Model { Name "motion_turtle" Version 7.7 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.5514" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "US-ASCII" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" MaxMDLFileLineLength 120 Created "Wed Jan 31 12:33:46 2001" Creator "root" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "root" ModifiedDateFormat "%" LastModifiedDate "Tue Mar 13 22:34:37 2012" RTWModifiedTimeStamp 253572376 ModelVersionFormat "1.%" ConfigurationManager "none" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "none" WideLines off ShowLineDimensions on ShowPortDataTypes on 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" RTW.FcnDefault { $PropName "RTWFcnClass" $ObjectID 1 Name "Auto" FunctionName "motion_turtle_step" InitFunctionName "DefaultBlockDiagram_initialize" } 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 "1" ExtModeTrigDuration 3910 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 2 Version "1.11.0" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 3 Version "1.11.0" StartTime "0.0" StopTime "3600*2" AbsTol "auto" FixedStep "Ts" 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" ConcurrentTasks off Solver "ode1" SolverName "ode1" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" } Simulink.DataIOCC { $ObjectID 4 Version "1.11.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints off MaxDataPoints "4000*3600" LoadExternalInput off LoadInitialState off SaveFinalState off SaveCompleteFinalSimState off SaveFormat "Array" SignalLoggingSaveFormat "ModelDataLogs" SaveOutput off SaveState off SignalLogging off DSMLogging on InspectSignalLogs off SaveTime off ReturnWorkspaceOutputs off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" DSMLoggingName "dsmout" OutputOption "RefineOutputTimes" OutputTimes "[]" ReturnWorkspaceOutputsName "out" Refine "1" } Simulink.OptimizationCC { $ObjectID 5 Version "1.11.0" BlockReduction off BooleanDataType off ConditionallyExecuteInputs on InlineParams off UseIntDivNetSlope 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 on LifeSpan "1" MaxStackSize "Inherit from target" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off AccelParallelForEachSubsystem on } Simulink.DebuggingCC { $ObjectID 6 Version "1.11.0" 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 "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" MaskedZcDiagnostic "warning" IgnoredZcDiagnostic "warning" SolverPrmCheckMsg "none" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "warning" MultiTaskCondExecSysMsg "none" MultiTaskRateTransMsg "warning" 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 "error" UnconnectedOutputMsg "error" UnconnectedLineMsg "error" SFcnCompatibilityMsg "none" 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 "None" BusNameAdapt "WarnAndRepair" NonBusSignalsTreatedAsBus "none" LoggingUnavailableSignals "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" SFInvalidInputDataAccessInChartInitDiag "warning" SFNoUnconditionalDefaultTransitionDiag "warning" SFTransitionOutsideNaturalParentDiag "warning" } Simulink.HardwareCC { $ObjectID 7 Version "1.11.0" 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 "LittleEndian" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "MATLAB Host" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 8 Version "1.11.0" 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 9 Version "1.11.0" 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 10 Version "1.11.0" SystemTargetFile "mtt.tlc" GenCodeOnly off MakeCommand "make_rtw OPT_OPTS=\"-g -O2 -W\" CC=\"ccache gcc\" OPTS=\"-DNETIF_ID=1 -D_GNU_SOURCE -DPRIO=99 -DSVN" "_VER=3731\"" GenerateMakefile on TemplateMakefile "mtt_unix.tmf" Description "Multitasking Target for Linux (EXPERIMENTAL)" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ProcessScript "mtt_make_rtw_hook" ConfigAtBuild off RTWUseLocalCustomCode off RTWUseSimCustomCode off CustomInclude "../Libs/kinect/include ../Libs/voronoi ./src ../Libs/ipcomm2 ../Libs/multicast ../Libs/GeneralFun" "ctions ../Global_par ../Vision/src ./src/refbox_handler/ ../Vision/src/role_handler/ ./src/pass_handler/ ./src/mu_p" "ositioning_lib/ ../Vision/src/strategy_handler/ /usr/include/gsl ./src/LaserRangeFinder/include/ ./src/LaserRangeF" "inder/ /home/robocup/svn/trunk/src/Turtle2/Libs/Simulink/Bus/busses/" CustomLibrary "/usr/lib/libfreenect.so /usr/lib/libc_urg.so /usr/lib/libc_urg_connection.so /usr/lib/libc_urg_sy" "stem.so /usr/lib/libvoronoi.so /usr/lib/libpthread.so /usr/lib/libipcomm2_server.so /usr/lib/librtdb.so /usr/lib/li" "bgd.so /usr/lib/libvoronoi.so /usr/lib/libgeneral_functions.a /usr/lib/libgslcblas.so /usr/lib/libgsl.so" IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime on GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateSLWebview off GenerateCodeMetricsReport off RTWCompilerOptimization "Off" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 11 Version "1.11.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses off IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement on IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off MATLABFcnDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$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.ERTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 12 Version "1.11.0" TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" TargetFunctionLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" FunctionExecutionProfile off CodeExecutionProfiling off ERTCodeCoverageTool "None" ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on ParMdlRefBuildCompliant on CompOptLevelCompliant on IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Use local settings" CombineOutputUpdateFcns on CombineSignalStateStructs off SuppressErrorStatus off ERTFirstTimeCompliant on IncludeFileDelimiter "Auto" ERTCustomFileBanners on 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 on CPPClassGenCompliant on AutosarCompliant off GenerateErtSFunction off CreateSILPILBlock "None" CodeExecutionProfileVariable "executionProfile" GenerateASAP2 off ExtMode off ExtModeTransport 0 ExtModeStaticAlloc off ExtModeStaticAllocSize 1000000 ExtModeTesting off ExtModeMexFile "noextcomm" ExtModeIntrfLevel "Level1" InlinedParameterPlacement "NonHierarchical" TargetOS "BareBoardExample" MultiInstanceErrorCode "Error" RateGroupingCode on RootIOFormat "Individual arguments" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off RTWCAPIRootIO off ERTSrcFileBannerTemplate "ert_code_template.cgt" ERTHdrFileBannerTemplate "ert_code_template.cgt" ERTDataSrcFileTemplate "ert_code_template.cgt" ERTDataHdrFileTemplate "ert_code_template.cgt" ERTCustomFileTemplate "example_file_process.tlc" CoverageDialogOpen "off" ModuleNamingRule "Unspecified" SignalDisplayLevel 10 ParamTuneLevel 10 GlobalDataDefinition "Auto" DataDefinitionFile "global.c" GlobalDataReference "Auto" ERTFilePackagingFormat "Modular" DataReferenceFile "global.h" GRTInterface off PreserveExpressionOrder off PreserveIfCondition off ConvertIfToSwitch off PreserveExternInFcnDecls on EnableUserReplacementTypes off Array { Type "Struct" Dimension 1 MATStruct { double "" single "" int32 "" int16 "" int8 "" uint32 "" uint16 "" uint8 "" boolean "" int "" uint "" char "" } PropName "ReplacementTypes" } MemSecPackage "--- None ---" MemSecDataConstants "Default" MemSecDataIO "Default" MemSecDataInternal "Default" MemSecDataParameters "Default" MemSecFuncInitTerm "Default" MemSecFuncExecute "Default" MemSecFuncSharedUtil "Default" } PropName "Components" } } PropName "Components" } Name "Configuration" ExtraOptions "-aGenerateTraceInfo=0 " CurrentDlgPage "Diagnostics/Connectivity" ConfigPrmDlgPosition [ 400, 210, 1280, 840 ] } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 2 } BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } BlockParameterDefaults { Block { BlockType Abs ZeroCross on SampleTime "-1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on } Block { BlockType Clock DisplayTime off } 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 DiscretePulseGenerator PulseType "Sample based" TimeSource "Use simulation time" Amplitude "1" Period "2" PulseWidth "1" PhaseDelay "0" SampleTime "1" VectorParams1D on } Block { BlockType DiscreteTransferFcn Numerator "[1]" Denominator "[1 0.5]" InputProcessing "Elements as channels (sample based)" InitialStates "0" SampleTime "1" a0EqualsOne off NumCoefMin "[]" NumCoefMax "[]" DenCoefMin "[]" DenCoefMax "[]" OutMin "[]" OutMax "[]" StateDataTypeStr "Inherit: Same as input" NumCoefDataTypeStr "Inherit: Inherit via internal rule" DenCoefDataTypeStr "Inherit: Inherit via internal rule" NumProductDataTypeStr "Inherit: Inherit via internal rule" DenProductDataTypeStr "Inherit: Inherit via internal rule" NumAccumDataTypeStr "Inherit: Inherit via internal rule" DenAccumDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow off StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType Display Format "short" Decimation "10" Floating off SampleTime "-1" } Block { BlockType EnablePort StatesWhenEnabling "held" PropagateVarSize "Only when enabling" ShowOutputPort off ZeroCross on } Block { BlockType Fcn Expr "sin(u[1])" SampleTime "-1" } Block { BlockType From IconDisplay "Tag" TagVisibility "local" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParamDataTypeStr "Inherit: Same as input" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Goto IconDisplay "Tag" } Block { BlockType Ground } Block { BlockType HitCross HitCrossingOffset "0" HitCrossingDirection "either" ShowOutputPort on ZeroCross on SampleTime "-1" } 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 InportShadow OutputFunctionCall off OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" Interpolate on } Block { BlockType Integrator ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" IgnoreLimit off ZeroCross on ContinuousStateAttributes "''" } Block { BlockType Logic Operator "AND" Inputs "2" IconShape "rectangular" AllPortsSameDT on OutDataTypeStr "Inherit: Logical (see Configuration Parameters: Optimization)" SampleTime "-1" } Block { BlockType Memory X0 "0" InheritSampleTime off LinearizeMemory off LinearizeAsDelay off StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType MultiPortSwitch DataPortOrder "One-based contiguous" Inputs "3" DataPortIndices "{1,2,3}" DataPortForDefault "Last data port" DiagnosticForDefault "Error" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" AllowDiffInputSizes off } 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 Product Inputs "2" Multiplication "Element-wise(.