCross                      on
       SampleTime             "-1"
     }
+    Block {
+      BlockType                      TransportDelay
+      DelayTime                      "1"
+      InitialOutput          "0"
+      BufferSize             "1024"
+      FixedBuffer            off
+      TransDelayFeedthrough   off
+      PadeOrder                      "0"
+    }
     Block {
       BlockType                      TriggerPort
       TriggerType            "rising"
@@ -791,7 +800,7 @@ Model {
   }
   System {
     Name                   "reg_mcl"
-    Location               [118, 523, 973, 1000]
+    Location               [4, 523, 859, 1000]
     Open                   on
     ModelBrowserVisibility  off
     ModelBrowserWidth      200
@@ -1056,7 +1065,7 @@ Model {
          Ports                   [1]
          Position                [410, 49, 440, 81]
          Floating                off
-         Location                [431, 91, 1074, 488]
+         Location                [254, 56, 1109, 218]
          Open                    off
          NumInputPorts           "1"
          ZoomMode                "xonly"
@@ -1064,9 +1073,9 @@ Model {
            ListType                AxesTitles
            axes1                   "%<SignalLabel>"
          }
-         TimeRange               "100"
-         YMin                    "-0.5"
-         YMax                    "4"
+         TimeRange               "25"
+         YMin                    "0"
+         YMax                    "2.75"
          DataFormat              "StructureWithTime"
          SampleTime              "0"
        }
@@ -1177,7 +1186,7 @@ Model {
       MaskIconOpaque         on
       MaskIconRotate         "none"
       MaskIconUnits          "autoscale"
-      MaskValueString        "1000|0.01|5/180*pi|5/180*pi"
+      MaskValueString        "1000|0.01|3/180*pi|3/180*pi"
       MaskTabNameString              ",,,"
       Port {
        PortNumber              1
@@ -1287,7 +1296,7 @@ Model {
       System {
        Name                    "Robot kinematics"
        Location                [4, 55, 1176, 412]
-       Open                    on
+       Open                    off
        ModelBrowserVisibility  off
        ModelBrowserWidth       200
        ScreenColor             "white"
@@ -1388,7 +1397,7 @@ Model {
          }
          System {
            Name                    "Motors"
-           Location                [194, 223, 649, 361]
+           Location                [197, 366, 934, 571]
            Open                    off
            ModelBrowserVisibility  off
            ModelBrowserWidth       200
@@ -1418,7 +1427,7 @@ Model {
              BlockType               Reference
              Name                    "Manual Switch"
              Ports                   [2, 1]
-             Position                [345, 32, 375, 68]
+             Position                [430, 32, 460, 68]
              SourceBlock             "simulink/Signal\nRouting/Manual Switch"
              SourceType              "Manual Switch"
              ShowPortLabels          "FromPortIcon"
@@ -1433,6 +1442,18 @@ Model {
              action                  "0"
              varsize                 off
            }
+           Block {
+             BlockType               RateTransition
+             Name                    "Rate Transition1"
+             Position                [325, 89, 365, 131]
+             X0                      "[0 0]"
+           }
+           Block {
+             BlockType               RateTransition
+             Name                    "Rate Transition2"
+             Position                [325, 19, 365, 61]
+             X0                      "[0 0]"
+           }
            Block {
              BlockType               RateLimiter
              Name                    "acc limit"
@@ -1454,14 +1475,27 @@ Model {
            Block {
              BlockType               Outport
              Name                    "(vl,vr)"
-             Position                [400, 43, 430, 57]
+             Position                [485, 43, 515, 57]
              IconDisplay             "Port number"
              BusOutputAsStruct       off
            }
            Line {
-             SrcBlock                "acc limit"
+             SrcBlock                "Rate Transition1"
              SrcPort                 1
+             Points                  [45, 0]
              DstBlock                "Manual Switch"
+             DstPort                 2
+           }
+           Line {
+             SrcBlock                "Rate Transition2"
+             SrcPort                 1
+             DstBlock                "Manual Switch"
+             DstPort                 1
+           }
+           Line {
+             SrcBlock                "acc limit"
+             SrcPort                 1
+             DstBlock                "Rate Transition2"
              DstPort                 1
            }
            Line {
@@ -1469,14 +1503,14 @@ Model {
              SrcPort                 1
              Points                  [20, 0]
              Branch {
-               Points                  [0, -10]
-               DstBlock                "acc limit"
+               Points                  [0, 60]
+               DstBlock                "Rate Transition1"
                DstPort                 1
              }
              Branch {
-               Points                  [0, 60; 100, 0]
-               DstBlock                "Manual Switch"
-               DstPort                 2
+               Points                  [0, -10]
+               DstBlock                "acc limit"
+               DstPort                 1
              }
            }
            Line {
@@ -1796,12 +1830,12 @@ Model {
       MaskIconOpaque         on
       MaskIconRotate         "none"
       MaskIconUnits          "normalized"
-      MaskValueString        "3|0.01|on"
+      MaskValueString        "3|1|on"
       MaskTabNameString              ",,"
       System {
        Name                    "Rotating laser"
        Location                [651, 66, 1675, 656]
-       Open                    on
+       Open                    off
        ModelBrowserVisibility  off
        ModelBrowserWidth       200
        ScreenColor             "white"
@@ -2756,6 +2790,14 @@ Model {
       action                 "0"
       varsize                off
     }
+    Block {
+      BlockType                      TransportDelay
+      Name                   "Transport\nDelay"
+      Position               [580, 190, 610, 220]
+      Orientation            "down"
+      NamePlacement          "alternate"
+      DelayTime                      "0"
+    }
     Block {
       BlockType                      "M-S-Function"
       Name                   "draw probability bitmap"
@@ -2856,11 +2898,6 @@ Model {
       Ports                  []
       Position               [20, 15, 60, 55]
       IOType                 "viewer"
-      List {
-       ListType                IOSignalStrings
-       set0ParseKeys           "31"
-       set0Sigs                "Robot kinematics/speed2wheel:o1"
-      }
       Location               [345, 294, 669, 533]
       Open                   off
       NumInputPorts          "1"
@@ -3033,6 +3070,12 @@ Model {
       SrcBlock               "Rotating laser"
       SrcPort                2
       Points                 [20, 0]
+      DstBlock               "Transport\nDelay"
+      DstPort                1
+    }
+    Line {
+      SrcBlock               "Transport\nDelay"
+      SrcPort                1
       DstBlock               "Switch"
       DstPort                2
     }