--- /dev/null
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+ 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 SubSystem
+ Name "Beacon memory2"
+ Ports [1, 1, 0, 1]
+ Position [510, 439, 565, 471]
+ TreatAsAtomicUnit on
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ MaskHideContents off
+ System {
+ Name "Beacon memory2"
+ 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]
+ Decimation "10"
+ }
+ Block {
+ BlockType Reference
+ Name "Compare\nTo Constant"
+ Ports [1, 1]
+ Position [50, 165, 100, 195]
+ Orientation "left"
+ SourceBlock "simulink/Logic and Bit\nOperations/Compare"
+"\nTo Constant"
+ SourceType "Compare To Constant"
+ 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"
+ relop ">="
+ const "2*pi"
+ LogicOutDataTypeMode "boolean"
+ ZeroCross off
+ }
+ Block {
+ BlockType Reference
+ Name "Compare\nTo Zero"
+ Ports [1, 1]
+ Position [800, 305, 830, 335]
+ SourceBlock "simulink/Logic and Bit\nOperations/Compare"
+"\nTo Zero"
+ SourceType "Compare To Zero"
+ 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"
+ relop ">"
+ LogicOutDataTypeMode "uint8"
+ ZeroCross off
+ }
+ Block {
+ BlockType Constant
+ Name "Constant1"
+ Position [35, 239, 100, 271]
+ NamePlacement "alternate"
+ Value "rps*2*pi"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux"
+ Ports [1, 3]
+ Position [344, 190, 396, 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]
+ Orientation "down"
+ BackgroundColor "black"
+ NamePlacement "alternate"
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType SubSystem
+ Name "Do not produce\ndata at start. We\nhave to "
+"wait one turn."
+ Ports [1, 1, 1]
+ Position [825, 364, 925, 406]
+ TreatAsAtomicUnit on
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ MaskHideContents off
+ System {
+ Name "Do not produce\ndata at start. We\nhave t"
+"o wait one turn."
+ Location [421, 301, 919, 601]
+ 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 EnablePort
+ Name "Enable"
+ Ports []
+ Position [235, 20, 255, 40]
+ }
+ 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 HitCross
+ Name "Hit \nCrossing"
+ Ports [1, 1]
+ Position [320, 95, 350, 125]
+ AttributesFormatString "ZC:%<ZeroCross>"
+ HitCrossingDirection "rising"
+ }
+ Block {
+ BlockType SubSystem
+ Name "Individual output"
+ Ports [1, 1, 0, 1]
+ Position [745, 226, 800, 274]
+ TreatAsAtomicUnit on
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ MaskHideContents off
+ System {
+ Name "Individual output"
+ 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 Integrator
+ Name "Integrator"
+ Ports [2, 1, 0, 0, 1]
+ Position [130, 238, 180, 307]
+ ExternalReset "rising"
+ ShowStatePort on
+ IgnoreLimit off
+ }
+ Block {
+ BlockType RandomNumber
+ Name "Measurement noise"
+ Position [475, 145, 505, 175]
+ Orientation "left"
+ NamePlacement "alternate"
+ Variance "(noise_stdev/180*pi)^2"
+ Seed "abs(floor(rand(3,1)*10000))"
+ }
+ Block {
+ BlockType Mux
+ Name "Mux"
+ Ports [3, 1]
+ Position [700, 352, 705, 418]
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition"
+ Position [750, 364, 790, 406]
+ OutPortSampleTime "1/rps"
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition1"
+ Position [735, 19, 775, 61]
+ OutPortSampleTime "1/rps"
+ }
+ Block {
+ BlockType Sum
+ Name "Subtract"
+ Ports [2, 1]
+ Position [270, 95, 300, 125]
+ IconShape "round"
+ Inputs "-+|"
+ CollapseMode "All dimensions"
+ InputSameDT off
+ OutDataTypeMode "Inherit via internal rule"
+ OutScaling "2^-10"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum"
