Model { Name "testvisionscheme" Version 7.9 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.148" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "UTF-8" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" FPTRunName "Run 1" MaxMDLFileLineLength 120 Created "Tue Jun 23 21:33:28 2009" Creator "root" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "root" ModifiedDateFormat "%" LastModifiedDate "Mon May 04 22:43:33 2015" RTWModifiedTimeStamp 352680165 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowDesignRanges off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off 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 CovForceBlockReductionOff on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on CovModelRefEnable "Off" CovExternalEMLEnable off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock off BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.12.0" Array { Type "Handle" Dimension 9 Simulink.SolverCC { $ObjectID 2 Version "1.12.0" StartTime "0.0" StopTime "T" AbsTol "auto" FixedStep "1" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" EnableConcurrentExecution off ConcurrentTasks off Solver "FixedStepDiscrete" SolverName "FixedStepDiscrete" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" } Simulink.DataIOCC { $ObjectID 3 Version "1.12.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveCompleteFinalSimState off SaveFormat "Array" SignalLoggingSaveFormat "ModelDataLogs" SaveOutput on SaveState off SignalLogging on DSMLogging on InspectSignalLogs off SaveTime on ReturnWorkspaceOutputs off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" DSMLoggingName "dsmout" OutputOption "RefineOutputTimes" OutputTimes "[]" ReturnWorkspaceOutputsName "out" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Version "1.12.0" Array { Type "Cell" Dimension 4 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "NoFixptDivByZeroProtection" Cell "OptimizeModelRefInitCode" PropName "DisabledProps" } BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off UseIntDivNetSlope off UseFloatMulNetSlope off UseSpecifiedMinMax off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnhancedBackFolding off StrengthReduction off ExpressionFolding on BooleansAsBitfields off BitfieldContainerType "uint_T" EnableMemcpy on MemcpyThreshold 64 PassReuseOutputArgsAs "Structure reference" ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off EfficientMapNaN2IntZero on OptimizeModelRefInitCode off LifeSpan "inf" MaxStackSize "Inherit from target" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off ParallelExecutionInRapidAccelerator on } Simulink.DebuggingCC { $ObjectID 5 Version "1.12.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "none" CheckSSInitialOutputMsg on UnderspecifiedInitializationDetection "Classic" MergeDetectMultiDrivingBlocksExec "none" CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" MaskedZcDiagnostic "warning" IgnoredZcDiagnostic "warning" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "error" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" FixptConstUnderflowMsg "none" FixptConstOverflowMsg "none" FixptConstPrecisionLossMsg "none" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" FrameProcessingCompatibilityMsg "warning" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" SimStateInterfaceChecksumMismatchMsg "warning" SimStateOlderReleaseMsg "error" InitInArrayFormatMsg "warning" StrictBusMsg "Warning" BusNameAdapt "WarnAndRepair" NonBusSignalsTreatedAsBus "none" LoggingUnavailableSignals "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" SFInvalidInputDataAccessInChartInitDiag "warning" SFNoUnconditionalDefaultTransitionDiag "warning" SFTransitionOutsideNaturalParentDiag "warning" SFUnconditionalTransitionShadowingDiag "warning" } Simulink.HardwareCC { $ObjectID 6 Version "1.12.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdBitPerFloat 32 ProdBitPerDouble 64 ProdBitPerPointer 32 ProdLargestAtomicInteger "Char" ProdLargestAtomicFloat "None" ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetBitPerFloat 32 TargetBitPerDouble 64 TargetBitPerPointer 32 TargetLargestAtomicInteger "Char" TargetLargestAtomicFloat "None" TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.12.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" EnableParallelModelReferenceBuilds off ParallelModelReferenceErrorOnInvalidPool on ParallelModelReferenceMATLABWorkerInit "None" ModelReferenceNumInstancesAllowed "Multi" PropagateVarSize "Infer from blocks in model" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off PropagateSignalLabelsOutOfModel off SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { $ObjectID 8 Version "1.12.0" SFSimEnableDebug on SFSimOverflowDetection on SFSimEcho on SimBlas on SimCtrlC on SimExtrinsic on SimIntegrity on SimUseLocalCustomCode off SimParseCustomCode on SimBuildMode "sf_incremental_build" } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 9 Version "1.12.0" Array { Type "Cell" Dimension 2 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" PropName "DisabledProps" } SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw OPTS=\"-g\"" GenerateMakefile on TemplateMakefile "grt_default_tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ConfigAtBuild off RTWUseLocalCustomCode off RTWUseSimCustomCode off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateWebview off GenerateCodeMetricsReport off GenerateCodeReplacementReport off RTWCompilerOptimization "Off" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 10 Version "1.12.0" Array { Type "Cell" Dimension 16 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" PropName "DisabledProps" } ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off MATLABFcnDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrFcnArg "rt$I$N$M" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off InsertPolySpaceComments off SimulinkBlockComments on MATLABSourceComments off EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Version "1.12.0" Array { Type "Cell" Dimension 14 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "PortableWordSizes" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" CodeReplacementLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" CodeExecutionProfiling off ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on ParMdlRefBuildCompliant on CompOptLevelCompliant on ConcurrentExecutionCompliant on IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Disable all" CombineOutputUpdateFcns off CombineSignalStateStructs off SuppressErrorStatus off ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on SupportVariableSizeSignals off EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off GRTInterface on UseMalloc off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off RTWCAPIRootIO off GenerateASAP2 off } PropName "Components" } } hdlcoderui.hdlcc { $ObjectID 12 Version "1.12.0" Description "HDL Coder custom configuration component" Name "HDL Coder" Array { Type "Cell" Dimension 1 Cell "" PropName "HDLConfigFile" } HDLCActiveTab "0" } PropName "Components" } Name "Configuration" CurrentDlgPage "Real-Time Workshop" ConfigPrmDlgPosition [ 400, 210, 1280, 840 ] } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } ExplicitPartitioning off BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Lucida Bright" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Lucida Bright" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Lucida Bright" FontSize 9 FontWeight "normal" FontAngle "normal" } BlockParameterDefaults { Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit from 'Constant value'" LockScale off SampleTime "inf" FramePeriod "inf" PreserveConstantTs off } Block { BlockType DataTypeConversion OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via back propagation" LockScale off ConvertRealWorld "Real World Value (RWV)" RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType EnablePort StatesWhenEnabling "held" PropagateVarSize "Only when enabling" ShowOutputPort off ZeroCross on PortDimensions "1" SampleTime "-1" OutMin "[]" OutMax "[]" OutDataTypeStr "double" Interpolate on } Block { BlockType FromWorkspace VariableName "simulink_input" OutDataTypeStr "Inherit: auto" SampleTime "-1" Interpolate on ZeroCross off OutputAfterFinalValue "Extrapolation" } Block { BlockType Inport Port "1" OutputFunctionCall off OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchInputForFeedbackSignals off Interpolate on } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" SourceOfInitialOutputValue "Dialog" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Reshape OutputDimensionality "1-D array" OutputDimensions "[1,1]" } Block { BlockType S-Function FunctionName "system" SFunctionModules "''" PortCounts "[]" SFunctionDeploymentMode off } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off CheckFcnCallInpInsideContextMsg off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" SFBlockType "NONE" Variant off GeneratePreprocessorConditionals off } Block { BlockType Terminator } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" SaveFormat "Array" FixptAsFi off NumInputs "1" } Block { BlockType UnitDelay X0 "0" InputProcessing "Inherited" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" HasFrameUpgradeWarning on } } System { Name "testvisionscheme" Location [857, 189, 1579, 702] 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" ReportName "simulink-default.rpt" SIDHighWatermark "350" Block { BlockType Mux Name "Mux1" SID "1" Ports [3, 1] Position [225, 109, 230, 181] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Reshape Name "Reshape" SID "124" Ports [1, 1] Position [160, 108, 190, 132] ZOrder -23 } Block { BlockType Reshape Name "Reshape1" SID "125" Ports [1, 1] Position [160, 133, 190, 157] ZOrder -23 } Block { BlockType Reshape Name "Reshape2" SID "126" Ports [1, 1] Position [160, 158, 190, 182] ZOrder -23 } Block { BlockType ToWorkspace Name "To Workspace1" SID "2" Ports [1] Position [190, 420, 250, 450] ShowName off VariableName "subtarget" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace10" SID "3" Ports [1] Position [565, 115, 665, 145] ShowName off VariableName "pose_vision_found" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace11" SID "4" Ports [1] Position [565, 222, 625, 248] ShowName off VariableName "ball_found" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace12" SID "5" Ports [1] Position [565, 360, 625, 390] ShowName off VariableName "visiontime" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace2" SID "6" Ports [1] Position [565, 256, 625, 284] ShowName off VariableName "allballs" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace3" SID "7" Ports [1] Position [565, 150, 625, 180] ShowName off VariableName "obstacles" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace4" SID "8" Ports [1] Position [565, 186, 625, 214] ShowName off VariableName "ball" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace5" SID "9" Ports [1] Position [565, 291, 625, 319] ShowName off VariableName "allballsconf" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace6" SID "10" Ports [1] Position [565, 80, 625, 110] ShowName off VariableName "posevision" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace7" SID "11" Ports [1] Position [565, 395, 625, 425] ShowName off VariableName "lineposrecog" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace8" SID "12" Ports [1] Position [565, 431, 625, 459] ShowName off VariableName "goals" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace9" SID "13" Ports [1] Position [565, 325, 625, 355] ShowName off VariableName "greencolor" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType UnitDelay Name "Unit Delay4" SID "14" Position [430, 33, 465, 67] BlockMirror on ShowName off SampleTime "-1" } Block { BlockType FromWorkspace Name "compass_heading" SID "15" Position [250, 183, 335, 207] VariableName "compass_heading" ZeroCross on OutputAfterFinalValue "Holding final value" } Block { BlockType Constant Name "enc_robot" SID "16" Position [240, 230, 335, 260] Value "[0 0 0]" OutDataTypeStr "double" } Block { BlockType SubSystem Name "feature detection" SID "127" Ports [8, 11] Position [355, 77, 540, 463] BackgroundColor "lightBlue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "feature detection" Location [40, 96, 1260, 685] 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 "pose_world" SID "128" Position [45, 413, 75, 427] IconDisplay "Port number" } Block { BlockType Inport Name "YUV" SID "129" Position [345, 158, 375, 172] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "compass" SID "130" Position [45, 288, 75, 302] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "encoders" SID "131" Position [45, 313, 75, 327] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "blueishomegoal" SID "132" Position [45, 338, 75, 352] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "robot active" SID "133" Position [45, 388, 75, 402] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "role ID" SID "134" Position [45, 363, 75, 377] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "ArbitraryBallSwitch" SID "135" Position [750, 463, 780, 477] Port "8" IconDisplay "Port number" } Block { BlockType Demux Name "Demux" SID "136" Ports [1, 3] Position [455, 103, 465, 227] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" BusSelectionMode on } Block { BlockType SubSystem Name "Pose" SID "213" Ports [9, 6] Position [125, 226, 305, 464] BackgroundColor "lightBlue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Pose" Location [455, 402, 1293, 830] 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 "linepoints_image" SID "214" Position [35, 103, 65, 117] IconDisplay "Port number" } Block { BlockType Inport Name "nlinepoins" SID "215" Position [35, 143, 65, 157] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "compass" SID "216" Position [345, 158, 375, 172] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "encoders" SID "217" Position [560, 308, 590, 322] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "blueishomegoal" SID "218" Position [320, 188, 350, 202] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "task ID" SID "219" Position [560, 208, 590, 222] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "robot active" SID "220" Position [560, 258, 590, 272] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "poseworld" SID "221" Position [345, 218, 375, 232] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "maskcenterphi" SID "348" Position [35, 183, 65, 197] Port "9" IconDisplay "Port number" } Block { BlockType Mux Name "Mux" SID "222" Ports [2, 1] Position [730, 21, 735, 59] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType UnitDelay Name "Unit Delay" SID "349" Position [100, 180, 120, 200] ShowName off SampleTime "-1" } Block { BlockType S-Function Name "compasscheck" SID "223" Ports [5, 3] Position [410, 89, 485, 241] BackgroundColor "yellow" FunctionName "compasscheck" EnableBusSupport off } Block { BlockType S-Function Name "findpose" SID "224" Ports [3, 4] Position [165, 89, 240, 211] BackgroundColor "yellow" FunctionName "findpose" Parameters "par_findpose" EnableBusSupport off } Block { BlockType S-Function Name "localisationaid" SID "225" Ports [6, 2] Position [615, 90, 695, 390] BackgroundColor "yellow" FunctionName "localisationaid" EnableBusSupport off } Block { BlockType Outport Name "posevisionfound" SID "226" Position [735, 308, 765, 322] IconDisplay "Port number" } Block { BlockType