*)" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType RateTransition Integrity on Deterministic on X0 "0" OutPortSampleTimeOpt "Specify" OutPortSampleTimeMultiple "1" OutPortSampleTime "-1" } Block { BlockType S-Function FunctionName "system" SFunctionModules "''" PortCounts "[]" SFunctionDeploymentMode off } Block { BlockType Selector NumberOfDimensions "1" IndexMode "One-based" InputPortWidth "-1" SampleTime "-1" } Block { BlockType Sin SineType "Time based" TimeSource "Use simulation time" Amplitude "1" Bias "0" Frequency "1" Phase "0" Samples "10" Offset "0" SampleTime "-1" VectorParams1D on } Block { BlockType Step Time "1" Before "0" After "1" SampleTime "-1" VectorParams1D on ZeroCross on } 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" Variant off GeneratePreprocessorConditionals off } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on AccumDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Switch Criteria "u2 >= Threshold" Threshold "0" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" AllowDiffInputSizes off } Block { BlockType Terminator } Block { BlockType TransferFcn Numerator "[1]" Denominator "[1 2 1]" AbsoluteTolerance "auto" ContinuousStateAttributes "''" Realization "auto" } Block { BlockType Trigonometry Operator "sin" ApproximationMethod "None" NumberOfIterations "11" OutputSignalType "auto" SampleTime "-1" } Block { BlockType UnitDelay X0 "0" InputProcessing "Inherited" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType VariableTransportDelay VariableDelayType "Variable time delay" MaximumDelay "1" InitialOutput "0" MaximumPoints "1024" FixedBuffer off ZeroDelay off TransDelayFeedthrough off PadeOrder "0" AbsoluteTolerance "auto" ContinuousStateAttributes "''" } } System { Name "motion_turtle" Location [463, 180, 1287, 620] 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 "1468" Block { BlockType Display Name "Actual time in s" SID "1" Ports [1] Position [645, 80, 735, 110] Decimation "1" Lockdown off } Block { BlockType Clock Name "Clock" SID "2" Position [605, 85, 625, 105] Decimation "10" } Block { BlockType SubSystem Name "Set CPU affinity" SID "3" Ports [] Position [641, 283, 741, 348] BackgroundColor "gray" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskType "Set CPU affinity" MaskPromptString "Choose CPU id" MaskStyleString "popup(cpu0|cpu1|cpu2|cpu3)" MaskVariables "cpu_id=@1;" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "cpu0" System { Name "Set CPU affinity" Location [620, 379, 1037, 707] 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 S-Function Name "Set CPU affinity" SID "4" Ports [0, 1] Position [110, 121, 250, 189] BackgroundColor "green" FunctionName "sf_setcpu" Parameters "cpu_id" EnableBusSupport off } Block { BlockType Terminator Name "Terminator" SID "5" Position [280, 145, 300, 165] } Line { SrcBlock "Set CPU affinity" SrcPort 1 DstBlock "Terminator" DstPort 1 } } } Block { BlockType Step Name "Step" SID "6" Position [125, 47, 155, 63] ShowName off Time "0.5" SampleTime "1/get_global_par('MOTION_SAMPLE_RATE')" } Block { BlockType SubSystem Name "decoupled controlled robot" SID "7" Ports [3, 1] Position [360, 88, 550, 322] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskDisplay "image(imread('Turtle28112008.JPG'));" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" System { Name "decoupled controlled robot" Location [63, 135, 1139, 708] 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 "TRCbus" SID "8" Position [125, 343, 155, 357] BackgroundColor "lightBlue" IconDisplay "Port number" } Block { BlockType Inport Name "controlbus" SID "9" Position [125, 273, 155, 287] BackgroundColor "gray" Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "Motion_tuning_bus" SID "10" Position [45, 163, 75, 177] Port "3" IconDisplay "Port number" } Block { BlockType S-Function Name "Bus assigner" SID "11" Ports [3, 1] Position [795, 64, 965, 206] BackgroundColor "cyan" FunctionName "sf_bus_assign" Parameters "sizes,offsets,portwidth,types,bus_is_in,bus_size" EnableBusSupport off MaskType "Assign variables in bus." MaskDescription "Bus assigner to assign values to variables in a bus. \nThis block can overwrite values in an exi" "sting bus as well as \ncreate a bus and write values to certain parameters. Busses \ncan be editted and created usi" "ng the busmanager. Note that \ndeleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |Bus is input |position_global_xyo|robot_active|position_local_xyo|tacho_left|tacho" "_right|arm_left|arm_right|battery_voltage|motor_temperatures|panic_and_reset_switches|local_y_velocity|shoot_lever_" "encoder|SHTstatus|SHTValue|PWMmeasurement|startBackupSoftwareSwitch|velLocalRef_dxdydo|rs485ResultCh1|rs485ResultCh" "2|CAM1Status|Status|Counter|CAM1posX|0 |0 |0 " " |0 |0 |0 " " |0 |x |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable" "_pardata_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),chec" "kbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbo" "x,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,c" "heckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,chec" "kbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbo" "x,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,c" "heckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,chec" "kbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbo" "x,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,c" "heckbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;bus_is_in=@2;var_name01=&3;var_name02=&4;var_name03=&5;var_name04=&6;var_name0" "5=&7;var_name06=&8;var_name07=&9;var_name08=&10;var_name09=&11;var_name10=&12;var_name11=&13;var_name12=&14;var" "_name13=&15;var_name14=&16;var_name15=&17;var_name16=&18;var_name17=&19;var_name18=&20;var_name19=&21;var_name2" "0=&22;var_name21=&23;var_name22=&24;var_name23=&25;var_name24=&26;var_name25=&27;var_name26=&28;var_name27=&29;" "var_name28=&30;var_name29=&31;var_name30=&32;var_name31=&33;var_name32=&34;var_name33=&35;var_name34=&36;var_na" "me35=&37;var_name36=&38;var_name37=&39;var_name38=&40;var_name39=&41;var_name40=&42;var_name41=&43;var_name42=&" "44;var_name43=&45;var_name44=&46;var_name45=&47;var_name46=&48;var_name47=&49;var_name48=&50;var_name49=&51;var" "_name50=&52;var_name51=&53;var_name52=&54;var_name53=&55;var_name54=&56;var_name55=&57;var_name56=&58;var_name5" "7=&59;var_name58=&60;var_name59=&61;var_name60=&62;var_name61=&63;var_name62=&64;var_name63=&65;var_name64=&66;" "var_name65=&67;var_name66=&68;var_name67=&69;var_name68=&70;var_name69=&71;var_name70=&72;var_name71=&73;var_na" "me72=&74;var_name73=&75;var_name74=&76;var_name75=&77;var_name76=&78;var_name77=&79;var_name78=&80;var_name79=&" "81;var_name80=&82;var_name81=&83;var_name82=&84;var_name83=&85;var_name84=&86;var_name85=&87;var_name86=&88;var" "_name87=&89;var_name88=&90;var_name89=&91;var_name90=&92;var_name91=&93;var_name92=&94;var_name93=&95;var_name9" "4=&96;var_name95=&97;var_name96=&98;var_name97=&99;var_name98=&100;var_name99=&101;var_name100=&102;selected_bu" "s=&103;var_ids=&104;checked_var_ids=&105;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_assign('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "|||||||||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" ",on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" ",on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" ",on,on" MaskInitialization "mask_sf_bus_assign('init');\n" MaskSelfModifiable on MaskDisplay "port_label('input',1,'robot_active');\nport_label('input',2,'position_local_xyo[3]');\nport_" "label('input',3,'tacho_left');\nport_label('input',4,'tacho_right');\nport_label('input',5,'arm_left');\nport_l" "abel('input',6,'arm_right');\nport_label('input',7,'battery_voltage');\nport_label('input',8,'motor_temperature" "s[3]');\nport_label('input',9,'panic_and_reset_switches[2]');\nport_label('input',10,'startBackupSoftwareSwitch" "');\nport_label('input',11,'shoot_lever_encoder');\nport_label('input',12,'SHTstatus');\nport_label('input',13," "'SHTValue');\nport_label('input',14,'PWMmeasurement');\nport_label('input',15,'rs485ResultCh1[24]');\nport_labe" "l('input',16,'rs485ResultCh2[24]');\nport_label('input',17,'CAM1Status');\nport_label('input',18,'Status');\npo" "rt_label('input',19,'Counter');\nport_label('input',20,'CAM1posX');\nport_label('output',1,'motionbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "motionbus|off|off|on|on|on|on|on|on|on|on|on|off|on|on|on|on|on|off|on|on|on|on|on|on|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|motionbus|2,3,4,5,6,7,8,9,1" "1,13,14,15,16,17,18,20,22,23,24,25,26,27,28,|3,4,5,6,7,8,9,11,13,20,15,16,17,18,23,24,25,26,27,28," } Block { BlockType S-Function Name "Bus decoder" SID "19" Ports [1, 1] Position [180, 115, 325, 145] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using" " the busmanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |turtleID|teamColor|blueIsHome|roleIDs|refboxRoleIDs|refboxTask|refboxTaskT" "rigger|destination_xyo|roleAssignerMode|penaltyDemoMode|notBallHandlingDemo|joystick_v_xyo|joystickSkillID|joys" "tickKickEffort|joystickOnOff|dssssssf|e4ffsd|0 |0 |" "0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |x |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |" "0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |" "0 |0 |0 |0 " " |0 |0 |0 " " |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable" "_pardata_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),chec" "kbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbo" "x,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,c" "heckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,chec" "kbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbo" "x,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,c" "heckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,chec" "kbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbo" "x,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,c" "heckbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name" "06=&7;var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;va" "r_name14=&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name" "21=&22;var_name22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29" ";var_name29=&30;var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_n" "ame36=&37;var_name37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=" "&44;var_name44=&45;var_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;va" "r_name51=&52;var_name52=&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name" "58=&59;var_name59=&60;var_name60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66" ";var_name66=&67;var_name67=&68;var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_n" "ame73=&74;var_name74=&75;var_name75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=" "&81;var_name81=&82;var_name82=&83;var_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;va" "r_name88=&89;var_name89=&90;var_name90=&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name" "95=&96;var_name96=&97;var_name97=&98;var_name98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=" "&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" ",on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" ",on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" ",on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'ballHandlingControl[2]');\nport_label('output',2,'shootLeverAngleMoto" "r');\nport_label('output',3,'powerOnOff');\nport_label('output',4,'amplifiersOnOff');\nport_label('output',5,'L" "EDResetPanicSwitchButton');\nport_label('output',6,'LEDBlue');\nport_label('output',7,'LEDAmber');\nport_label(" "'output',8,'keeperFrame_ulr[3]');\nport_label('output',9,'SHTControl');\nport_label('output',10,'SHTDutyCycle')" ";\nport_label('output',11,'clampBall');\nport_label('output',12,'rs485ControlCh1[23]');\nport_label('output',13" ",'rs485ControlCh2[23]');\nport_label('output',14,'CAM1Control');\nport_label('input',1,'controlbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "controlbus|off|on|on|off|off|on|on|on|on|on|on|on|on|off|off|off|off|on|on|off|off|on|on" "|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|controlbus|1,2,3,4,5,8,9" ",10,11,12,13,14,15,16,17,18,19,20,22,23,24,25,26,|25,8,2,3,9,10,11,12,13,14,15,20,22,26," } Block { BlockType DataTypeConversion Name "Data Type Conversion" SID "21" Position [1125, 488, 1200, 522] RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Demux Name "Demux1" SID "22" Ports [1, 2] Position [440, 181, 445, 254] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Demux Name "Demux3" SID "23" Ports [1, 3] Position [585, 455, 590, 565] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" } Block { BlockType Gain Name "Gain2" SID "24" Position [1045, 520, 1075, 550] Gain "-1" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType HitCross Name "Hit \nCrossing" SID "25" Ports [1, 1] Position [1155, 115, 1185, 145] ShowName off HitCrossingOffset "0.5" HitCrossingDirection "falling" } Block { BlockType SubSystem Name "Low Level Control" SID "26" Ports [4, 2] Position [470, 53, 630, 177] BackgroundColor "gray" AttributesFormatString "%" BlockChoice "Turtle" TemplateBlock "low_level_control_lib/Low Level Control" MemberBlocks "Keeper,Turtle" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Low Level Control" Location [148, 182, 646, 482] 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" SIDHighWatermark "7" Block { BlockType Inport Name "enc" SID "26::1" Position [20, 40, 40, 60] IconDisplay "Port number" } Block { BlockType Inport Name "poslocal_ref" SID "26::2" Position [20, 80, 40, 100] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "noBallHandlingDemo" SID "26::3" Position [20, 120, 40, 140] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "motion tuning bus" SID "26::4" Position [20, 160, 40, 180] Port "4" IconDisplay "Port number" } Block { BlockType Reference Name "Turtle" SID "26::5" Ports [4, 2] Position [100, 40, 140, 80] BackgroundColor "gray" SourceBlock "low_level_control_lib/Turtle" SourceType "SubSystem" 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" } Block { BlockType Outport Name "xyo_l" SID "26::6" Position [200, 40, 220, 60] IconDisplay "Port number" } Block { BlockType Outport Name "dacs" SID "26::7" Position [200, 80, 220, 100] Port "2" IconDisplay "Port number" } Line { SrcBlock "enc" SrcPort 1 DstBlock "Turtle" DstPort 1 } Line { SrcBlock "poslocal_ref" SrcPort 1 DstBlock "Turtle" DstPort 2 } Line { SrcBlock "noBallHandlingDemo" SrcPort 1 DstBlock "Turtle" DstPort 3 } Line { SrcBlock "motion tuning bus" SrcPort 1 DstBlock "Turtle" DstPort 4 } Line { SrcBlock "Turtle" SrcPort 1 DstBlock "xyo_l" DstPort 1 } Line { SrcBlock "Turtle" SrcPort 2 DstBlock "dacs" DstPort 1 } } } Block { BlockType Memory Name "Memory2" SID "27" Position [560, 695, 590, 725] ShowName off InheritSampleTime on } Block { BlockType Memory Name "Memory3" SID "28" Position [560, 655, 590, 685] ShowName off InheritSampleTime on } Block { BlockType Mux Name "Mux3" SID "29" Ports [2, 1] Position [910, 428, 915, 492] NamePlacement "alternate" ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux4" SID "30" Ports [3, 1] Position [945, 339, 950, 431] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType SubSystem Name "Play audio" SID "31" Ports [1] Position [1395, 109, 1450, 151] BackgroundColor "orange" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskPromptString "audio file name" MaskStyleString "edit" MaskVariables "audio_file_name=@1;" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "'/home/robocup/svn/trunk/src/Turtle2/Libs/sound/arnie.wav'" System { Name "Play audio" Location [5, 77, 1437, 879] 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 "audio trigger" SID "32" Position [25, 58, 55, 72] IconDisplay "Port number" } Block { BlockType S-Function Name "S-Function" SID "33" Ports [1, 1] Position [80, 27, 170, 103] BackgroundColor "orange" FunctionName "sf_play_audio" Parameters "audio_file_name" EnableBusSupport off } Block { BlockType Terminator Name "Terminator" SID "34" Position [200, 55, 220, 75] } Line { SrcBlock "S-Function" SrcPort 1 Points [0, 0] DstBlock "Terminator" DstPort 1 } Line { SrcBlock "audio trigger" SrcPort 1 Points [0, 0] DstBlock "S-Function" DstPort 1 } } } Block { BlockType Product Name "Product" SID "35" Ports [2, 1] Position [610, 567, 640, 598] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product1" SID "36" Ports [2, 1] Position [610, 602, 640, 633] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType S-Function Name "S-Function" SID "37" Ports [1, 1] Position [985, 369, 1090, 401] ShowName off FunctionName "convert_temperature" EnableBusSupport off } Block { BlockType SubSystem Name "Subsystem" SID "38" Ports [18, 23] Position [680, 129, 855, 821] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem" Location [5, 77, 1675, 1020] 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 "dacs" SID "39" Position [95, 133, 125, 147] IconDisplay "Port number" } Block { BlockType Inport Name "ball left" SID "40" Position [365, 258, 395, 272] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "ball right" SID "41" Position [365, 308, 395, 322] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "kick motor" SID "42" Position [365, 358, 395, 372] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "power on/off" SID "43" Position [365, 408, 395, 422] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "amplifiers on/off" SID "44" Position [365, 458, 395, 472] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "LED (reset motion)" SID "45" Position [365, 508, 395, 522] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "LED (blue)" SID "46" Position [365, 608, 395, 622] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "LED (amber)" SID "47" Position [365, 658, 395, 672] Port "9" IconDisplay "Port number" } Block { BlockType Inport Name "Keeper up" SID "48" Position [365, 808, 395, 822] Port "10" IconDisplay "Port number" } Block { BlockType Inport Name "Keeper left" SID "49" Position [365, 758, 395, 772] Port "11" IconDisplay "Port number" } Block { BlockType Inport Name "Keeper right" SID "50" Position [365, 708, 395, 722] Port "12" IconDisplay "Port number" } Block { BlockType Inport Name "SHTcontrol" SID "51" Position [365, 858, 395, 872] Port "13" IconDisplay "Port number" } Block { BlockType Inport Name "SHTdutycycle" SID "52" Position [365, 908, 395, 922] Port "14" IconDisplay "Port number" } Block { BlockType Inport Name "clamp ball" SID "53" Position [365, 1008, 395, 1022] Port "15" IconDisplay "Port number" } Block { BlockType Inport Name "rs485ToDxlCh1" SID "54" Position [230, 933, 260, 947] Port "16" IconDisplay "Port number" } Block { BlockType Inport Name "rs485ToDxlCh2" SID "55" Position [230, 978, 260, 992] Port "17" IconDisplay "Port number" } Block { BlockType Inport Name "CAM1Control" SID "56" Position [370, 1058, 400, 1072] Port "18" IconDisplay "Port number" } Block { BlockType Constant Name "Constant" SID "57" Position [930, 467, 945, 483] ShowName off Value "0" } Block { BlockType Constant Name "Constant1" SID "58" Position [930, 487, 945, 503] ShowName off } Block { BlockType DataTypeConversion Name "Data Type Conversion1" SID "59" Position [915, 637, 955, 653] NamePlacement "alternate" ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion2" SID "60" Position [915, 677, 955, 693] NamePlacement "alternate" ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "Data aquisition" SID "61" Ports [21, 25] Position [520, 60, 860, 1070] BackgroundColor "gray" AttributesFormatString "%" BlockChoice "Keeper" TemplateBlock "data_aquisition_lib/Data aquisition" MemberBlocks "Keeper,Simulator,Turtle" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Data aquisition" Location [148, 182, 646, 482] 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" SIDHighWatermark "47" Block { BlockType Inport Name "DAC Drive Motor 1" SID "61::1" Position [20, 40, 40, 60] IconDisplay "Port number" } Block { BlockType Inport Name "DAC Drive Motor 2" SID "61::2" Position [20, 80, 40, 100] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "DAC Drive Motor 3" SID "61::3" Position [20, 120, 40, 140] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "DAC Drive Motor 4" SID "61::4" Position [20, 160, 40, 180] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "DAC Ball Motor 1 (left)" SID "61::5" Position [20, 200, 40, 220] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "DAC Ball Motor 2 (right)" SID "61::6" Position [20, 240, 40, 260] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "DAC Kick Motor" SID "61::7" Position [20, 280, 40, 300] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "Power on/off" SID "61::8" Position [20, 320, 40, 340] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "Amplifiers on/off" SID "61::9" Position [20, 360, 40, 380] Port "9" IconDisplay "Port number" } Block { BlockType Inport Name "LED panic switch" SID "61::10" Position [20, 400, 40, 420] Port "10" IconDisplay "Port number" } Block { BlockType Inport Name "LED Spare switch" SID "61::11" Position [20, 440, 40, 460] Port "11" IconDisplay "Port number" } Block { BlockType Inport Name "LED blue" SID "61::12" Position [20, 480, 40, 500] Port "12" IconDisplay "Port number" } Block { BlockType Inport Name "LED amber" SID "61::13" Position [20, 520, 40, 540] Port "13" IconDisplay "Port number" } Block { BlockType Inport Name "Keeper right" SID "61::14" Position [20, 560, 40, 580] Port "14" IconDisplay "Port number" } Block { BlockType Inport Name "Keeper left" SID "61::15" Position [20, 600, 40, 620] Port "15" IconDisplay "Port number" } Block { BlockType Inport Name "Keeper up" SID "61::16" Position [20, 640, 40, 660] Port "16" IconDisplay "Port number" } Block { BlockType Inport Name "SHTcontrol" SID "61::17" Position [20, 680, 40, 700] Port "17" IconDisplay "Port number" } Block { BlockType Inport Name "SHTdutycycle" SID "61::18" Position [20, 720, 40, 740] Port "18" IconDisplay "Port number" } Block { BlockType Inport Name "RS485out" SID "61::19" Position [20, 760, 40, 780] Port "19" IconDisplay "Port number" } Block { BlockType Inport Name "Block ball" SID "61::20" Position [20, 800, 40, 820] Port "20" IconDisplay "Port number" } Block { BlockType Inport Name "CAM1Control" SID "61::21" Position [20, 840, 40, 860] Port "21" IconDisplay "Port number" } Block { BlockType Reference Name "Keeper" SID "61::22" Ports [21, 25] Position [100, 15, 140, 135] BackgroundColor "gray" FontSize 14 SourceBlock "data_aquisition_lib/Keeper" SourceType "SubSystem" 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" } Block { BlockType Outport Name "ENC Drive Motor 1" SID "61::23" Position [200, 40, 220, 60] IconDisplay "Port number" } Block { BlockType Outport Name "ENC Drive Motor 2" SID "61::24" Position [200, 80, 220, 100] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "ENC Drive Motor 3" SID "61::25" Position [200, 120, 220, 140] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "ENC Drive Motor 4" SID "61::26" Position [200, 160, 220, 180] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "ENC Kick Motor" SID "61::27" Position [200, 200, 220, 220] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "Arm 1 (left)" SID "61::28" Position [200, 240, 220, 260] Port "6" IconDisplay "Port number" } Block { BlockType Outport Name "Arm 2 (right)" SID "61::29" Position [200, 280, 220, 300] Port "7" IconDisplay "Port number" } Block { BlockType Outport Name "Wireless panic switch" SID "61::30" Position [200, 320, 220, 340] Port "8" IconDisplay "Port number" } Block { BlockType Outport Name "Reset panic switch" SID "61::31" Position [200, 360, 220, 380] Port "9" IconDisplay "Port number" } Block { BlockType Outport Name "Start backup software switch" SID "61::32" Position [200, 840, 220, 860] Port "10" IconDisplay "Port number" } Block { BlockType Outport Name "In/Out field" SID "61::33" Position [200, 400, 220, 420] Port "11" IconDisplay "Port number" } Block { BlockType Outport Name "tacho0" SID "61::34" Position [200, 440, 220, 460] Port "12" IconDisplay "Port number" } Block { BlockType Outport Name "tacho1" SID "61::35" Position [200, 480, 220, 500] Port "13" IconDisplay "Port number" } Block { BlockType Outport Name "battery" SID "61::36" Position [200, 520, 220, 540] Port "14" IconDisplay "Port number" } Block { BlockType Outport Name "SHTstatus" SID "61::37" Position [200, 600, 220, 620] Port "15" IconDisplay "Port number" } Block { BlockType Outport Name "SHTvalue" SID "61::38" Position [200, 640, 220, 660] Port "16" IconDisplay "Port number" } Block { BlockType Outport Name "Tmotor1" SID "61::39" Position [200, 680, 220, 700] Port "17" IconDisplay "Port number" } Block { BlockType Outport Name "Tmotor2" SID "61::40" Position [200, 720, 220, 740] Port "18" IconDisplay "Port number" } Block { BlockType Outport Name "Tmotor3" SID "61::41" Position [200, 760, 220, 780] Port "19" IconDisplay "Port number" } Block { BlockType Outport Name "AD8" SID "61::42" Position [200, 800, 220, 820] Port "20" IconDisplay "Port number" } Block { BlockType Outport Name "RS485in" SID "61::43" Position [200, 840, 220, 860] Port "21" IconDisplay "Port number" } Block { BlockType Outport Name "Cam1Status" SID "61::44" Position [200, 880, 220, 900] Port "22" IconDisplay "Port number" } Block { BlockType Outport Name "Status" SID "61::45" Position [200, 920, 220, 940] Port "23" IconDisplay "Port number" } Block { BlockType Outport Name "Counter" SID "61::46" Position [200, 960, 220, 980] Port "24" IconDisplay "Port number" } Block { BlockType Outport Name "CAM1posX" SID "61::47" Position [200, 1000, 220, 1020] Port "25" IconDisplay "Port number" } Line { SrcBlock "DAC Drive Motor 1" SrcPort 1 DstBlock "Keeper" DstPort 1 } Line { SrcBlock "DAC Drive Motor 2" SrcPort 1 DstBlock "Keeper" DstPort 2 } Line { SrcBlock "DAC Drive Motor 3" SrcPort 1 DstBlock "Keeper" DstPort 3 } Line { SrcBlock "DAC Drive Motor 4" SrcPort 1 DstBlock "Keeper" DstPort 4 } Line { SrcBlock "DAC Ball Motor 1 (left)" SrcPort 1 DstBlock "Keeper" DstPort 5 } Line { SrcBlock "DAC Ball Motor 2 (right)" SrcPort 1 DstBlock "Keeper" DstPort 6 } Line { SrcBlock "DAC Kick Motor" SrcPort 1 DstBlock "Keeper" DstPort 7 } Line { SrcBlock "Power on/off" SrcPort 1 DstBlock "Keeper" DstPort 8 } Line { SrcBlock "Amplifiers on/off" SrcPort 1 DstBlock "Keeper" DstPort 9 } Line { SrcBlock "LED panic switch" SrcPort 1 DstBlock "Keeper" DstPort 10 } Line { SrcBlock "LED Spare switch" SrcPort 1 DstBlock "Keeper" DstPort 11 } Line { SrcBlock "LED blue" SrcPort 1 DstBlock "Keeper" DstPort 12 } Line { SrcBlock "LED amber" SrcPort 1 DstBlock "Keeper" DstPort 13 } Line { SrcBlock "Keeper right" SrcPort 1 DstBlock "Keeper" DstPort 14 } Line { SrcBlock "Keeper left" SrcPort 1 DstBlock "Keeper" DstPort 15 } Line { SrcBlock "Keeper up" SrcPort 1 DstBlock "Keeper" DstPort 16 } Line { SrcBlock "SHTcontrol" SrcPort 1 DstBlock "Keeper" DstPort 17 } Line { SrcBlock "SHTdutycycle" SrcPort 1 DstBlock "Keeper" DstPort 18 } Line { SrcBlock "RS485out" SrcPort 1 DstBlock "Keeper" DstPort 19 } Line { SrcBlock "Block ball" SrcPort 1 DstBlock "Keeper" DstPort 20 } Line { SrcBlock "CAM1Control" SrcPort 1 DstBlock "Keeper" DstPort 21 } Line { SrcBlock "Keeper" SrcPort 1 DstBlock "ENC Drive Motor 1" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 2 DstBlock "ENC Drive Motor 2" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 3 DstBlock "ENC Drive Motor 3" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 4 DstBlock "ENC Drive Motor 4" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 5 DstBlock "ENC Kick Motor" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 6 DstBlock "Arm 1 (left)" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 7 DstBlock "Arm 2 (right)" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 8 DstBlock "Wireless panic switch" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 9 DstBlock "Reset panic switch" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 10 DstBlock "Start backup software switch" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 11 DstBlock "In/Out field" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 12 DstBlock "tacho0" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 13 DstBlock "tacho1" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 14 DstBlock "battery" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 15 DstBlock "SHTstatus" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 16 DstBlock "SHTvalue" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 17 DstBlock "Tmotor1" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 18 DstBlock "Tmotor2" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 19 DstBlock "Tmotor3" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 20 DstBlock "AD8" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 21 DstBlock "RS485in" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 22 DstBlock "Cam1Status" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 23 DstBlock "Status" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 24 DstBlock "Counter" DstPort 1 } Line { SrcBlock "Keeper" SrcPort 25 DstBlock "CAM1posX" DstPort 1 } } } Block { BlockType Demux Name "Demux" SID "62" Ports [1, 2] Position [1085, 844, 1090, 926] BackgroundColor "black" ShowName off Outputs "[24, 24]" DisplayOption "bar" } Block { BlockType Demux Name "Demux2" SID "63" Ports [1, 4] Position [250, 39, 260, 241] BackgroundColor "black" ShowName off DisplayOption "bar" } Block { BlockType Constant Name "Feed\nTUe" SID "64" Position [235, 555, 255, 575] } Block { BlockType Gain Name "Gain" SID "65" Position [320, 50, 350, 80] ShowName off Gain "-1" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain1" SID "66" Position [320, 100, 350, 130] ShowName off Gain "-1" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain2" SID "67" Position [320, 150, 350, 180] ShowName off Gain "-1" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain3" SID "68" Position [320, 200, 350, 230] ShowName off Gain "-1" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Mux Name "Mux" SID "69" Ports [2, 1] Position [310, 918, 315, 1007] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux7" SID "70" Ports [4, 1] Position [985, 66, 1000, 224] NamePlacement "alternate" ShowName off DisplayOption "bar" } Block { BlockType Switch Name "Switch" SID "71" Position [980, 470, 1010, 500] Criteria "u2 > Threshold" Threshold ".5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Gain Name "static gain sensor" SID "72" Position [965, 590, 995, 620] Gain "3.2" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "encs" SID "73" Position [1115, 138, 1145, 152] IconDisplay "Port number" } Block { BlockType Outport Name "robot_active" SID "74" Position [1055, 478, 1085, 492] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "tacho left" SID "75" Position [1045, 518, 1075, 532] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "tacho right" SID "76" Position [1045, 558, 1075, 572] Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "arm left" SID "77" Position [945, 278, 975, 292] Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "arm right" SID "78" Position [945, 318, 975, 332] Port "6" IconDisplay "Port number" } Block { BlockType Outport Name "battery" SID "79" Position [1045, 598, 1075, 612] Port "7" IconDisplay "Port number" } Block { BlockType Outport Name "Tmotor1" SID "80" Position [1035, 718, 1065, 732] Port "8" IconDisplay "Port number" } Block { BlockType Outport Name "Tmotor2" SID "81" Position [1035, 758, 1065, 772] Port "9" IconDisplay "Port number" } Block { BlockType Outport Name "Tmotor3" SID "82" Position [1035, 798, 1065, 812] Port "10" IconDisplay "Port number" } Block { BlockType Outport Name "switch (panic)" SID "83" Position [945, 358, 975, 372] Port "11" IconDisplay "Port number" } Block { BlockType Outport Name "switch (reset panic switch)" SID "84" Position [945, 398, 975, 412] Port "12" IconDisplay "Port number" } Block { BlockType Outport Name "switch (start backup software)" SID "85" Position [945, 438, 975, 452] Port "13" IconDisplay "Port number" } Block { BlockType Outport Name "enc kick" SID "86" Position [940, 238, 970, 252] Port "14" IconDisplay "Port number" } Block { BlockType Outport Name "SHTstatus" SID "87" Position [1035, 638, 1065, 652] Port "15" IconDisplay "Port number" } Block { BlockType Outport Name "SHTvalue" SID "88" Position [1035, 678, 1065, 692] Port "16" IconDisplay "Port number" } Block { BlockType Outport Name "AD8" SID "89" Position [1035, 838, 1065, 852] Port "17" IconDisplay "Port number" } Block { BlockType Outport Name "rs485FromDxlCh1" SID "90" Position [1125, 858, 1155, 872] Port "18" IconDisplay "Port number" } Block { BlockType Outport Name "rs485FromDxlCh2" SID "91" Position [1130, 898, 1160, 912] Port "19" IconDisplay "Port number" } Block { BlockType Outport Name "CAM1Status" SID "92" Position [910, 918, 940, 932] Port "20" IconDisplay "Port number" } Block { BlockType Outport Name "Status" SID "93" Position [910, 958, 940, 972] Port "21" IconDisplay "Port number" } Block { BlockType Outport Name "Counter" SID "94" Position [910, 998, 940, 1012] Port "22" IconDisplay "Port number" } Block { BlockType Outport Name "CAM1posX" SID "95" Position [905, 1038, 935, 1052] Port "23" IconDisplay "Port number" } Line { SrcBlock "static gain sensor" SrcPort 1 DstBlock "battery" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Switch" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Switch" DstPort 3 } Line { SrcBlock "Switch" SrcPort 1 DstBlock "robot_active" DstPort 1 } Line { SrcBlock "Data Type Conversion2" SrcPort 1 DstBlock "SHTvalue" DstPort 1 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "SHTstatus" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 2 DstBlock "Gain1" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 3 DstBlock "Gain2" DstPort 1 } Line { SrcBlock "dacs" SrcPort 1 DstBlock "Demux2" DstPort 1 } Line { SrcBlock "Mux7" SrcPort 1 DstBlock "encs" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 4 DstBlock "Gain3" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 DstBlock "Data aquisition" DstPort 1 } Line { SrcBlock "Gain1" SrcPort 1 DstBlock "Data aquisition" DstPort 2 } Line { SrcBlock "Gain2" SrcPort 1 DstBlock "Data aquisition" DstPort 3 } Line { SrcBlock "Gain3" SrcPort 1 DstBlock "Data aquisition" DstPort 4 } Line { SrcBlock "ball left" SrcPort 1 DstBlock "Data aquisition" DstPort 5 } Line { SrcBlock "ball right" SrcPort 1 DstBlock "Data aquisition" DstPort 6 } Line { SrcBlock "kick motor" SrcPort 1 DstBlock "Data aquisition" DstPort 7 } Line { SrcBlock "power on/off" SrcPort 1 DstBlock "Data aquisition" DstPort 8 } Line { SrcBlock "amplifiers on/off" SrcPort 1 DstBlock "Data aquisition" DstPort 9 } Line { SrcBlock "LED (reset motion)" SrcPort 1 DstBlock "Data aquisition" DstPort 10 } Line { SrcBlock "Feed\nTUe" SrcPort 1 DstBlock "Data aquisition" DstPort 11 } Line { SrcBlock "LED (blue)" SrcPort 1 DstBlock "Data aquisition" DstPort 12 } Line { SrcBlock "LED (amber)" SrcPort 1 DstBlock "Data aquisition" DstPort 13 } Line { SrcBlock "Keeper right" SrcPort 1 DstBlock "Data aquisition" DstPort 14 } Line { SrcBlock "Keeper left" SrcPort 1 DstBlock "Data aquisition" DstPort 15 } Line { SrcBlock "Keeper up" SrcPort 1 DstBlock "Data aquisition" DstPort 16 } Line { SrcBlock "SHTcontrol" SrcPort 1 DstBlock "Data aquisition" DstPort 17 } Line { SrcBlock "SHTdutycycle" SrcPort 1 DstBlock "Data aquisition" DstPort 18 } Line { SrcBlock "Data aquisition" SrcPort 