+ Ports [2, 1]
+ Position [480, 240, 500, 260]
+ ShowName off
+ IconShape "round"
+ Inputs "++|"
+ CollapseMode "All dimensions"
+ InputSameDT off
+ OutDataTypeMode "Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum1"
+ Ports [2, 1]
+ Position [415, 305, 435, 325]
+ ShowName off
+ IconShape "round"
+ Inputs "++|"
+ CollapseMode "All dimensions"
+ InputSameDT off
+ OutDataTypeMode "Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum2"
+ Ports [2, 1]
+ Position [430, 375, 450, 395]
+ ShowName off
+ IconShape "round"
+ Inputs "++|"
+ CollapseMode "All dimensions"
+ InputSameDT off
+ OutDataTypeMode "Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum3"
+ Ports [2, 1]
+ Position [445, 445, 465, 465]
+ ShowName off
+ IconShape "round"
+ Inputs "++|"
+ CollapseMode "All dimensions"
+ InputSameDT off
+ OutDataTypeMode "Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum5"
+ Ports [2, 1]
+ Position [400, 30, 420, 50]
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ CollapseMode "All dimensions"
+ InputSameDT off
+ OutDataTypeMode "Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Outport
+ Name "Ideal"
+ Position [855, 33, 885, 47]
+ IconDisplay "Port number"
+ BusOutputAsStruct off
+ }
+ Block {
+ BlockType Outport
+ Name "Individual"
+ Position [875, 243, 905, 257]
+ Port "2"
+ IconDisplay "Port number"
+ BusOutputAsStruct off
+ }
+ Block {
+ BlockType Outport
+ Name "Simultaneous"
+ Position [965, 378, 995, 392]
+ Port "3"
+ IconDisplay "Port number"
+ BusOutputAsStruct off
+ }
+ Line {
+ SrcBlock "Sum5"
+ SrcPort 1
+ DstBlock "Rate Transition1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux1"
+ SrcPort 3
+ Points [0, 15]
+ Branch {
+ DstBlock "Sum3"
+ DstPort 1
+ }
+ Branch {
+ Points [35, 0]
+ DstBlock "Sum"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux1"
+ SrcPort 1
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Sum1"
+ SrcPort 1
+ DstBlock "Beacon memory"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Sum2"
+ SrcPort 1
+ DstBlock "Beacon memory1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Sum3"
+ SrcPort 1
+ DstBlock "Beacon memory2"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Measurement noise"
+ SrcPort 1
+ Points [-30, 0]
+ Branch {
+ Points [-30, 0]
+ DstBlock "Sum5"
+ DstPort 2
+ }
+ Branch {
+ DstBlock "Demux1"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Sum"
+ SrcPort 1
+ DstBlock "Individual output"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Compare\nTo Zero"
+ SrcPort 1
+ Points [40, 0]
+ DstBlock "Do not produce\ndata at start. We\nhave to "
+"wait one turn."
+ DstPort enable
+ }
+ Line {
+ SrcBlock "Do not produce\ndata at start. We\nhave to "
+"wait one turn."
+ SrcPort 1
+ DstBlock "Simultaneous"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Rate Transition"
+ SrcPort 1
+ DstBlock "Do not produce\ndata at start. We\nhave to "
+"wait one turn."
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Clock"
+ SrcPort 1
+ DstBlock "Compare\nTo Zero"
+ DstPort 1
+ }
+ Line {
+ Labels [0, 0]
+ SrcBlock "Rate Transition1"
+ SrcPort 1
+ DstBlock "Ideal"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Mux"
+ SrcPort 1
+ DstBlock "Rate Transition"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Pos"
+ SrcPort 1
+ DstBlock "Beacon Angles"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 3
+ Points [0, 81; 150, 0]
+ DstBlock "Beacon memory"
+ DstPort trigger
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 2