Outport Name "par" SID "227" Position [260, 188, 290, 202] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "pose" SID "228" Position [740, 158, 770, 172] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "line_pose_recog\n+ compass" SID "229" Position [765, 33, 795, 47] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "blue goal heading" SID "230" Position [500, 208, 530, 222] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "fitval" SID "231" Position [260, 158, 290, 172] Port "6" IconDisplay "Port number" } Line { SrcBlock "localisationaid" SrcPort 2 Points [5, 0] Branch { DstBlock "posevisionfound" DstPort 1 } Branch { Points [0, -265] DstBlock "Mux" DstPort 2 } } Line { SrcBlock "localisationaid" SrcPort 1 DstBlock "pose" DstPort 1 } Line { SrcBlock "compasscheck" SrcPort 2 DstBlock "localisationaid" DstPort 2 } Line { SrcBlock "compasscheck" SrcPort 1 DstBlock "localisationaid" DstPort 1 } Line { SrcBlock "robot active" SrcPort 1 DstBlock "localisationaid" DstPort 4 } Line { SrcBlock "task ID" SrcPort 1 DstBlock "localisationaid" DstPort 3 } Line { SrcBlock "compasscheck" SrcPort 3 DstBlock "blue goal heading" DstPort 1 } Line { SrcBlock "findpose" SrcPort 3 DstBlock "fitval" DstPort 1 } Line { SrcBlock "findpose" SrcPort 2 Points [145, 0] Branch { DstBlock "compasscheck" DstPort 2 } Branch { Points [0, -105] DstBlock "Mux" DstPort 1 } } Line { SrcBlock "findpose" SrcPort 1 DstBlock "compasscheck" DstPort 1 } Line { SrcBlock "blueishomegoal" SrcPort 1 Points [25, 0] Branch { DstBlock "compasscheck" DstPort 4 } Branch { Points [0, 170] DstBlock "localisationaid" DstPort 6 } } Line { SrcBlock "compass" SrcPort 1 DstBlock "compasscheck" DstPort 3 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "line_pose_recog\n+ compass" DstPort 1 } Line { SrcBlock "encoders" SrcPort 1 DstBlock "localisationaid" DstPort 5 } Line { SrcBlock "poseworld" SrcPort 1 DstBlock "compasscheck" DstPort 5 } Line { SrcBlock "linepoints_image" SrcPort 1 DstBlock "findpose" DstPort 1 } Line { SrcBlock "nlinepoins" SrcPort 1 DstBlock "findpose" DstPort 2 } Line { SrcBlock "findpose" SrcPort 4 DstBlock "par" DstPort 1 } Line { SrcBlock "maskcenterphi" SrcPort 1 DstBlock "Unit Delay" DstPort 1 } Line { SrcBlock "Unit Delay" SrcPort 1 DstBlock "findpose" DstPort 3 } } } Block { BlockType S-Function Name "S-Function" SID "156" Ports [0, 1] Position [920, 81, 995, 109] BackgroundColor "lightBlue" ShowName off FunctionName "getvisiontime" EnableBusSupport off } Block { BlockType ToWorkspace Name "To Workspace" SID "47" Ports [1] Position [735, 175, 795, 205] BackgroundColor "red" ShowName off VariableName "linepoints" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace1" SID "48" Ports [1] Position [840, 105, 900, 135] BackgroundColor "red" ShowName off VariableName "linepoints_image" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace12" SID "49" Ports [1] Position [340, 430, 400, 460] BackgroundColor "red" ShowName off VariableName "fitval" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace2" SID "50" Ports [1] Position [460, 255, 520, 285] BackgroundColor "red" ShowName off VariableName "par" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace3" SID "51" Ports [1] Position [1060, 245, 1120, 275] BackgroundColor "red" ShowName off VariableName "labels" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace5" SID "52" Ports [1] Position [830, 140, 890, 170] BackgroundColor "red" ShowName off VariableName "nlinepoints" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType SubSystem Name "find stuff" SID "160" Ports [7, 7] Position [830, 247, 1040, 483] BackgroundColor "lightBlue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "find stuff" Location [76, 221, 1382, 864] 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 "Y" SID "161" Position [130, 343, 160, 357] IconDisplay "Port number" } Block { BlockType Inport Name "U" SID "162" Position [130, 368, 160, 382] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "V" SID "163" Position [130, 393, 160, 407] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "par" SID "164" Position [15, 443, 45, 457] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "pose" SID "165" Position [70, 418, 100, 432] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "posefound" SID "345" Position [870, 188, 900, 202] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "ArbitraryBallSwitch" SID "166" Position [225, 303, 255, 317] Port "7" IconDisplay "Port number" } Block { BlockType Reference Name "Blob Analysis1" SID "167" Tag "vipblks_row_conv" Ports [1, 4] Position [530, 238, 625, 337] BackgroundColor "yellow" LibraryVersion "1.594" SourceBlock "vipstatistics/Blob Analysis" SourceType "Blob Analysis" area on centroid on bBox on majorAxis off minorAxis off angle off eccentricity off equivDiameterSq off extent off perimeter off maxBlobs "1000" warnIfNumBlobsExceeded on isCount on useMinArea off minArea "0" useMaxArea off maxArea "inf" excludeBorderBlob off outDT "double" isOutVarDim off isFill on fillValues "-1" conn "8" isLabel off outputMode "Binary point scaling" outputWordLength "32" outputFracLength "16" memoryMode "Same as product