5 DstBlock "enc kick" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 1 DstBlock "Mux7" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 2 DstBlock "Mux7" DstPort 2 } Line { SrcBlock "Data aquisition" SrcPort 3 DstBlock "Mux7" DstPort 3 } Line { SrcBlock "Data aquisition" SrcPort 4 DstBlock "Mux7" DstPort 4 } Line { SrcBlock "Data aquisition" SrcPort 6 DstBlock "arm left" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 7 DstBlock "arm right" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 8 DstBlock "switch (panic)" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 9 DstBlock "switch (reset panic switch)" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "Data aquisition" DstPort 19 } Line { SrcBlock "clamp ball" SrcPort 1 DstBlock "Data aquisition" DstPort 20 } Line { SrcBlock "Data aquisition" SrcPort 11 DstBlock "Switch" DstPort 2 } Line { SrcBlock "Data aquisition" SrcPort 12 DstBlock "tacho left" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 13 DstBlock "tacho right" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 14 DstBlock "static gain sensor" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 15 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 16 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 17 DstBlock "Tmotor1" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 18 DstBlock "Tmotor2" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 19 DstBlock "Tmotor3" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 20 DstBlock "AD8" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 21 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 10 DstBlock "switch (start backup software)" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "rs485FromDxlCh2" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "rs485FromDxlCh1" DstPort 1 } Line { SrcBlock "rs485ToDxlCh1" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "rs485ToDxlCh2" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "Data aquisition" SrcPort 22 DstBlock "CAM1Status" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 23 DstBlock "Status" DstPort 1 } Line { SrcBlock "Data aquisition" SrcPort 24 DstBlock "Counter" DstPort 1 } Line { SrcBlock "CAM1Control" SrcPort 1 DstBlock "Data aquisition" DstPort 21 } Line { SrcBlock "Data aquisition" SrcPort 25 DstBlock "CAM1posX" DstPort 1 } } } Block { BlockType Outport Name "posLocal_xyo" SID "96" Position [1335, 78, 1365, 92] IconDisplay "Port number" } Block { BlockType Outport Name "motionbus" SID "97" Position [1495, 483, 1525, 497] BackgroundColor "darkGreen" Port "2" IconDisplay "Port number" } Line { SrcBlock "Demux3" SrcPort 3 Points [70, 0] DstBlock "Subsystem" DstPort 12 } Line { SrcBlock "Demux3" SrcPort 2 Points [70, 0] DstBlock "Subsystem" DstPort 11 } Line { SrcBlock "Demux3" SrcPort 1 Points [70, 0] DstBlock "Subsystem" DstPort 10 } Line { SrcBlock "Subsystem" SrcPort 3 Points [375, 0; 0, 90] DstBlock "Bus assigner" DstPort 3 } Line { SrcBlock "Subsystem" SrcPort 4 Points [355, 0; 0, 90] DstBlock "Bus assigner" DstPort 4 } Line { SrcBlock "Subsystem" SrcPort 5 Points [335, 0; 0, 90] DstBlock "Bus assigner" DstPort 5 } Line { SrcBlock "Subsystem" SrcPort 6 Points [315, 0; 0, 90] DstBlock "Bus assigner" DstPort 6 } Line { SrcBlock "Subsystem" SrcPort 2 Points [0, -15; 140, 0] Branch { Points [0, -30] DstBlock "Hit \nCrossing" DstPort 1 } Branch { Points [320, 0] DstBlock "Bus assigner" DstPort 1 } } Line { SrcBlock "Subsystem" SrcPort 11 DstBlock "Mux3" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 12 DstBlock "Mux3" DstPort 2 } Line { SrcBlock "Subsystem" SrcPort 8 DstBlock "Mux4" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 9 DstBlock "Mux4" DstPort 2 } Line { SrcBlock "Subsystem" SrcPort 10 DstBlock "Mux4" DstPort 3 } Line { SrcBlock "Mux4" SrcPort 1 DstBlock "S-Function" DstPort 1 } Line { SrcBlock "Product" SrcPort 1 Points [20, 0] DstBlock "Subsystem" DstPort 13 } Line { SrcBlock "Bus decoder1" SrcPort 9 Points [240, 0; 0, 25] DstBlock "Product" DstPort 1 } Line { SrcBlock "Product1" SrcPort 1 Points [20, 0] DstBlock "Subsystem" DstPort 14 } Line { SrcBlock "Bus decoder1" SrcPort 10 Points [50, 0; 0, 20] DstBlock "Product1" DstPort 1 } Line { SrcBlock "TRCbus" SrcPort 1 DstBlock "Bus decoder" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 7 Points [295, 0; 0, 90] DstBlock "Bus assigner" DstPort 7 } Line { SrcBlock "S-Function" SrcPort 1 Points [40, 0; 0, 60] DstBlock "Bus assigner" DstPort 8 } Line { SrcBlock "Hit \nCrossing" SrcPort 1 DstBlock "Play audio" DstPort 1 } Line { SrcBlock "Bus assigner" SrcPort 1 Points [-5, 0] DstBlock "motionbus" DstPort 1 } Line { SrcBlock "Bus decoder" SrcPort 1 Points [50, 0] Branch { Points [0, 460; 170, 0] Branch { DstBlock "Product" DstPort 2 } Branch { Points [0, 35] DstBlock "Product1" DstPort 2 } } Branch { DstBlock "Low Level Control" DstPort 3 } } Line { SrcBlock "Mux3" SrcPort 1 Points [400, 0] DstBlock "Bus assigner" DstPort 9 } Line { SrcBlock "Low Level Control" SrcPort 1 Points [620, 0] Branch { DstBlock "posLocal_xyo" DstPort 1 } Branch { Points [0, 180] DstBlock "Bus assigner" DstPort 2 } } Line { SrcBlock "Low Level Control" SrcPort 2 Points [30, 0] DstBlock "Subsystem" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 1 Points [0, -100; -410, 0; 0, 25] DstBlock "Low Level Control" DstPort 1 } Line { SrcBlock "posLocalRef_xyo" SrcPort 1 DstBlock "Low Level Control" DstPort 2 } Line { SrcBlock "Bus decoder1" SrcPort 11 Points [40, 0; 0, 15; 290, 0; 0, 50] DstBlock "Subsystem" DstPort 15 } Line { SrcBlock "Subsystem" SrcPort 13 DstBlock "Data Type Conversion" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 14 DstBlock "Gain2" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 15 DstBlock "Bus assigner" DstPort 12 } Line { SrcBlock "Subsystem" SrcPort 16 DstBlock "Bus assigner" DstPort 13 } Line { SrcBlock "Subsystem" SrcPort 17 DstBlock "Bus assigner" DstPort 14 } Line { SrcBlock "Data Type Conversion" SrcPort 1 DstBlock "Bus assigner" DstPort 10 } Line { SrcBlock "controlbus" SrcPort 1 DstBlock "Bus decoder1" DstPort 1 } Line { SrcBlock "Bus decoder1" SrcPort 2 Points [340, 0] DstBlock "Subsystem" DstPort 4 } Line { SrcBlock "Bus decoder1" SrcPort 3 Points [340, 0] DstBlock "Subsystem" DstPort 5 } Line { SrcBlock "Bus decoder1" SrcPort 4 Points [0, -15] DstBlock "Subsystem" DstPort 6 } Line { SrcBlock "Bus decoder1" SrcPort 5 Points [0, -15] DstBlock "Subsystem" DstPort 7 } Line { SrcBlock "Bus decoder1" SrcPort 6 Points [0, -15] DstBlock "Subsystem" DstPort 8 } Line { SrcBlock "Bus decoder1" SrcPort 7 Points [0, -15] DstBlock "Subsystem" DstPort 9 } Line { SrcBlock "Bus decoder1" SrcPort 8 DstBlock "Demux3" DstPort 1 } Line { SrcBlock "Gain2" SrcPort 1 DstBlock "Bus assigner" DstPort 11 } Line { SrcBlock "Subsystem" SrcPort 18 DstBlock "Bus assigner" DstPort 15 } Line { SrcBlock "Bus decoder1" SrcPort 13 DstBlock "Memory2" DstPort 1 } Line { SrcBlock "Bus decoder1" SrcPort 12 DstBlock "Memory3" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 19 DstBlock "Bus assigner" DstPort 16 } Line { SrcBlock "Demux1" SrcPort 2 Points [215, 0] DstBlock "Subsystem" DstPort 3 } Line { SrcBlock "Demux1" SrcPort 1 Points [215, 0] DstBlock "Subsystem" DstPort 2 } Line { SrcBlock "Bus decoder1" SrcPort 1 Points [100, 0] DstBlock "Demux1" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 20 DstBlock "Bus assigner" DstPort 17 } Line { SrcBlock "Subsystem" SrcPort 21 DstBlock "Bus assigner" DstPort 18 } Line { SrcBlock "Subsystem" SrcPort 22 DstBlock "Bus assigner" DstPort 19 } Line { SrcBlock "Bus decoder1" SrcPort 14 Points [300, 0; 0, 65] DstBlock "Subsystem" DstPort 18 } Line { SrcBlock "Subsystem" SrcPort 23 DstBlock "Bus assigner" DstPort 20 } Line { SrcBlock "Memory2" SrcPort 1 Points [35, 0; 0, 65] DstBlock "Subsystem" DstPort 17 } Line { SrcBlock "Memory3" SrcPort 1 Points [50, 0; 0, 65] DstBlock "Subsystem" DstPort 16 } Line { SrcBlock "motion tuning bus" SrcPort 1 DstBlock "Low Level Control" DstPort 4 } Annotation { Position [141, 63] } } } Block { BlockType SubSystem Name "posGlobalRef_xyo 2\nvelLocalRef_dxdydo" SID "98" Ports [5, 2] Position [210, 96, 365, 244] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "posGlobalRef_xyo 2\nvelLocalRef_dxdydo" Location [5, 184, 1447, 646] 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 "posLocal_xyo" SID "99" Position [70, 343, 100, 357] IconDisplay "Port number" } Block { BlockType Inport Name "posGlobal_xyo" SID "100" Position [70, 268, 100, 282] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "Motion_tuning_bus" SID "101" Position [815, 278, 845, 292] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "controlbus" SID "102" Position [70, 98, 100, 112] BackgroundColor "gray" Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "TRCbus" SID "103" Position [985, 278, 1015, 292] BackgroundColor "lightBlue" Port "5" IconDisplay "Port number" } Block { BlockType S-Function Name "Bus decoder" SID "104" Ports [1, 3] Position [135, 51, 285, 159] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using" " the busmanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |controlEnable|powerOnOff|amplifiersOnOff|posGlobalRef_xyo|velLocalRefManua" "l_xyo_dot|shootLeverAngleMotor|LEDResetPanicSwitchButton|LEDBlue|LEDAmber|keeperFrame_ulr|SHTControl|SHTDutyCyc" "le|clampBall|va_max|CPBarm|emergencyStatus|shootLeverState|rs485ControlCh1|rs485ControlCh2|shotFinished|cur_xyd" "ot|ballHandlingControl|CAM1Control|0 |0 |0 " " |0 |0 |0 " " |0 |x |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'SF_a_max_y_keeper');\nport_label('output',2,'SF_v_max_y_keeper');\nport_lab" "el('input',1,'tunable_pardata_motion_bus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "tunable_pardata_motion_bus|off|off|off|off|off|off|off|off|off|off|off|off|off|off|on|off|on|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|tunable_pard" "ata_motion_bus|5,6,7,8,9,10,11,12,13,14,15,16,39,40,41,42,43,44,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33" ",34,35,36,37,38,45,46,47,48,49,50,51,52,53,54,55,56,57,|43,41," } Block { BlockType S-Function Name "Bus decoder1" SID "163" Ports [1, 1] Position [505, 244, 625, 276] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using the bu" "smanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |turtleID|teamColor|blueIsHome|roleIDs|refboxRoleIDs|refboxTask|refboxTaskTrigger|" "destination_xyo|roleAssignerMode|penaltyDemoMode|notBallHandlingDemo|joystick_v_xyo|joystickSkillID|joystickKickEf" "fort|joystickOnOff|dssssssf|e4ffsd|0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |x |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'joystickOnOff');\nport_label('input',1,'TRCbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "TRCbus|off|off|off|off|off|off|off|off|off|off|off|off|off|off|on|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off" "|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|TRCbus|1,2,3,4,5,6,7,8,9,10,11," "14,15,16,17,|17," } Block { BlockType Switch Name "switch between\nautonomous and\nmanual control" SID "180" Position [295, 57, 325, 143] Threshold "1" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Outport Name "velLR_xyo" SID "181" Position [350, 93, 380, 107] IconDisplay "Port number" } Line { SrcBlock "velLRmanual_xyo" SrcPort 1 DstBlock "switch between\nautonomous and\nmanual control" DstPort 1 } Line { SrcBlock "switch between\nautonomous and\nmanual control" SrcPort 1 DstBlock "velLR_xyo" DstPort 1 } Line { SrcBlock "velLR_xyo " SrcPort 1 DstBlock "switch