+ Points [0, 149]
+ DstBlock "Beacon memory1"
+ DstPort trigger
+ }
+ Line {
+ SrcBlock "Demux"
+ SrcPort 1
+ Points [0, 219]
+ DstBlock "Beacon memory2"
+ DstPort trigger
+ }
+ Line {
+ SrcBlock "Beacon memory2"
+ SrcPort 1
+ Points [40, 0; 0, -50]
+ DstBlock "Mux"
+ DstPort 3
+ }
+ Line {
+ SrcBlock "Beacon memory1"
+ SrcPort 1
+ DstBlock "Mux"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Beacon memory"
+ SrcPort 1
+ Points [40, 0; 0, 50]
+ DstBlock "Mux"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Beacon Angles"
+ SrcPort 1
+ Points [70, 0]
+ Branch {
+ DstBlock "Sum5"
+ DstPort 1
+ }
+ Branch {
+ DstBlock "Subtract"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Individual output"
+ SrcPort 1
+ DstBlock "Individual"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Hit \nCrossing"
+ SrcPort 1
+ Points [15, 0]
+ Branch {
+ Points [400, 0]
+ DstBlock "Individual output"
+ DstPort trigger
+ }
+ Branch {
+ DstBlock "Demux"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Subtract"
+ SrcPort 1
+ DstBlock "Hit \nCrossing"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Integrator"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ Labels [1, 0]
+ Points [0, -25]
+ Branch {
+ DstBlock "Sum"
+ DstPort 2
+ }
+ Branch {
+ Points [0, 65]
+ Branch {
+ DstBlock "Sum1"
+ DstPort 2
+ }
+ Branch {
+ Points [0, 70]
+ Branch {
+ DstBlock "Sum2"
+ DstPort 2
+ }
+ Branch {
+ Points [0, 70]
+ DstBlock "Sum3"
+ DstPort 2
+ }
+ }
+ }
+ }
+ Branch {
+ Labels [-1, 1]
+ Points [0, -165]
+ DstBlock "Subtract"
+ DstPort 2
+ }
+ }
+ Line {
+ SrcBlock "Compare\nTo Constant"
+ SrcPort 1
+ Points [-30, 0; 0, 110]
+ DstBlock "Integrator"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Constant1"
+ SrcPort 1
+ DstBlock "Integrator"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Integrator"
+ SrcPort state
+ Points [0, -53]
+ DstBlock "Compare\nTo Constant"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain ANGLE"
+ Ports [1, 1]
+ Position [100, 235, 150, 265]
+ 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 "140.4"
+ high "360"
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain X"
+ Ports [1, 1]
+ Position [105, 89, 150, 121]
+ 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 "0.69"
+ high "3"
+ }
+ Block {
+ BlockType Reference
+ Name "Slider\nGain Y"
+ Ports [1, 1]
+ Position [100, 160, 150, 190]
+ 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 "0.584"
+ high "2.1"
+ }
+ Block {
+ BlockType Constant
+ Name "angle"
+ Position [45, 235, 75, 265]
+ }
+ Block {
+ BlockType Gain
+ Name "to rad"
+ Position [169, 195, 201, 230]
+ Orientation "up"
+ NamePlacement "alternate"
+ ShowName off
+ Gain "pi/180"
+ ParameterDataTypeMode "Inherit via internal rule"
+ OutDataTypeMode "Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Constant
+ Name "x"
+ Position [45, 90, 75, 120]
+ }
+ Block {
+ BlockType Constant
+ Name "y"
+ Position [45, 160, 75, 190]
+ }
+ Line {
+ SrcBlock "x"
+ SrcPort 1
+ DstBlock "Slider\nGain X"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "y"
+ SrcPort 1
+ DstBlock "Slider\nGain Y"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "angle"
+ SrcPort 1
+ DstBlock "Slider\nGain ANGLE"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Slider\nGain X"
+ SrcPort 1
+ Points [45, 0]
+ DstBlock "Mux"
+ DstPort 1
+ }
+ 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
+ }
+ Line {
+ SrcBlock "to rad"
+ SrcPort 1
+ Points [0, -5]
+ DstBlock "Mux"
+ DstPort 3
+ }
+ Line {
+ SrcBlock "Mux"