output" memoryWordLength "32" memoryFracLength "16" firstCoeffMode "Binary point scaling" firstCoeffWordLength "16" firstCoeffFracLength "14" secondCoeffMode "Binary point scaling" secondCoeffWordLength "32" secondCoeffFracLength "16" accumMode "Binary point scaling" accumWordLength "32" accumFracLength "0" prodOutputMode "Binary point scaling" prodOutputWordLength "32" prodOutputFracLength "16" roundingMode "Floor" overflowMode off LockScale off } Block { BlockType DataTypeConversion Name "Data Type Conversion" SID "350" Position [835, 238, 910, 272] ZOrder -7 OutDataTypeStr "int32" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Mux Name "Mux" SID "347" Ports [2, 1] Position [1165, 191, 1170, 229] ZOrder -16 ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType S-Function Name "S-Function" SID "344" Ports [4, 2] Position [940, 150, 1140, 270] ZOrder -5 FunctionName "maskcalibrationintheloop" EnableBusSupport off } Block { BlockType S-Function Name "ballsizefilter" SID "233" Ports [1, 1] Position [415, 256, 510, 324] BackgroundColor "yellow" FunctionName "ballsizefilter" Parameters " " EnableBusSupport off } Block { BlockType S-Function Name "findball3D" SID "169" Ports [9, 6] Position [650, 243, 740, 457] BackgroundColor "yellow" FunctionName "findball3D" EnableBusSupport off } Block { BlockType S-Function Name "findobstacles" SID "170" Ports [3, 3] Position [205, 32, 370, 128] BackgroundColor "yellow" FunctionName "findobstacles" EnableBusSupport off } Block { BlockType S-Function Name "labellerconvhull" SID "171" Ports [4, 1] Position [305, 254, 400, 321] BackgroundColor "yellow" FunctionName "labellerconvhull" Parameters " " EnableBusSupport off } Block { BlockType Terminator Name "nballs" SID "172" Position [790, 395, 810, 415] } Block { BlockType Terminator Name "nobstacles" SID "173" Position [420, 70, 440, 90] } Block { BlockType Terminator Name "obstaclepoints" SID "174" Position [420, 100, 440, 120] } Block { BlockType Outport Name "labels" SID "175" Position [555, 198, 585, 212] IconDisplay "Port number" } Block { BlockType Outport Name "obstacles" SID "176" Position [415, 43, 445, 57] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "nearest ball [global]" SID "177" Position [800, 258, 830, 272] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "ball confidence [0...1]" SID "178" Position [800, 293, 830, 307] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "all balls [global]" SID "179" Position [800, 328, 830, 342] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "all balls confidence [0...1]" SID "180" Position [800, 363, 830, 377] Port "6" IconDisplay "Port number" } Block { BlockType Outport Name "maskcenterphi" SID "346" Position [1225, 203, 1255, 217] Port "7" IconDisplay "Port number" } Line { SrcBlock "findball3D" SrcPort 3 DstBlock "all balls [global]" DstPort 1 } Line { SrcBlock "findball3D" SrcPort 4 DstBlock "all balls confidence [0...1]" DstPort 1 } Line { SrcBlock "findball3D" SrcPort 5 DstBlock "nballs" DstPort 1 } Line { SrcBlock "labellerconvhull" SrcPort 1 DstBlock "ballsizefilter" DstPort 1 } Line { SrcBlock "findball3D" SrcPort 2 Points [30, 0] Branch { DstBlock "ball confidence [0...1]" DstPort 1 } Branch { Points [0, -45] DstBlock "Data Type Conversion" DstPort 1 } } Line { SrcBlock "findball3D" SrcPort 1 DstBlock "nearest ball [global]" DstPort 1 } Line { SrcBlock "pose" SrcPort 1 Points [0, 0] Branch { DstBlock "findball3D" DstPort 8 } Branch { Points [0, -260] Branch { Points [0, -115] DstBlock "findobstacles" DstPort 1 } Branch { DstBlock "S-Function" DstPort 1 } } } Line { SrcBlock "V" SrcPort 1 Points [10, 0] Branch { DstBlock "findball3D" DstPort 7 } Branch { Points [0, -105] DstBlock "labellerconvhull" DstPort 3 } } Line { SrcBlock "U" SrcPort 1 Points [15, 0] Branch { DstBlock "findball3D" DstPort 6 } Branch { Points [0, -95] DstBlock "labellerconvhull" DstPort 2 } } Line { SrcBlock "Y" SrcPort 1 Points [20, 0] Branch { DstBlock "findball3D" DstPort 5 } Branch { Points [0, -85] Branch { DstBlock "labellerconvhull" DstPort 1 } Branch { Points [0, -185] DstBlock "findobstacles" DstPort 2 } } } Line { SrcBlock "Blob Analysis1" SrcPort 1 DstBlock "findball3D" DstPort 1 } Line { SrcBlock "Blob Analysis1" SrcPort 2 DstBlock "findball3D" DstPort 2 } Line { SrcBlock "Blob Analysis1" SrcPort 3 DstBlock "findball3D" DstPort 3 } Line { SrcBlock "Blob Analysis1" SrcPort 4 DstBlock "findball3D" DstPort 4 } Line { SrcBlock "ArbitraryBallSwitch" SrcPort 1 DstBlock "labellerconvhull" DstPort 4 } Line { SrcBlock "findobstacles" SrcPort 3 DstBlock "obstaclepoints" DstPort 1 } Line { SrcBlock "findobstacles" SrcPort 1 DstBlock "obstacles" DstPort 1 } Line { SrcBlock "findobstacles" SrcPort 2 DstBlock "nobstacles" DstPort 1 } Line { SrcBlock "par" SrcPort 1 Points [5, 0] Branch { DstBlock "findball3D" DstPort 9 } Branch { Points [0, -340] DstBlock "findobstacles" DstPort 3 } } Line { SrcBlock "ballsizefilter" SrcPort 1 Points [0, 0] Branch { DstBlock "Blob Analysis1" DstPort 1 } Branch { Points [0, -85] DstBlock "labels" DstPort 1 } } Line { SrcBlock "findball3D" SrcPort 6 Points [180, 0] DstBlock "S-Function" DstPort 3 } Line { SrcBlock "posefound" SrcPort 1 DstBlock "S-Function" DstPort 2 } Line { SrcBlock "S-Function" SrcPort 1 Points [5, 0] DstBlock "Mux" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 2 Points [5, 0] DstBlock "Mux" DstPort 2 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "maskcenterphi" DstPort 1 } Line { SrcBlock "Data Type Conversion" SrcPort 1 DstBlock "S-Function" DstPort 4 } } } Block { BlockType SubSystem Name "mask/linepoints" SID "320" Ports [6, 7] Position [575, 100, 710, 350] BackgroundColor "lightBlue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "mask/linepoints" Location [44, 126, 914, 422] 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 "Y" SID "321" Position [330, 43, 360, 57] IconDisplay "Port number" } Block { BlockType Inport Name "U" SID "322" Position [330, 73, 360, 87] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "V" SID "323" Position [330, 103, 360, 117] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "posefound" SID "324" Position [30, 153, 60, 167] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "par" SID "325" Position [30, 183, 60, 197] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "pose" SID "326" Position [30, 123, 60, 137] Port "6" IconDisplay "Port number" } Block { BlockType ToWorkspace Name "To Workspace" SID "341" Ports [1] Position [565, 20, 625, 50] BackgroundColor "red" ShowName off VariableName "Ymasked" MaxDataPoints "1" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace1" SID "342" Ports [1] Position [565, 60, 625, 90] BackgroundColor "red" ShowName off VariableName "Umasked" MaxDataPoints "1" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace2" SID "343" Ports [1] Position [565, 100, 625, 130] BackgroundColor "red" ShowName off VariableName "Vmasked" MaxDataPoints "1" SampleTime "-1" } Block { BlockType UnitDelay Name "Unit Delay" SID "327" Position [85, 120, 105, 140] ShowName off SampleTime "-1" } Block { BlockType UnitDelay Name "Unit Delay1" SID "328" Position [85, 150, 105, 170] ShowName off SampleTime "-1" } Block { BlockType UnitDelay Name "Unit Delay2" SID "329" Position [85, 180, 105, 200] ShowName off SampleTime "-1" } Block { BlockType S-Function Name "YUVmask" SID "330" Ports [4, 3] Position [385, 38, 470, 152] BackgroundColor "yellow" FunctionName "YUVmask" EnableBusSupport off } Block { BlockType S-Function Name "adaptivepolygonmask" SID "331" Ports [3, 2] Position [180, 114, 300, 206] BackgroundColor "yellow" FunctionName "adaptivepolygonmask" EnableBusSupport off } Block { BlockType Terminator Name "edgeradius" SID "332" Position [330, 175, 350, 195] } Block { BlockType S-Function Name "findlinepoints" SID "333" Ports [6, 4] Position [655, 35, 765, 275] BackgroundColor "yellow" FunctionName "findlinepoints" EnableBusSupport off } Block { BlockType Outport Name "linepoints_image" SID "334" Position [805, 178, 835, 192] IconDisplay "Port number" } Block { BlockType Outport Name "nlinepoints" SID "335" Position [805, 118, 835, 132] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "linepoints" SID "336" Position [805, 58, 835, 72] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "greencolor" SID "337" Position [805, 238, 835, 252] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "Ymasked" SID "338" Position [490, 23, 520, 37] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "Umasked" SID "339" Position [490, 63, 520, 77] Port "6" IconDisplay "Port number" } Block { BlockType Outport Name "Vmasked" SID "340" Position [490, 103, 520, 117] Port "7" IconDisplay "Port number" } Line { SrcBlock "YUVmask" SrcPort 3 Points [0, 0] Branch { DstBlock "Vmasked" DstPort 1 } Branch { Points [65, 0] Branch { DstBlock "findlinepoints" DstPort 3 } Branch { Points [0, -20] DstBlock "To Workspace2" DstPort 1 } } } Line { SrcBlock "YUVmask" SrcPort 2 Points [0, 0] Branch { DstBlock "Umasked" DstPort 1 } Branch { Points [65, 0] Branch { DstBlock "findlinepoints" DstPort 2 } Branch { Points [0, -20] DstBlock "To Workspace1" DstPort 1 } } } Line { SrcBlock "YUVmask" SrcPort 1 Points [0, 0] Branch { DstBlock "Ymasked" DstPort 1 } Branch { Points [65, 0] Branch { DstBlock "findlinepoints" DstPort 1 } Branch { Points [0, -20] DstBlock "To Workspace" DstPort 1 } } } Line { SrcBlock "posefound" SrcPort 1 DstBlock "Unit Delay1" DstPort 1 } Line { SrcBlock "pose" SrcPort 1 DstBlock "Unit Delay" DstPort 1 } Line { SrcBlock "V" SrcPort 1 DstBlock "YUVmask" DstPort 3 } Line { SrcBlock "U" SrcPort 1 DstBlock "YUVmask" DstPort 2 } Line { SrcBlock "Y" SrcPort 1 DstBlock "YUVmask" DstPort 1 } Line { SrcBlock "adaptivepolygonmask" SrcPort 1 DstBlock "YUVmask" DstPort 4 } Line { SrcBlock "adaptivepolygonmask" SrcPort 2 DstBlock "edgeradius" DstPort 1 } Line { SrcBlock "Unit Delay" SrcPort 1 Points [30, 0] Branch { DstBlock "adaptivepolygonmask" DstPort 1 } Branch { Points [0, 100; 370, 0; 0, -55] DstBlock "findlinepoints" DstPort 4 } } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [20, 0] Branch { DstBlock "adaptivepolygonmask" DstPort 2 } Branch { Points [0, 80; 395, 0; 0, -25] DstBlock "findlinepoints" DstPort 5 } } Line { SrcBlock "par" SrcPort 1 DstBlock "Unit Delay2" DstPort 1 } Line { SrcBlock "Unit Delay2" SrcPort 1 Points [10, 0] Branch { DstBlock "adaptivepolygonmask" DstPort 3 } Branch { Points [0, 65] DstBlock "findlinepoints" DstPort 6 } } Line { SrcBlock "findlinepoints" SrcPort 1 DstBlock "linepoints" DstPort 1 } Line { SrcBlock "findlinepoints" SrcPort 2 DstBlock "nlinepoints" DstPort 1 } Line { SrcBlock "findlinepoints" SrcPort 3 DstBlock "linepoints_image" DstPort 1 } Line { SrcBlock "findlinepoints" SrcPort 4 DstBlock "greencolor" DstPort 1 } } } Block { BlockType Outport Name "pose_vision" SID "202" Position [360, 293, 390, 307] IconDisplay "Port number" } Block { BlockType Outport Name "pose_vision_found" SID "203" Position [360, 253, 390, 267] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "obstacles [global]" SID "204" Position [1110, 288, 1140, 302] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "nearest ball [global]" SID "205" Position [1110, 323, 1140, 337] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "ball confidence [0...1]" SID "206" Position [1110, 358, 1140, 372] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "all balls [global]" SID "207" Position [1110, 393, 1140, 407] Port "6" IconDisplay "Port number" } Block { BlockType Outport Name "all balls confidence [0...1]" SID "208" Position [1110, 428, 1140, 442] Port "7" IconDisplay "Port number" } Block { BlockType Outport Name "greencolor" SID "209" Position [735, 218, 765, 232] Port "8" IconDisplay "Port number" } Block { BlockType Outport Name "visiontime" SID "210" Position [1015, 88, 1045, 102] Port "9" IconDisplay "Port number" } Block { BlockType Outport Name "line pose recog \n+ compass" SID "211" Position [355, 358, 385, 372] Port "10" IconDisplay "Port number" } Block { BlockType Outport Name "blue goal heading" SID "212" Position [355, 398, 385, 412] Port "11" IconDisplay "Port number" } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "visiontime" DstPort 1 } Line { SrcBlock "role ID" SrcPort 1 DstBlock "Pose" DstPort 6 } Line { SrcBlock "robot active" SrcPort 1 DstBlock "Pose" DstPort 7 } Line { SrcBlock "mask/linepoints" SrcPort 4 DstBlock "greencolor" DstPort 1 } Line { SrcBlock "YUV" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 3 DstBlock "mask/linepoints" DstPort 3 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "mask/linepoints" DstPort 2 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "mask/linepoints" DstPort 1 } Line { SrcBlock "mask/linepoints" SrcPort 7 DstBlock "find stuff" DstPort 3 } Line { SrcBlock "mask/linepoints" SrcPort 6 DstBlock "find stuff" DstPort 2 } Line { SrcBlock "mask/linepoints" SrcPort 5 DstBlock "find stuff" DstPort 1 } Line { SrcBlock "blueishomegoal" SrcPort 1 DstBlock "Pose" DstPort 5 } Line { SrcBlock "find stuff" SrcPort 5 DstBlock "all balls [global]" DstPort 1 } Line { SrcBlock "find stuff" SrcPort 6 DstBlock "all balls confidence [0...1]" DstPort 1 } Line { SrcBlock "find stuff" SrcPort 4 DstBlock "ball confidence [0...1]" DstPort 1 } Line { SrcBlock "pose_world" SrcPort 1 DstBlock "Pose" DstPort 8 } Line { SrcBlock "find stuff" SrcPort 3 DstBlock "nearest ball [global]" DstPort 1 } Line { SrcBlock "encoders" SrcPort 1 DstBlock "Pose" DstPort 4 } Line { SrcBlock "compass" SrcPort 1 DstBlock "Pose" DstPort 3 } Line { SrcBlock "find stuff" SrcPort 2 DstBlock "obstacles [global]" DstPort 1 } Line { SrcBlock "Pose" SrcPort 1 Points [0, 0] Branch { Points [0, 15] DstBlock "pose_vision_found" DstPort 1 } Branch { Points [230, 0] Branch { DstBlock "mask/linepoints" DstPort 4 } Branch { Points [0, 190] DstBlock "find stuff" DstPort 6 } } } Line { SrcBlock "Pose" SrcPort 3 Points [0, 0] Branch { Points [0, -25] DstBlock "pose_vision" DstPort 1 } Branch { Points [240, 0] Branch { Points [0, 75] DstBlock "find stuff" DstPort 5 } Branch { DstBlock "mask/linepoints" DstPort 6 } } } Line { SrcBlock "Pose" SrcPort 4 DstBlock "line pose recog \n+ compass" DstPort 1 } Line { SrcBlock "Pose" SrcPort 5 DstBlock "blue goal heading" DstPort 1 } Line { SrcBlock "ArbitraryBallSwitch" SrcPort 1 DstBlock "find stuff" DstPort 7 } Line { SrcBlock "Pose" SrcPort 6 DstBlock "To Workspace12" DstPort 1 } Line { SrcBlock "find stuff" SrcPort 1 DstBlock "To Workspace3" DstPort 1 } Line { SrcBlock "Pose" SrcPort 2 Points [135, 0] Branch { Points [110, 0] Branch { Points [0, 80] DstBlock "find stuff" DstPort 4 } Branch { DstBlock "mask/linepoints" DstPort 5 } } Branch { DstBlock "To Workspace2" DstPort 1 } } Line { SrcBlock "mask/linepoints" SrcPort 1 Points [70, 0] Branch { DstBlock "To Workspace1" DstPort 1 } Branch { Points [5, 0; 0, -30; -680, 0] DstBlock "Pose" DstPort 1 } } Line { SrcBlock "mask/linepoints" SrcPort 2 Points [90, 0] Branch { DstBlock "To Workspace5" DstPort 1 } Branch { Points [0, -70; -700, 0; 0, 185] DstBlock "Pose" DstPort 2 } } Line { SrcBlock "mask/linepoints" SrcPort 3 DstBlock "To Workspace" DstPort 1 } Line { SrcBlock "find stuff" SrcPort 7 Points [0, 60; -935, 0] DstBlock "Pose" DstPort 9 } } } Block { BlockType SubSystem Name "mapping" SID "107" Ports [2, 0, 1] Position [295, 76, 330, 114] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "mapping" Location [167, 176, 698, 392] 