NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
- ComputedModelVersion "1.323"
+ ComputedModelVersion "1.341"
NumModelReferences 0
NumTestPointedSignals 0
}
ModifiedByFormat "%<Auto>"
LastModifiedBy "wsh"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Mon Apr 28 17:05:34 2008"
- ModelVersionFormat "1.%<AutoIncrement:323>"
+ LastModifiedDate "Sun May 4 09:07:40 2008"
+ ModelVersionFormat "1.%<AutoIncrement:341>"
ConfigurationManager "None"
SimulationMode "normal"
LinearizationMsg "none"
ZeroCross on
SampleTime "-1"
}
+ Block {
+ BlockType TransportDelay
+ DelayTime "1"
+ InitialOutput "0"
+ BufferSize "1024"
+ FixedBuffer off
+ TransDelayFeedthrough off
+ PadeOrder "0"
+ }
Block {
BlockType TriggerPort
TriggerType "rising"
}
System {
Name "reg_mcl"
- Location [1729, 496, 2584, 973]
+ Location [4, 523, 859, 1000]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
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"
ListType AxesTitles
axes1 "%<SignalLabel>"
}
- TimeRange "100"
- YMin "-0.5"
- YMax "4"
+ TimeRange "25"
+ YMin "0"
+ YMax "2.75"
DataFormat "StructureWithTime"
SampleTime "0"
}
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
- MaskValueString "3000|0.01|3/180*pi|2/180*pi"
+ MaskValueString "1000|0.01|3/180*pi|3/180*pi"
MaskTabNameString ",,,"
Port {
PortNumber 1
}
System {
Name "Motors"
- Location [194, 223, 649, 361]
+ Location [197, 366, 934, 571]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
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"
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"
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 {
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 {
BlockType SubSystem
Name "Rotating laser"
Ports [1, 3]
- Position [430, 119, 575, 181]
+ Position [425, 119, 570, 181]
BackgroundColor "[0.912000, 0.763112, 0.484696]"
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
MaskTabNameString ",,"
System {
Name "Rotating laser"
- Location [84, 67, 1108, 652]
+ Location [651, 66, 1675, 656]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
}
}
}
+ Block {
+ BlockType SubSystem
+ Name "Beacon memory3"
+ Ports [1, 1, 0, 1]
+ Position [510, 509, 565, 541]
+ TreatAsAtomicUnit on
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ MaskHideContents off
+ System {
+ Name "Beacon memory3"
+ Location [401, 346, 899, 646]
+ 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 [110, 103, 140, 117]
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType TriggerPort
+ Name "Trigger"
+ Ports []
+ Position [225, 20, 245, 40]
+ StatesWhenEnabling "held"
+ }
+ Block {
+ BlockType Outport
+ Name "Out1"
+ Position [360, 103, 390, 117]
+ IconDisplay "Port number"
+ BusOutputAsStruct off
+ }
+ Line {
+ SrcBlock "In1"
+ SrcPort 1
+ DstBlock "Out1"
+ DstPort 1
+ }
+ }
+ }
Block {
BlockType Clock
Name "Clock"
- Position [740, 310, 760, 330]
+ Position [740, 320, 760, 340]
Decimation "10"
}
Block {
BlockType Reference
Name "Compare\nTo Constant"
Ports [1, 1]
- Position [50, 165, 100, 195]
+ Position [35, 164, 100, 196]
Orientation "left"
SourceBlock "simulink/Logic and Bit\nOperations/Compare"
"\nTo Constant"
BlockType Reference
Name "Compare\nTo Zero"
Ports [1, 1]
- Position [800, 305, 830, 335]
+ Position [800, 315, 830, 345]
SourceBlock "simulink/Logic and Bit\nOperations/Compare"
"\nTo Zero"
SourceType "Compare To Zero"
Block {
BlockType Demux
Name "Demux"
- Ports [1, 3]
- Position [344, 190, 396, 200]
+ Ports [1, 4]
+ Position [346, 190, 399, 200]
Orientation "down"
BackgroundColor "black"
NamePlacement "alternate"
ShowName off
- Outputs "3"
DisplayOption "bar"
}
Block {
BlockType Demux
Name "Demux1"
- Ports [1, 3]
- Position [414, 190, 466, 200]
+ Ports [1, 4]
+ Position [421, 190, 474, 200]
Orientation "down"
BackgroundColor "black"
NamePlacement "alternate"
ShowName off
- Outputs "3"
DisplayOption "bar"
}
Block {
Name "Do not produce\ndata at start. We\nhave to "
"wait one turn."