+ SrcPort 1
+ Points [70, 0]
+ Branch {
+ Points [0, -45]
+ DstBlock "Draw robot"
+ DstPort 1
+ }
+ Branch {
+ Points [20, 0]
+ DstBlock "Rotating laser"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Digital Clock"
+ SrcPort 1
+ DstBlock "Display"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Rotating laser"
+ SrcPort 2
+ Points [15, 0; 0, -45]
+ DstBlock "Draw robot"
+ DstPort 2
+ }
+ }
+}
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
- ComputedModelVersion "1.290"
+ ComputedModelVersion "1.294"
NumModelReferences 0
NumTestPointedSignals 0
}
ModifiedByFormat "%<Auto>"
LastModifiedBy "wsh"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Sat Apr 26 10:15:02 2008"
- ModelVersionFormat "1.%<AutoIncrement:290>"
+ LastModifiedDate "Sat Apr 26 11:55:07 2008"
+ ModelVersionFormat "1.%<AutoIncrement:294>"
ConfigurationManager "None"
SimulationMode "normal"
LinearizationMsg "none"
SFunctionModules "''"
PortCounts "[]"
}
- Block {
- BlockType SignalGenerator
- WaveForm "sine"
- TimeSource "Use simulation time"
- Amplitude "1"
- Frequency "1"
- Units "Hertz"
- VectorParams1D on
- }
Block {
BlockType SignalSpecification
Dimensions "-1"
}
System {
Name "reg_mcl"
- Location [358, 382, 1213, 951]
+ Location [4, 431, 859, 1000]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "normalized"
- MaskValueString "3|0|on"
+ MaskValueString "3|1|on"
MaskTabNameString ",,"
System {
Name "Rotating laser"
Location [84, 67, 1108, 652]
- Open on
+ Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
Position [740, 310, 760, 330]
Decimation "10"
}
+ Block {
+ BlockType Reference
+ Name "Compare\nTo Constant"
+ Ports [1, 1]
+ Position [50, 165, 100, 195]
+ Orientation "left"
+ SourceBlock "simulink/Logic and Bit\nOperations/Compare"
+"\nTo Constant"
+ SourceType "Compare To Constant"
+ 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"
+ relop ">="
+ const "2*pi"
+ LogicOutDataTypeMode "boolean"
+ ZeroCross off
+ }
Block {
BlockType Reference
Name "Compare\nTo Zero"
}
Block {
BlockType Constant
- Name "Constant"
- Position [145, 145, 175, 175]
- Orientation "up"
+ Name "Constant1"
+ Position [35, 239, 100, 271]
NamePlacement "alternate"
- Value "pi"
+ Value "rps*2*pi"
}
Block {
BlockType Demux
}
}
}
- Block {
- BlockType Gain
- Name "Gain"
- Position [95, 95, 125, 125]
- Gain "-1"
- ParameterDataTypeMode "Inherit via internal rule"
- OutDataTypeMode "Inherit via internal rule"
- SaturateOnIntegerOverflow off
- }
Block {
BlockType HitCross
Name "Hit \nCrossing"
Ports [1, 1]
- Position [315, 95, 345, 125]
+ Position [320, 95, 350, 125]
AttributesFormatString "ZC:%<ZeroCross>"
HitCrossingDirection "rising"
}
}
}
}
+ Block {
+ BlockType Integrator
+ Name "Integrator"
+ Ports [2, 1, 0, 0, 1]
+ Position [130, 238, 180, 307]
+ ExternalReset "rising"
+ ShowStatePort on
+ IgnoreLimit off
+ }
Block {
BlockType RandomNumber
Name "Measurement noise"
Orientation "left"
NamePlacement "alternate"
Variance "(noise_stdev/180*pi)^2"
- Seed "abs(rand(3,1)*10000)"
+ Seed "abs(floor(rand(3,1)*10000))"
}
Block {
BlockType Mux
Position [735, 19, 775, 61]
OutPortSampleTime "1/rps"
}
- Block {
- BlockType SignalGenerator
- Name "Signal\nGenerator"
- Ports [0, 1]
- Position [35, 95, 65, 125]
- WaveForm "sawtooth"
- Amplitude "pi"
- Frequency "rps"
- }
Block {
BlockType Sum
Name "Subtract"
Ports [2, 1]
- Position [250, 95, 280, 125]
+ Position [270, 95, 300, 125]
IconShape "round"
Inputs "-+|"
CollapseMode "All dimensions"
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