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 "par" SID "108" Position [35, 133, 65, 147] IconDisplay "Port number" } Block { BlockType Inport Name "YUV" SID "109" Position [30, 83, 60, 97] Port "2" IconDisplay "Port number" } Block { BlockType EnablePort Name "Enable" SID "110" Ports [] Position [20, 15, 40, 35] } Block { BlockType Demux Name "Demux" SID "111" Ports [1, 3] Position [80, 49, 85, 131] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" BusSelectionMode on } Block { BlockType S-Function Name "S-Function" SID "112" Ports [4, 3] Position [240, 50, 300, 155] FunctionName "mapping" EnableBusSupport off } Block { BlockType ToWorkspace Name "To Workspace1" SID "113" Ports [1] Position [330, 55, 390, 85] VariableName "Ymap" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace2" SID "114" Ports [1] Position [330, 90, 390, 120] VariableName "Umap" MaxDataPoints "inf" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace3" SID "115" Ports [1] Position [330, 125, 390, 155] VariableName "Vmap" MaxDataPoints "inf" SampleTime "-1" } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "To Workspace1" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 2 DstBlock "To Workspace2" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 3 DstBlock "To Workspace3" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "S-Function" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "S-Function" DstPort 2 } Line { SrcBlock "Demux" SrcPort 3 DstBlock "S-Function" DstPort 3 } Line { SrcBlock "YUV" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "par" SrcPort 1 DstBlock "S-Function" DstPort 4 } } } Block { BlockType Constant Name "outputmap" SID "116" Position [265, 20, 295, 50] Value "0" OutDataTypeStr "int32" } Block { BlockType Constant Name "outputmap1" SID "117" Position [305, 380, 335, 410] ShowName off Value "0" OutDataTypeStr "int32" } Block { BlockType Constant Name "outputmap2" SID "118" Position [305, 280, 335, 310] ShowName off Value "0" OutDataTypeStr "int32" } Block { BlockType Constant Name "outputmap3" SID "119" Position [305, 430, 335, 460] ShowName off Value "0" OutDataTypeStr "double" } Block { BlockType Constant Name "par" SID "120" Position [235, 70, 265, 100] Value "par" OutDataTypeStr "double" } Block { BlockType Constant Name "robot active" SID "121" Position [305, 330, 335, 360] OutDataTypeStr "int32" } Block { BlockType Reference Name "sequence" SID "122" Ports [0, 3] Position [40, 105, 135, 185] LibraryVersion "1.310" SourceBlock "visionsources/Video From Workspace" SourceType "Video From Workspace" signal "A" Ts "1" finalout "Obsolete" finaloutActive "Holding final value" imagePorts "Separate color signals" OutPortLabels "Y|U|V" } Block { BlockType Constant Name "subtarget" SID "123" Position [145, 420, 175, 450] Value "[100,100]" OutDataTypeStr "double" } Line { SrcBlock "outputmap" SrcPort 1 Points [10, 0] DstBlock "mapping" DstPort enable } Line { SrcBlock "sequence" SrcPort 2 DstBlock "Reshape1" DstPort 1 } Line { SrcBlock "sequence" SrcPort 1 DstBlock "Reshape" DstPort 1 } Line { SrcBlock "sequence" SrcPort 3 DstBlock "Reshape2" DstPort 1 } Line { SrcBlock "subtarget" SrcPort 1 DstBlock "To Workspace1" DstPort 1 } Line { SrcBlock "Mux1" SrcPort 1 Points [45, 0] Branch { DstBlock "mapping" DstPort 2 } Branch { DstBlock "feature detection" DstPort 2 } } Line { SrcBlock "feature detection" SrcPort 8 DstBlock "To Workspace9" DstPort 1 } Line { SrcBlock "feature detection" SrcPort 1 Points [5, 0] Branch { Points [0, -45] DstBlock "Unit Delay4" DstPort 1 } Branch { DstBlock "To Workspace6" DstPort 1 } } Line { SrcBlock "feature detection" SrcPort 3 DstBlock "To Workspace3" DstPort 1 } Line { SrcBlock "feature detection" SrcPort 2 DstBlock "To Workspace10" DstPort 1 } Line { SrcBlock "feature detection" SrcPort 10 DstBlock "To Workspace7" DstPort 1 } Line { SrcBlock "feature detection" SrcPort 5 DstBlock "To Workspace11" DstPort 1 } Line { SrcBlock "feature detection" SrcPort 11 DstBlock "To Workspace8" DstPort 1 } Line { SrcBlock "compass_heading" SrcPort 1 DstBlock "feature detection" DstPort 3 } Line { SrcBlock "feature detection" SrcPort 4 DstBlock "To Workspace4" DstPort 1 } Line { SrcBlock "enc_robot" SrcPort 1 DstBlock "feature detection" DstPort 4 } Line { SrcBlock "robot active" SrcPort 1 DstBlock "feature detection" DstPort 6 } Line { SrcBlock "outputmap2" SrcPort 1 DstBlock "feature detection" DstPort 5 } Line { SrcBlock "outputmap1" SrcPort 1 DstBlock "feature detection" DstPort 7 } Line { SrcBlock "feature detection" SrcPort 6 DstBlock "To Workspace2" DstPort 1 } Line { SrcBlock "feature detection" SrcPort 7 DstBlock "To Workspace5" DstPort 1 } Line { SrcBlock "feature detection" SrcPort 9 DstBlock "To Workspace12" DstPort 1 } Line { SrcBlock "outputmap3" SrcPort 1 DstBlock "feature detection" DstPort 8 } Line { SrcBlock "Unit Delay4" SrcPort 1 Points [-90, 0; 0, 45] DstBlock "feature detection" DstPort 1 } Line { SrcBlock "par" SrcPort 1 DstBlock "mapping" DstPort 1 } Line { SrcBlock "Reshape" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "Reshape1" SrcPort 1 DstBlock "Mux1" DstPort 2 } Line { SrcBlock "Reshape2" SrcPort 1 DstBlock "Mux1" DstPort 3 } } }