Ports [1, 1, 1]
- Position [825, 364, 925, 406]
+ Position [825, 374, 925, 416]
TreatAsAtomicUnit on
MinAlgLoopOccurrences off
RTWSystemCode "Auto"
Orientation "left"
NamePlacement "alternate"
Variance "(noise_stdev/180*pi)^2"
- Seed "abs(floor(rand(3,1)*10000))"
+ Seed "abs(floor(rand(4,1)*10000))"
}
Block {
BlockType Mux
Name "Mux"
- Ports [3, 1]
- Position [700, 352, 705, 418]
+ Ports [4, 1]
+ Position [700, 354, 705, 436]
ShowName off
- Inputs "3"
DisplayOption "bar"
}
Block {
BlockType RateTransition
Name "Rate Transition"
- Position [750, 364, 790, 406]
+ Position [750, 374, 790, 416]
OutPortSampleTime "1/rps"
}
Block {
Position [735, 19, 775, 61]
OutPortSampleTime "1/rps"
}
+ Block {
+ BlockType Selector
+ Name "Selector"
+ Ports [1, 1]
+ Position [585, 91, 625, 129]
+ IndexOptions "Index vector (dialog)"
+ Indices "[1 2 3 4]"
+ OutputSizes "1"
+ InputPortWidth "4"
+ }
Block {
BlockType Sum
Name "Subtract"
BlockType Sum
Name "Sum1"
Ports [2, 1]
- Position [415, 305, 435, 325]
+ Position [460, 305, 480, 325]
ShowName off
IconShape "round"
Inputs "++|"
BlockType Sum
Name "Sum2"
Ports [2, 1]
- Position [430, 375, 450, 395]
+ Position [445, 375, 465, 395]
ShowName off
IconShape "round"
Inputs "++|"
BlockType Sum
Name "Sum3"
Ports [2, 1]
- Position [445, 445, 465, 465]
+ Position [430, 445, 450, 465]
+ ShowName off
+ IconShape "round"
+ Inputs "++|"
+ CollapseMode "All dimensions"
+ InputSameDT off
+ OutDataTypeMode "Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum4"
+ Ports [2, 1]
+ Position [415, 515, 435, 535]
ShowName off
IconShape "round"
Inputs "++|"
Block {
BlockType Outport
Name "Simultaneous"
- Position [965, 378, 995, 392]
+ Position [965, 388, 995, 402]
Port "3"
IconDisplay "Port number"
BusOutputAsStruct off
}
+ Line {
+ SrcBlock "Demux1"
+ SrcPort 1
+ DstBlock "Sum4"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Sum3"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux1"
+ SrcPort 3
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 1
+ Points [0, 289]
+ DstBlock "Beacon memory3"
+ DstPort trigger
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 2
+ Points [0, 219]
+ DstBlock "Beacon memory2"
+ DstPort trigger
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 3
+ Points [0, 149]
+ DstBlock "Beacon memory1"
+ DstPort trigger
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 4
+ Points [0, 79]
+ DstBlock "Beacon memory"
+ DstPort trigger
+ }
+ Line {
+ SrcBlock "Beacon memory3"
+ SrcPort 1
+ Points [55, 0; 0, -100]
+ DstBlock "Mux"
+ DstPort 4
+ }
+ Line {
+ SrcBlock "Demux1"
+ SrcPort 4
+ Points [0, 10]
+ Branch {
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Branch {
+ Points [20, 0]
+ DstBlock "Sum"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Sum4"
+ SrcPort 1
+ DstBlock "Beacon memory3"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Selector"
+ SrcPort 1
+ Points [140, 0]