}
- Block {
- BlockType Sum
- Name "Sum4"
- Ports [2, 1]
- Position [150, 100, 170, 120]
- ShowName off
- IconShape "round"
- Inputs "|++"
- CollapseMode "All dimensions"
- InputSameDT off
- OutDataTypeMode "Inherit via internal rule"
- SaturateOnIntegerOverflow off
- Port {
- PortNumber 1
- Name "Laser angle"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- }
Block {
BlockType Sum
Name "Sum5"
BusOutputAsStruct off
}
Line {
- SrcBlock "Signal\nGenerator"
- SrcPort 1
- DstBlock "Gain"
- DstPort 1
- }
- Line {
- SrcBlock "Subtract"
+ SrcBlock "Sum5"
SrcPort 1
- DstBlock "Hit \nCrossing"
+ DstBlock "Rate Transition1"
DstPort 1
}
Line {
- SrcBlock "Hit \nCrossing"
- SrcPort 1
- Points [20, 0]
+ SrcBlock "Demux1"
+ SrcPort 3
+ Points [0, 15]
Branch {
- DstBlock "Demux"
+ DstBlock "Sum3"
DstPort 1
}
Branch {
- Points [400, 0]
- DstBlock "Individual output"
- DstPort trigger
+ Points [35, 0]
+ DstBlock "Sum"
+ DstPort 1
}
}
Line {
- SrcBlock "Individual output"
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Demux1"
SrcPort 1
- DstBlock "Individual"
+ DstBlock "Sum1"
DstPort 1
}
Line {
- SrcBlock "Beacon Angles"
+ SrcBlock "Sum1"
SrcPort 1
- Points [50, 0]
- Branch {
- DstBlock "Subtract"
- DstPort 1
- }
- Branch {
- DstBlock "Sum5"
- DstPort 1
- }
+ DstBlock "Beacon memory"
+ DstPort 1
}
Line {
- SrcBlock "Beacon memory"
+ SrcBlock "Sum2"
SrcPort 1
- Points [40, 0; 0, 50]
- DstBlock "Mux"
+ DstBlock "Beacon memory1"
DstPort 1
}
Line {
- SrcBlock "Beacon memory1"
+ SrcBlock "Sum3"
SrcPort 1
- DstBlock "Mux"
- DstPort 2
+ DstBlock "Beacon memory2"
+ DstPort 1
}
Line {
- SrcBlock "Beacon memory2"
+ SrcBlock "Measurement noise"
SrcPort 1
- Points [40, 0; 0, -50]
- DstBlock "Mux"
- DstPort 3
+ Points [-30, 0]
+ Branch {
+ Points [-30, 0]
+ DstBlock "Sum5"
+ DstPort 2
+ }
+ Branch {
+ DstBlock "Demux1"
+ DstPort 1
+ }
}
Line {
- SrcBlock "Demux"
+ SrcBlock "Sum"
SrcPort 1
- Points [0, 219]
- DstBlock "Beacon memory2"
- DstPort trigger
+ DstBlock "Individual output"
+ DstPort 1
}
Line {
- SrcBlock "Demux"
- SrcPort 2
- Points [0, 149]
- DstBlock "Beacon memory1"
- DstPort trigger
+ SrcBlock "Compare\nTo Zero"
+ SrcPort 1
+ Points [40, 0]
+ DstBlock "Do not produce\ndata at start. We\nhave to "
+"wait one turn."
+ DstPort enable
}
Line {
- SrcBlock "Demux"
- SrcPort 3
- Points [0, 81; 150, 0]
- DstBlock "Beacon memory"
- DstPort trigger
+ SrcBlock "Do not produce\ndata at start. We\nhave to "
+"wait one turn."
+ SrcPort 1
+ DstBlock "Simultaneous"
+ DstPort 1
}
Line {
- SrcBlock "Pos"
+ SrcBlock "Rate Transition"
SrcPort 1
- DstBlock "Beacon Angles"
+ DstBlock "Do not produce\ndata at start. We\nhave to "
+"wait one turn."
DstPort 1
}
Line {
- SrcBlock "Mux"
+ SrcBlock "Clock"
SrcPort 1
- DstBlock "Rate Transition"
+ DstBlock "Compare\nTo Zero"
DstPort 1
}
Line {
DstPort 1
}
Line {
- SrcBlock "Clock"
+ SrcBlock "Mux"
SrcPort 1
- DstBlock "Compare\nTo Zero"
+ DstBlock "Rate Transition"
DstPort 1
}
Line {
- SrcBlock "Rate Transition"
+ SrcBlock "Pos"
SrcPort 1
- DstBlock "Do not produce\ndata at start. We\nhave to "
-"wait one turn."
+ DstBlock "Beacon Angles"
DstPort 1
}
Line {
- SrcBlock "Do not produce\ndata at start. We\nhave to "
-"wait one turn."
- SrcPort 1
- DstBlock "Simultaneous"
- DstPort 1
+ SrcBlock "Demux"
+ SrcPort 3
+ Points [0, 81; 150, 0]
+ DstBlock "Beacon memory"
+ DstPort trigger
}
Line {
- SrcBlock "Compare\nTo Zero"
- SrcPort 1
- Points [40, 0]
- DstBlock "Do not produce\ndata at start. We\nhave to "
-"wait one turn."