+ DstBlock "Individual output"
+ DstPort trigger
+ }
+ Line {
+ SrcBlock "Beacon memory1"
+ SrcPort 1
+ DstBlock "Mux"
+ DstPort 2
+ }
Line {
SrcBlock "Integrator"
SrcPort state
Line {
SrcBlock "Compare\nTo Constant"
SrcPort 1
- Points [-30, 0; 0, 110]
+ Points [-15, 0; 0, 110]
DstBlock "Integrator"
DstPort 2
}
Points [0, 70]
Branch {
Points [0, 70]
- DstBlock "Sum3"
- DstPort 2
+ Branch {
+ Points [0, 70]
+ DstBlock "Sum4"
+ DstPort 2
+ }
+ Branch {
+ DstBlock "Sum3"
+ DstPort 2
+ }
}
Branch {
DstBlock "Sum2"
Line {
SrcBlock "Hit \nCrossing"
SrcPort 1
- Points [15, 0]
+ Points [20, 0]
Branch {
- DstBlock "Demux"
+ DstBlock "Selector"
DstPort 1
}
Branch {
- Points [400, 0]
- DstBlock "Individual output"
- DstPort trigger
+ DstBlock "Demux"
+ DstPort 1
}
}
Line {
DstBlock "Mux"
DstPort 1
}
- Line {
- SrcBlock "Beacon memory1"
- SrcPort 1
- DstBlock "Mux"
- DstPort 2
- }
Line {
SrcBlock "Beacon memory2"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
- Line {
- SrcBlock "Demux"
- SrcPort 1
- Points [0, 219]
- DstBlock "Beacon memory2"
- DstPort trigger
- }
- Line {
- SrcBlock "Demux"
- SrcPort 2
- Points [0, 149]
- DstBlock "Beacon memory1"
- DstPort trigger
- }
- Line {
- SrcBlock "Demux"
- SrcPort 3
- Points [0, 81; 150, 0]
- DstBlock "Beacon memory"
- DstPort trigger
- }
Line {
SrcBlock "Pos"
SrcPort 1
Line {
SrcBlock "Measurement noise"
SrcPort 1
- Points [-30, 0]
+ Points [-20, 0]
Branch {
DstBlock "Demux1"
DstPort 1
}
Branch {
- Points [-30, 0]
+ Points [-40, 0]
DstBlock "Sum5"
DstPort 2
}
DstBlock "Beacon memory"
DstPort 1
}
- Line {
- SrcBlock "Demux1"
- SrcPort 1
- DstBlock "Sum1"
- DstPort 1
- }
- Line {
- SrcBlock "Demux1"
- SrcPort 2
- DstBlock "Sum2"
- DstPort 1
- }
- Line {
- SrcBlock "Demux1"
- SrcPort 3
- Points [0, 15]
- Branch {
- Points [35, 0]
- DstBlock "Sum"
- DstPort 1
- }
- Branch {
- DstBlock "Sum3"
- DstPort 1
- }
- }
Line {
SrcBlock "Sum5"
SrcPort 1
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
- MaskValueString "path|desc.initpos|desc.wayconstraints|1"
+ MaskValueString "path|desc.initpos|desc.wayconstraints|3"
MaskTabNameString ",,,"
}
Block {
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"
set0ParseKeys "9"
set0Sigs "Switch:o1"
}
- Location [6, 687, 330, 1044]
- Open on
+ Location [6, 641, 330, 998]
+ Open off
NumInputPorts "1"
List {
ListType AxesTitles
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"
DstBlock "Rate Transition2"
DstPort 1
}
- Branch {
- DstBlock "Rotating laser"
- DstPort 1
- }
Branch {
Labels [2, 0]
Points [0, -45; 300, 0]
DstPort 1
}
}
+ Branch {
+ DstBlock "Rotating laser"
+ DstPort 1
+ }
}
Line {
SrcBlock "Clock"
Line {
SrcBlock "Rotating laser"
SrcPort 2
- Points [15, 0]
+ Points [20, 0]
+ DstBlock "Transport\nDelay"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Transport\nDelay"
+ SrcPort 1
DstBlock "Switch"
DstPort 2
}
projects / eurobot / public.git / blobdiff