- DstPort enable
+ SrcBlock "Demux"
+ SrcPort 2
+ Points [0, 149]
+ DstBlock "Beacon memory1"
+ DstPort trigger
}
Line {
- SrcBlock "Sum"
+ SrcBlock "Demux"
SrcPort 1
- DstBlock "Individual output"
- DstPort 1
+ Points [0, 219]
+ DstBlock "Beacon memory2"
+ DstPort trigger
}
Line {
- SrcBlock "Measurement noise"
+ SrcBlock "Beacon memory2"
SrcPort 1
- Points [-30, 0]
- Branch {
- DstBlock "Demux1"
- DstPort 1
- }
- Branch {
- Points [-30, 0]
- DstBlock "Sum5"
- DstPort 2
- }
+ Points [40, 0; 0, -50]
+ DstBlock "Mux"
+ DstPort 3
}
Line {
- SrcBlock "Sum3"
+ SrcBlock "Beacon memory1"
SrcPort 1
- DstBlock "Beacon memory2"
- DstPort 1
+ DstBlock "Mux"
+ DstPort 2
}
Line {
- SrcBlock "Sum2"
+ SrcBlock "Beacon memory"
SrcPort 1
- DstBlock "Beacon memory1"
+ Points [40, 0; 0, 50]
+ DstBlock "Mux"
DstPort 1
}
Line {
- SrcBlock "Sum1"
+ SrcBlock "Beacon Angles"
SrcPort 1
- DstBlock "Beacon memory"
- DstPort 1
+ Points [70, 0]
+ Branch {
+ DstBlock "Sum5"
+ DstPort 1
+ }
+ Branch {
+ DstBlock "Subtract"
+ DstPort 1
+ }
}
Line {
- SrcBlock "Demux1"
+ SrcBlock "Individual output"
SrcPort 1
- DstBlock "Sum1"
- DstPort 1
- }
- Line {
- SrcBlock "Demux1"
- SrcPort 2
- DstBlock "Sum2"
+ DstBlock "Individual"
DstPort 1
}
Line {
- SrcBlock "Demux1"
- SrcPort 3
- Points [0, 15]
+ SrcBlock "Hit \nCrossing"
+ SrcPort 1
+ Points [15, 0]
Branch {
- Points [35, 0]
- DstBlock "Sum"
- DstPort 1
+ Points [400, 0]
+ DstBlock "Individual output"
+ DstPort trigger
}
Branch {
- DstBlock "Sum3"
+ DstBlock "Demux"
DstPort 1
}
}
Line {
- Name "Laser angle"
- SrcBlock "Sum4"
+ SrcBlock "Subtract"
SrcPort 1
- Points [30, 0]
- Branch {
- Labels [-1, 1]
- DstBlock "Subtract"
- DstPort 2
- }
+ DstBlock "Hit \nCrossing"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Integrator"
+ SrcPort 1
+ Points [20, 0]
Branch {
- Points [0, 140]
+ Labels [1, 0]
+ Points [0, -25]
+ Branch {
+ DstBlock "Sum"
+ DstPort 2
+ }
Branch {
Points [0, 65]
+ Branch {
+ DstBlock "Sum1"
+ DstPort 2
+ }
Branch {
Points [0, 70]
Branch {
- Points [0, 70]
- DstBlock "Sum3"
+ DstBlock "Sum2"
DstPort 2
}
Branch {
- DstBlock "Sum2"
+ Points [0, 70]
+ DstBlock "Sum3"
DstPort 2
}
}
- Branch {
- DstBlock "Sum1"
- DstPort 2
- }
- }
- Branch {
- DstBlock "Sum"
- DstPort 2
}
}
+ Branch {
+ Labels [-1, 1]
+ Points [0, -165]
+ DstBlock "Subtract"
+ DstPort 2
+ }
}
Line {
- SrcBlock "Gain"
+ SrcBlock "Compare\nTo Constant"
SrcPort 1
- DstBlock "Sum4"
- DstPort 1
+ Points [-30, 0; 0, 110]
+ DstBlock "Integrator"
+ DstPort 2
}
Line {
- SrcBlock "Constant"
+ SrcBlock "Constant1"
SrcPort 1
- DstBlock "Sum4"
- DstPort 2
+ DstBlock "Integrator"
+ DstPort 1
}
Line {
- SrcBlock "Sum5"
- SrcPort 1
- DstBlock "Rate Transition1"
+ SrcBlock "Integrator"
+ SrcPort state
+ Points [0, -53]
+ DstBlock "Compare\nTo Constant"
DstPort 1
}
}
Position [20, 15, 60, 55]
IOType "viewer"
Location [6, 760, 772, 999]
- Open on
+ Open off
NumInputPorts "1"
ZoomMode "yonly"
List {
projects / eurobot / public.git / commitdiff