between\nautonomous and\nmanual control" DstPort 3 } Line { SrcBlock "TRCbus" SrcPort 1 DstBlock "Bus decoder" DstPort 1 } Line { SrcBlock "Bus decoder" SrcPort 1 DstBlock "switch between\nautonomous and\nmanual control" DstPort 2 } } } Block { BlockType SubSystem Name "pos2vel" SID "182" Ports [1, 1] Position [520, 120, 625, 310] BackgroundColor "yellow" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "pos2vel" Location [459, 132, 1050, 645] 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 "posGR_xyo" SID "183" Position [150, 198, 180, 212] IconDisplay "Port number" } Block { BlockType Demux Name "Demux2" SID "184" Ports [1, 3] Position [220, 68, 225, 342] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" SID "185" Ports [3, 1] Position [365, 66, 370, 344] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType SubSystem Name "differentiator2" SID "186" Ports [1, 1] Position [250, 99, 335, 131] BackgroundColor "yellow" ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "differentiator2" Location [5, 77, 1398, 1020] 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 "x_g_ref" SID "187" Position [355, 293, 385, 307] IconDisplay "Port number" } Block { BlockType Gain Name "Gain7" SID "188" Position [505, 285, 535, 315] ShowName off Gain "1/Ts" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum5" SID "189" Ports [2, 1] Position [460, 290, 480, 310] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay1" SID "190" Position [420, 323, 455, 357] SampleTime "-1" } Block { BlockType Outport Name "x_g_refdot" SID "191" Position [820, 293, 850, 307] IconDisplay "Port number" } Line { SrcBlock "Gain7" SrcPort 1 DstBlock "x_g_refdot" DstPort 1 } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [10, 0] DstBlock "Sum5" DstPort 2 } Line { SrcBlock "x_g_ref" SrcPort 1 Points [0, 0; 15, 0] Branch { DstBlock "Unit Delay1" DstPort 1 } Branch { DstBlock "Sum5" DstPort 1 } } Line { SrcBlock "Sum5" SrcPort 1 DstBlock "Gain7" DstPort 1 } } } Block { BlockType SubSystem Name "differentiator3" SID "192" Ports [1, 1] Position [250, 189, 335, 221] BackgroundColor "yellow" ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "differentiator3" Location [5, 77, 1398, 994] 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_g_ref" SID "193" Position [355, 293, 385, 307] IconDisplay "Port number" } Block { BlockType Gain Name "Gain7" SID "194" Position [505, 285, 535, 315] ShowName off Gain "1/Ts" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum5" SID "195" Ports [2, 1] Position [460, 290, 480, 310] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay1" SID "196" Position [420, 323, 455, 357] SampleTime "-1" } Block { BlockType Outport Name "y_g_refdot" SID "197" Position [820, 293, 850, 307] IconDisplay "Port number" } Line { SrcBlock "Sum5" SrcPort 1 DstBlock "Gain7" DstPort 1 } Line { SrcBlock "y_g_ref" SrcPort 1 Points [0, 0; 15, 0] Branch { DstBlock "Sum5" DstPort 1 } Branch { DstBlock "Unit Delay1" DstPort 1 } } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [10, 0] DstBlock "Sum5" DstPort 2 } Line { SrcBlock "Gain7" SrcPort 1 DstBlock "y_g_refdot" DstPort 1 } } } Block { BlockType SubSystem Name "differentiator4" SID "198" Ports [1, 1] Position [250, 280, 335, 310] BackgroundColor "yellow" ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "differentiator4" Location [4, 54, 1397, 999] 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 "phi_ref" SID "199" Position [355, 293, 385, 307] IconDisplay "Port number" } Block { BlockType Gain Name "Gain7" SID "200" Position [505, 285, 535, 315] ShowName off Gain "1/Ts" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum5" SID "201" Ports [2, 1] Position [460, 290, 480, 310] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay1" SID "202" Position [420, 323, 455, 357] SampleTime "-1" } Block { BlockType Outport Name "phi_refdot" SID "203" Position [820, 293, 850, 307] IconDisplay "Port number" } Line { SrcBlock "Sum5" SrcPort 1 DstBlock "Gain7" DstPort 1 } Line { SrcBlock "phi_ref" SrcPort 1 Points [0, 0; 15, 0] Branch { DstBlock "Sum5" DstPort 1 } Branch { DstBlock "Unit Delay1" DstPort 1 } } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [10, 0] DstBlock "Sum5" DstPort 2 } Line { SrcBlock "Gain7" SrcPort 1 DstBlock "phi_refdot" DstPort 1 } } } Block { BlockType Outport Name "velGR_xyo" SID "204" Position [410, 198, 440, 212] IconDisplay "Port number" } Line { SrcBlock "posGR_xyo" SrcPort 1 DstBlock "Demux2" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 1 DstBlock "differentiator2" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 2 DstBlock "differentiator3" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 3 DstBlock "differentiator4" DstPort 1 } Line { SrcBlock "differentiator2" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "differentiator3" SrcPort 1 DstBlock "Mux1" DstPort 2 } Line { SrcBlock "differentiator4" SrcPort 1 DstBlock "Mux1" DstPort 3 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "velGR_xyo" DstPort 1 } } } Block { BlockType SubSystem Name "vel2pos" SID "205" Ports [3, 1] Position [1175, 125, 1280, 315] BackgroundColor "yellow" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "vel2pos" Location [462, 475, 1498, 1020] 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 "controlEnable" SID "206" Position [435, 230, 465, 245] BlockRotation 270 IconDisplay "Port number" } Block { BlockType Inport Name "velLR_xyo" SID "207" Position [340, 108, 370, 122] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "posLocal_xyo" SID "208" Position [435, 258, 465, 272] Port "3" IconDisplay "Port number" } Block { BlockType Demux Name "Demux3" SID "209" Ports [1, 3] Position [483, 190, 537, 195] BlockRotation 270 BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" } Block { BlockType Demux Name "Demux4" SID "210" Ports [1, 3] Position [405, 36, 410, 194] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" SID "211" Ports [3, 1] Position [700, 29, 705, 181] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType SubSystem Name "Subsystem1" SID "212" Ports [3, 1] Position [545, 88, 655, 122] BackgroundColor "yellow" ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem1" Location [5, 77, 1675, 1020] 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_l_previous" SID "213" Position [385, 288, 415, 302] IconDisplay "Port number" } Block { BlockType Inport Name "control enable" SID "214" Position [390, 253, 420, 267] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "y_l_refdot" SID "215" Position [195, 233, 225, 247] Port "3" IconDisplay "Port number" } Block { BlockType Gain Name "Gain4" SID "216" Position [280, 225, 310, 255] ShowName off Gain "Ts" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" SID "217" Ports [2, 1] Position [325, 230, 345, 250] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch" SID "218" Position [455, 226, 480, 294] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay1" SID "219" Position [370, 358, 405, 392] BlockMirror on SampleTime "-1" } Block { BlockType Outport Name "y_l_ref" SID "220" Position [580, 253, 610, 267] IconDisplay "Port number" } Line { SrcBlock "y_l_previous" SrcPort 1 Points [20, 0] DstBlock "Switch" DstPort 3 } Line { SrcBlock "Switch" SrcPort 1 Points [40, 0] Branch { Points [0, 115] DstBlock "Unit Delay1" DstPort 1 } Branch { DstBlock "y_l_ref" DstPort 1 } } Line { SrcBlock "Sum4" SrcPort 1 DstBlock "Switch" DstPort 1 } Line { SrcBlock "control enable" SrcPort 1 DstBlock "Switch" DstPort 2 } Line { SrcBlock "Gain4" SrcPort 1 DstBlock "Sum4" DstPort 1 } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [-30, 0] DstBlock "Sum4" DstPort 2 } Line { SrcBlock "y_l_refdot" SrcPort 1 DstBlock "Gain4" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem7" SID "221" Ports [3, 1] Position [545, 37, 655, 73] BackgroundColor "yellow" ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem7" Location [5, 77, 1019, 738] 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 "x_l_previous" SID "222" Position [385, 288, 415, 302] IconDisplay "Port number" } Block { BlockType Inport Name "control enable" SID "223" Position [385, 253, 415, 267] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "x_l_refdot" SID "224" Position [195, 233, 225, 247] Port "3" IconDisplay "Port number" } Block { BlockType Gain Name "Gain4" SID "225" Position [280, 225, 310, 255] ShowName off Gain "Ts" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" SID "226" Ports [2, 1] Position [325, 230, 345, 250] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch" SID "227" Position [455, 226, 480, 294] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay1" SID "228" Position [370, 358, 405, 392] BlockMirror on SampleTime "-1" } Block { BlockType Outport Name "x_l_ref" SID "229" Position [580, 253, 610, 267] IconDisplay "Port number" } Line { SrcBlock "x_l_refdot" SrcPort 1 DstBlock "Gain4" DstPort 1 } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [-30, 0] DstBlock "Sum4" DstPort 2 } Line { SrcBlock "Gain4" SrcPort 1 DstBlock "Sum4" DstPort 1 } Line { SrcBlock "control enable" SrcPort 1 DstBlock "Switch" DstPort 2 } Line { SrcBlock "Sum4" SrcPort 1 DstBlock "Switch" DstPort 1 } Line { SrcBlock "Switch" SrcPort 1 Points [40, 0] Branch { DstBlock "x_l_ref" DstPort 1 } Branch { Points [0, 115] DstBlock "Unit Delay1" DstPort 1 } } Line { SrcBlock "x_l_previous" SrcPort 1 Points [20, 0] DstBlock "Switch" DstPort 3 } } } Block { BlockType SubSystem Name "Subsystem8" SID "230" Ports [3, 1] Position [545, 136, 655, 174] BackgroundColor "yellow" ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem8" Location [0, 49, 1680, 1003] 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 "phi_l_previous" SID "231" Position [385, 288, 415, 302] IconDisplay "Port number" } Block { BlockType Inport Name "control enable" SID "232" Position [390, 253, 420, 267] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "phi_l_refdot" SID "233" Position [195, 233, 225, 247] Port "3" IconDisplay "Port number" } Block { BlockType Gain Name "Gain4" SID "234" Position [280, 225, 310, 255] ShowName off Gain "Ts" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" SID "235" Ports [2, 1] Position [325, 230, 345, 250] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch" SID "236" Position [455, 226, 480, 294] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay1" SID "237" Position [370, 358, 405, 392] BlockMirror on SampleTime "-1" } Block { BlockType Outport Name "phi_l_ref" SID "238" Position [580, 253, 610, 267] IconDisplay "Port number" } Line { SrcBlock "phi_l_refdot" SrcPort 1 DstBlock "Gain4" DstPort 1 } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [-30, 0] DstBlock "Sum4" DstPort 2 } Line { SrcBlock "Gain4" SrcPort 1 DstBlock "Sum4" DstPort 1 } Line { SrcBlock "control enable" SrcPort 1 DstBlock "Switch" DstPort 2 } Line { SrcBlock "Sum4" SrcPort 1 DstBlock "Switch" DstPort 1 } Line { SrcBlock "Switch" SrcPort 1 Points [40, 0] Branch { DstBlock "phi_l_ref" DstPort 1 } Branch { Points [0, 115] DstBlock "Unit Delay1" DstPort 1 } } Line { SrcBlock "phi_l_previous" SrcPort 1 Points [20, 0] DstBlock "Switch" DstPort 3 } } } Block { BlockType Outport Name "posLR_xyo" SID "239" Position [730, 98, 760, 112] IconDisplay "Port number" } Line { SrcBlock "controlEnable" SrcPort 1 Points [0, -70] Branch { Points [0, -50] Branch { Points [0, -50] DstBlock "Subsystem7" DstPort 2 } Branch { DstBlock "Subsystem1" DstPort 2 } } Branch { DstBlock "Subsystem8" DstPort 2 } } Line { SrcBlock "posLocal_xyo" SrcPort 1 Points [40, 0] DstBlock "Demux3" DstPort 1 } Line { SrcBlock "Demux3" SrcPort 2 Points [0, -90] DstBlock "Subsystem1" DstPort 1 } Line { SrcBlock "Demux3" SrcPort 3 DstBlock "Subsystem8" DstPort 1 } Line { SrcBlock "Subsystem7" SrcPort 1 DstBlock "Mux2" DstPort 1 } Line { SrcBlock "Subsystem1" SrcPort 1 DstBlock "Mux2" DstPort 2 } Line { SrcBlock "Subsystem8" SrcPort 1 DstBlock "Mux2" DstPort 3 } Line { SrcBlock "Demux4" SrcPort 1 DstBlock "Subsystem7" DstPort 3 } Line { SrcBlock "Demux4" SrcPort 2 DstBlock "Subsystem1" DstPort 3 } Line { SrcBlock "Demux4" SrcPort 3 DstBlock "Subsystem8" DstPort 3 } Line { SrcBlock "Demux3" SrcPort 1 Points [0, -140] DstBlock "Subsystem7" DstPort 1 } Line { SrcBlock "velLR_xyo" SrcPort 1 DstBlock "Demux4" DstPort 1 } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "posLR_xyo" DstPort 1 } } } Block { BlockType Outport Name "velLocalRef_xyodot" SID "240" Position [1330, 73, 1360, 87] IconDisplay "Port number" } Block { BlockType Outport Name "posLocalRef_xyo" SID "241" Position [1330, 213, 1360, 227] Port "2" IconDisplay "Port number" } Line { SrcBlock "controlbus" SrcPort 1 DstBlock "Bus decoder" DstPort 1 } Line { SrcBlock "vel2pos" SrcPort 1 DstBlock "posLocalRef_xyo" DstPort 1 } Line { SrcBlock "manual or\nautonomous" SrcPort 1 Points [10, 0] Branch { Points [0, -140] DstBlock "velLocalRef_xyodot" DstPort 1 } Branch { Labels [0, 0] DstBlock "vel2pos" DstPort 2 } } Line { SrcBlock "TRCbus" SrcPort 1 DstBlock "manual or\nautonomous" DstPort 3 } Line { SrcBlock "drift control" SrcPort 1 DstBlock "pos2vel" DstPort 1 } Line { SrcBlock "pos2vel" SrcPort 1 Points [15, 0; 0, -45] DstBlock "global to local" DstPort 1 } Line { SrcBlock "posGlobal_xyo" SrcPort 1 DstBlock "drift control" DstPort 3 } Line { Labels [0, 0] SrcBlock "posLocal_xyo" SrcPort 1 Points [540, 0] Branch { Points [515, 0] DstBlock "vel2pos" DstPort 3 } Branch { Points [0, -85] DstBlock "global to local" DstPort 2 } } Line { SrcBlock "Bus decoder" SrcPort 3 Points [30, 0; 0, 75] DstBlock "drift control" DstPort 2 } Line { SrcBlock "Bus decoder" SrcPort 2 Points [45, 0] Branch { Points [0, 50] DstBlock "drift control" DstPort 1 } Branch { Points [825, 0] DstBlock "vel2pos" DstPort 1 } } Line { SrcBlock "Bus decoder" SrcPort 1 Points [735, 0] DstBlock "manual or\nautonomous" DstPort 1 } Line { SrcBlock "limit vel/acc\ngoalkeeper" SrcPort 1 DstBlock "manual or\nautonomous" DstPort 2 } Line { SrcBlock "global to local" SrcPort 1 DstBlock "limit vel/acc\ngoalkeeper" DstPort 2 } Line { SrcBlock "Motion_tuning_bus" SrcPort 1 DstBlock "limit vel/acc\ngoalkeeper" DstPort 3 } Line { SrcBlock "TRCbus1" SrcPort 1 DstBlock "limit vel/acc\ngoalkeeper" DstPort 1 } } } Block { BlockType SubSystem Name "posLocal_xyo 2\nposGlobal_xyo" SID "242" Ports [1, 1] Position [595, 156, 730, 204] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "posLocal_xyo 2\nposGlobal_xyo" Location [761, 586, 1476, 930] 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 "posLocal_xyo" SID "243" Position [130, 143, 160, 157] IconDisplay "Port number" } Block { BlockType Demux Name "Demux" SID "244" Ports [1, 3] Position [185, 85, 190, 215] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" SID "245" Ports [3, 1] Position [610, 83, 615, 217] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType SubSystem Name "Subsystem4" SID "246" Ports [1, 1] Position [500, 88, 575, 122] BackgroundColor "yellow" ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem4" Location [983, 557, 1263, 662] 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 "x_g_dot" SID "247" Position [25, 38, 55, 52] IconDisplay "Port number" } Block { BlockType Gain Name "Gain4" SID "248" Position [80, 30, 110, 60] ShowName off Gain "Ts" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" SID "249" Ports [2, 1] Position [125, 35, 145, 55] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay1" SID "250" Position [150, 63, 185, 97] BlockMirror on SampleTime "-1" } Block { BlockType Outport Name "x_g" SID "251" Position [225, 38, 255, 52] IconDisplay "Port number" } Line { SrcBlock "x_g_dot" SrcPort 1 Points [0, 0] DstBlock "Gain4" DstPort 1 } Line { SrcBlock "Gain4" SrcPort 1 DstBlock "Sum4" DstPort 1 } Line { SrcBlock "Sum4" SrcPort 1 Points [55, 0] Branch { DstBlock "x_g" DstPort 1 } Branch { Points [0, 35] DstBlock "Unit Delay1" DstPort 1 } } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [-10, 0] DstBlock "Sum4" DstPort 2 } } } Block { BlockType SubSystem Name "Subsystem6" SID "252" Ports [1, 1] Position [500, 133, 575, 167] BackgroundColor "yellow" ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem6" Location [983, 557, 1263, 662] 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_g_dot" SID "253" Position [25, 38, 55, 52] IconDisplay "Port number" } Block { BlockType Gain Name "Gain4" SID "254" Position [80, 30, 110, 60] ShowName off Gain "Ts" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" SID "255" Ports [2, 1] Position [125, 35, 145, 55] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay1" SID "256" Position [155, 63, 190, 97] BlockMirror on SampleTime "-1" } Block { BlockType Outport Name "y_g" SID "257" Position [225, 38, 255, 52] IconDisplay "Port number" } Line { SrcBlock "Sum4" SrcPort 1 Points [55, 0] Branch { DstBlock "y_g" DstPort 1 } Branch { DstBlock "Unit Delay1" DstPort 1 } } Line { SrcBlock "Gain4" SrcPort 1 DstBlock "Sum4" DstPort 1 } Line { SrcBlock "y_g_dot" SrcPort 1 Points [0, 0] DstBlock "Gain4" DstPort 1 } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [-15, 0] DstBlock "Sum4" DstPort 2 } } } Block { BlockType SubSystem Name "differentiator" SID "258" Ports [1, 1] Position [220, 88, 290, 122] BackgroundColor "yellow" ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "differentiator" Location [5, 77, 1398, 994] 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 "x_l" SID "259" Position [355, 293, 385, 307] IconDisplay "Port number" } Block { BlockType Gain Name "Gain7" SID "260" Position [505, 285, 535, 315] ShowName off Gain "1/Ts" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum5" SID "261" Ports [2, 1] Position [460, 290, 480, 310] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay1" SID "262" Position [420, 323, 455, 357] SampleTime "-1" } Block { BlockType Outport Name "x_l_dot" SID "263" Position [820, 293, 850, 307] IconDisplay "Port number" } Line { SrcBlock "Sum5" SrcPort 1 DstBlock "Gain7" DstPort 1 } Line { SrcBlock "x_l" SrcPort 1 Points [0, 0; 15, 0] Branch { DstBlock "Sum5" DstPort 1 } Branch { DstBlock "Unit Delay1" DstPort 1 } } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [10, 0] DstBlock "Sum5" DstPort 2 } Line { SrcBlock "Gain7" SrcPort 1 DstBlock "x_l_dot" DstPort 1 } } } Block { BlockType SubSystem Name "differentiator1" SID "264" Ports [1, 1] Position [220, 133, 290, 167] BackgroundColor "yellow" ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "differentiator1" Location [5, 77, 1275, 770] 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_l" SID "265" Position [355, 293, 385, 307] IconDisplay "Port number" } Block { BlockType Gain Name "Gain7" SID "266" Position [505, 285, 535, 315] ShowName off Gain "1/Ts" Multiplication "Matrix(K*u)" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum5" SID "267" Ports [2, 1] Position [460, 290, 480, 310] ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay1" SID "268" Position [420, 323, 455, 357] SampleTime "-1" } Block { BlockType Outport Name "y_l_dot" SID "269" Position [820, 293, 850, 307] IconDisplay "Port number" } Line { SrcBlock "Gain7" SrcPort 1 DstBlock "y_l_dot" DstPort 1 } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [10, 0] DstBlock "Sum5" DstPort 2 } Line { SrcBlock "y_l" SrcPort 1 Points [0, 0; 15, 0] Branch { DstBlock "Unit Delay1" DstPort 1 } Branch { DstBlock "Sum5" DstPort 1 } } Line { SrcBlock "Sum5" SrcPort 1 DstBlock "Gain7" DstPort 1 } } } Block { BlockType SubSystem Name "l_to_g" SID "270" Ports [3, 3] Position [390, 85, 475, 215] BackgroundColor "magenta" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "l_to_g" Location [5, 77, 1147, 770] 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 "x_l_dot" SID "271" Position [25, 28, 55, 42] IconDisplay "Port number" } Block { BlockType Inport Name "y_l_dot" SID "272" Position [25, 78, 55, 92] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "phi_l" SID "273" Position [25, 218, 55, 232] Port "3" IconDisplay "Port number" } Block { BlockType Product Name "Product" SID "274" Ports [2, 1] Position [175, 27, 205, 58] InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product1" SID "275" Ports [2, 1] Position [175, 77, 205, 108] InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product2" SID "276" Ports [2, 1] Position [175, 127, 205, 158] InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product3" SID "277" Ports [2, 1] Position [175, 177, 205, 208] InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum3" SID "278" Ports [2, 1] Position [220, 60, 240, 80] ShowName off IconShape "round" Inputs "+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" SID "279" Ports [2, 1] Position [220, 160, 240, 180] ShowName off IconShape "round" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Trigonometry Name "Trigonometric\nFunction" SID "280" Ports [1, 1] Position [95, 270, 125, 300] } Block { BlockType Trigonometry Name "Trigonometric\nFunction1" SID "281" Ports [1, 1] Position [95, 210, 125, 240] Operator "cos" } Block { BlockType Outport Name "x_g_dot" SID "282" Position [265, 63, 295, 77] IconDisplay "Port number" } Block { BlockType Outport Name "y_g_dot" SID "283" Position [265, 163, 295, 177] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "phi_g" SID "284" Position [260, 328, 290, 342] Port "3" IconDisplay "Port number" } Line { SrcBlock "phi_l" SrcPort 1 Points [0, 0; 15, 0] Branch { DstBlock "Trigonometric\nFunction1" DstPort 1 } Branch { Points [0, 60] Branch { DstBlock "Trigonometric\nFunction" DstPort 1 } Branch { Points [0, 50] DstBlock "phi_g" DstPort 1 } } } Line { SrcBlock "x_l_dot" SrcPort 1 Points [0, 0; 60, 0] Branch { DstBlock "Product" DstPort 1 } Branch { Points [0, 100] DstBlock "Product2" DstPort 1 } } Line { SrcBlock "Trigonometric\nFunction1" SrcPort 1 Points [5, 0; 0, -25] Branch { Points [0, -150] DstBlock "Product" DstPort 2 } Branch { DstBlock "Product3" DstPort 2 } } Line { SrcBlock "Trigonometric\nFunction" SrcPort 1 Points [20, 0; 0, -135] Branch { Points [0, -50] DstBlock "Product1" DstPort 2 } Branch { DstBlock "Product2" DstPort 2 } } Line { SrcBlock "Product" SrcPort 1 DstBlock "Sum3" DstPort 1 } Line { SrcBlock "Product1" SrcPort 1 DstBlock "Sum3" DstPort 2 } Line { SrcBlock "Product2" SrcPort 1 DstBlock "Sum4" DstPort 1 } Line { SrcBlock "Product3" SrcPort 1 DstBlock "Sum4" DstPort 2 } Line { SrcBlock "y_l_dot" SrcPort 1 Points [0, 0; 45, 0] Branch { DstBlock "Product1" DstPort 1 } Branch { Points [0, 100] DstBlock "Product3" DstPort 1 } } Line { SrcBlock "Sum3" SrcPort 1 Points [0, 0] DstBlock "x_g_dot" DstPort 1 } Line { SrcBlock "Sum4" SrcPort 1 Points [0, 0] DstBlock "y_g_dot" DstPort 1 } } } Block { BlockType Outport Name "posGlobal_xyo" SID "285" Position [640, 143, 670, 157] IconDisplay "Port number" } Line { SrcBlock "Subsystem4" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "Subsystem6" SrcPort 1 DstBlock "Mux1" DstPort 2 } Line { SrcBlock "l_to_g" SrcPort 1 DstBlock "Subsystem4" DstPort 1 } Line { SrcBlock "l_to_g" SrcPort 2 DstBlock "Subsystem6" DstPort 1 } Line { SrcBlock "differentiator" SrcPort 1 DstBlock "l_to_g" DstPort 1 } Line { SrcBlock "differentiator1" SrcPort 1 DstBlock "l_to_g" DstPort 2 } Line { SrcBlock "l_to_g" SrcPort 3 DstBlock "Mux1" DstPort 3 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "posGlobal_xyo" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "differentiator" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "differentiator1" DstPort 1 } Line { SrcBlock "Demux" SrcPort 3 DstBlock "l_to_g" DstPort 3 } Line { SrcBlock "posLocal_xyo" SrcPort 1 DstBlock "Demux" DstPort 1 } } } Block { BlockType Outport Name "motionbus" SID "286" Position [985, 128, 1015, 142] BackgroundColor "darkGreen" IconDisplay "Port number" } Line { SrcBlock "decoupled robot" SrcPort 1 Points [10, 0; 0, -70] Branch { DstBlock "posLocal_xyo 2\nposGlobal_xyo" DstPort 1 } Branch { Points [0, -110; -385, 0; 0, 40] DstBlock "posGlobalRef_xyo 2\nvelLocalRef_dxdydo" DstPort 1 } } Line { SrcBlock "posGlobalRef_xyo 2\nvelLocalRef_dxdydo" SrcPort 2 DstBlock "decoupled robot" DstPort 1 } Line { SrcBlock "posLocal_xyo 2\nposGlobal_xyo" SrcPort 1 Points [0, 0] Branch { DstBlock "Bus assigner" DstPort 3 } Branch { Points [0, -120; -560, 0; 0, 80] DstBlock "posGlobalRef_xyo 2\nvelLocalRef_dxdydo" DstPort 2 } } Line { SrcBlock "TRCbus" SrcPort 1 Points [25, 0] Branch { DstBlock "decoupled robot" DstPort 3 } Branch { Points [0, -120] DstBlock "posGlobalRef_xyo 2\nvelLocalRef_dxdydo" DstPort 5 } } Line { SrcBlock "controlbus" SrcPort 1 Points [15, 0] Branch { DstBlock "decoupled robot" DstPort 2 } Branch { Points [0, -80] DstBlock "posGlobalRef_xyo 2\nvelLocalRef_dxdydo" DstPort 4 } } Line { SrcBlock "decoupled robot" SrcPort 2 Points [205, 0; 0, -295] DstBlock "Bus assigner" DstPort 1 } Line { SrcBlock "Bus assigner" SrcPort 1 DstBlock "motionbus" DstPort 1 } Line { SrcBlock "Memory2" SrcPort 1 DstBlock "Bus assigner" DstPort 2 } Line { SrcBlock "posGlobalRef_xyo 2\nvelLocalRef_dxdydo" SrcPort 1 DstBlock "Memory2" DstPort 1 } Line { SrcBlock "Motion_tuning_bus" SrcPort 1 Points [15, 0] Branch { DstBlock "posGlobalRef_xyo 2\nvelLocalRef_dxdydo" DstPort 3 } Branch { Points [0, 250] DstBlock "decoupled robot" DstPort 4 } } } } Block { BlockType SubSystem Name "strategy & control" SID "287" Ports [1, 3, 1] Position [125, 88, 315, 322] BackgroundColor "lightBlue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "strategy & control" Location [221, 157, 1451, 921] 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 "motionbus" SID "288" Position [15, 73, 45, 87] ForegroundColor "green" IconDisplay "Port number" } Block { BlockType EnablePort Name "Enable" SID "289" Ports [] Position [1020, 55, 1040, 75] } Block { BlockType SubSystem Name "LaserRangeFinders" SID "290" Ports [2, 1] Position [105, 526, 230, 624] BackgroundColor "black" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "LaserRangeFinders" Location [450, 152, 1135, 494] 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 "visionbus" SID "291" Position [95, 228, 125, 242] ForegroundColor "yellow" IconDisplay "Port number" } Block { BlockType Inport Name "sensorfusionbus" SID "292" Position [95, 273, 125, 287] ForegroundColor "[0.710000, 0.820000, 0.120000]" Port "2" IconDisplay "Port number" } Block { BlockType S-Function Name " LRF selector" SID "293" Ports [0, 4] Position [15, 13, 80, 217] BackgroundColor "yellow" FunctionName "LRF_select" EnableBusSupport off MaskDisplay "port_label('output',1,'Back enable')\nport_label('output',2,'Back usb id')\nport_label('outp" "ut',3,'Field enable')\nport_label('output',4,'Field usb id')\n" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType S-Function Name "Bus assigner" SID "294" Ports [6, 1] Position [400, 92, 595, 303] BackgroundColor "cyan" FunctionName "sf_bus_assign" Parameters "sizes,offsets,portwidth,types,bus_is_in,bus_size" EnableBusSupport off MaskType "Assign variables in bus." MaskDescription "Bus assigner to assign values to variables in a bus. \nThis block can overwrite values i" "n an existing bus as well as \ncreate a bus and write values to certain parameters. Busses \ncan be editted and" " created using the busmanager. Note that \ndeleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |Bus is input |ball_top_lrf|ball_top_lrf_f|pose_lrf|pose_lrf_f|ball_ground_" "lrf|lrf_on|cpb_lrf|obst_lrf||LEDBlue|LEDAmber|keeperFrame_ulr|" "SHTControl|SHTDutyCycle|clampBall|va_max|CPBrobot|emergencyStatus|shootLeverState|rs485ControlCh1|rs485ControlC" "h2|0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |x |" "0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |" "0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'cur_xyo[3]');\nport_label('input',1,'sensorfusionbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "sensorfusionbus|off|off|off|off|off|off|on|off|off|off|off|off|off|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|sensorfusionbus|1,2,3," "4,5,6,7,8,9,10,11,|7," } Block { BlockType S-Function Name "Bus decoder1" SID "337" Ports [1, 2] Position [85, 61, 290, 139] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using the bu" "smanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |pose_xyo_ov|pose_ov_found|ball_xyz_ov|ball_confidence_ov|ball_found_ov|ov_lob_det" "ected|obs_xy_xydot_r_for_strategy|image_time_ov|l2g_vision_time|ball_xyz_vxvyvz_est|obs_worldmodel_local_xyr|t_VL|" "shoot_lever_encoder|SHTstatus|SHTValue|PWMmeasurement|startBackupSoftwareSwitch|rs485ResultCh1|rs485ResultCh2|0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |x |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;bus_is_in=@2;var_name01=&3;var_name02=&4;var_name03=&5;var_name04=&6;var_name05=&7;v" "ar_name06=&8;var_name07=&9;var_name08=&10;var_name09=&11;var_name10=&12;var_name11=&13;var_name12=&14;var_name13=&" "15;var_name14=&16;var_name15=&17;var_name16=&18;var_name17=&19;var_name18=&20;var_name19=&21;var_name20=&22;var_na" "me21=&23;var_name22=&24;var_name23=&25;var_name24=&26;var_name25=&27;var_name26=&28;var_name27=&29;var_name28=&30;" "var_name29=&31;var_name30=&32;var_name31=&33;var_name32=&34;var_name33=&35;var_name34=&36;var_name35=&37;var_name3" "6=&38;var_name37=&39;var_name38=&40;var_name39=&41;var_name40=&42;var_name41=&43;var_name42=&44;var_name43=&45;var" "_name44=&46;var_name45=&47;var_name46=&48;var_name47=&49;var_name48=&50;var_name49=&51;var_name50=&52;var_name51=&" "53;var_name52=&54;var_name53=&55;var_name54=&56;var_name55=&57;var_name56=&58;var_name57=&59;var_name58=&60;var_na" "me59=&61;var_name60=&62;var_name61=&63;var_name62=&64;var_name63=&65;var_name64=&66;var_name65=&67;var_name66=&68;" "var_name67=&69;var_name68=&70;var_name69=&71;var_name70=&72;var_name71=&73;var_name72=&74;var_name73=&75;var_name7" "4=&76;var_name75=&77;var_name76=&78;var_name77=&79;var_name78=&80;var_name79=&81;var_name80=&82;var_name81=&83;var" "_name82=&84;var_name83=&85;var_name84=&86;var_name85=&87;var_name86=&88;var_name87=&89;var_name88=&90;var_name89=&" "91;var_name90=&92;var_name91=&93;var_name92=&94;var_name93=&95;var_name94=&96;var_name95=&97;var_name96=&98;var_na" "me97=&99;var_name98=&100;var_name99=&101;var_name100=&102;selected_bus=&103;var_ids=&104;checked_var_ids=&105;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_assign('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "|||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_assign('init');\n" MaskSelfModifiable on MaskDisplay "port_label('input',1,'desiredVelocityStrategy');\nport_label('input',2,'aimTarget_xy[2]');\nport_l" "abel('input',3,'actionHandlerReturnValue[3]');\nport_label('input',4,'skillId');\nport_label('input',5,'kickEffort" "');\nport_label('input',6,'controlEnable');\nport_label('input',7,'emergencyStatus');\nport_label('input',8,'targe" "t_xyo[3]');\nport_label('input',9,'waypointReached');\nport_label('input',10,'scrum');\nport_label('input',11,'sub" "target_xy[2]');\nport_label('input',12,'subsubtarget_xy[2]');\nport_label('input',13,'desiredAccelerationStrategy'" ");\nport_label('input',14,'CPPArobot');\nport_label('input',15,'addedObstacles[3*NOBST_TEAMMEMBERS_MAX*(MAX_ACTIVE" "_TURTLES-1)]');\nport_label('output',1,'actionsbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "actionsbus|off|on|on|on|on|on|on|on|on|on|on|on|on|on|on|on|off|off|off|off|off|off|off|off|off" "|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off" "|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|actionsbus|1,2,3,5,6,7,8,9,10,11,12,1" "3,14,15,16,|1,2,3,5,13,6,7,8,9,10,11,12,14,15,16," } Block { BlockType From Name "From1" SID "426" Position [65, 81, 180, 99] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "aimTarget_xy" TagVisibility "global" } Block { BlockType From Name "From10" SID "427" Position [65, 306, 180, 324] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "subtarget_xy" TagVisibility "global" } Block { BlockType From Name "From11" SID "428" Position [65, 331, 180, 349] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "subsubtarget_xy" TagVisibility "global" } Block { BlockType From Name "From12" SID "429" Position [65, 356, 180, 374] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "desiredAccelerationStrategy" TagVisibility "global" } Block { BlockType From Name "From13" SID "430" Position [65, 381, 180, 399] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "CPPArobot" TagVisibility "global" } Block { BlockType From Name "From14" SID "431" Position [65, 406, 180, 424] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "addedObstacles" TagVisibility "global" } Block { BlockType From Name "From2" SID "432" Position [65, 106, 180, 124] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "actionHandlerReturnValue" TagVisibility "global" } Block { BlockType From Name "From3" SID "433" Position [65, 131, 180, 149] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "skillId" TagVisibility "global" } Block { BlockType From Name "From30" SID "434" Position [65, 56, 180, 74] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "desiredVelocityStrategy" TagVisibility "global" } Block { BlockType From Name "From4" SID "435" Position [65, 156, 180, 174] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "kickEffort" TagVisibility "global" } Block { BlockType From Name "From5" SID "436" Position [65, 181, 180, 199] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "controlEnable" TagVisibility "global" } Block { BlockType From Name "From6" SID "437" Position [65, 231, 180, 249] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "target_xyo" TagVisibility "global" } Block { BlockType From Name "From7" SID "438" Position [65, 256, 180, 274] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "waypointReached" TagVisibility "global" } Block { BlockType From Name "From8" SID "439" Position [65, 281, 180, 299] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "scrum" TagVisibility "global" } Block { BlockType From Name "From9" SID "440" Position [65, 206, 180, 224] BackgroundColor "[0.700000, 0.500000, 0.000000]" ShowName off CloseFcn "tagdialog Close" GotoTag "emergencyStatus" TagVisibility "global" } Block { BlockType Outport Name "actionsbus" SID "441" Position [410, 228, 440, 242] IconDisplay "Port number" } Line { SrcBlock "Bus assigner" SrcPort 1 Points [0, -5] DstBlock "actionsbus" DstPort 1 } Line { SrcBlock "From30" SrcPort 1 DstBlock "Bus assigner" DstPort 1 } Line { SrcBlock "From1" SrcPort 1 DstBlock "Bus assigner" DstPort 2 } Line { SrcBlock "From2" SrcPort 1 DstBlock "Bus assigner" DstPort 3 } Line { SrcBlock "From3" SrcPort 1 DstBlock "Bus assigner" DstPort 4 } Line { SrcBlock "From4" SrcPort 1 DstBlock "Bus assigner" DstPort 5 } Line { SrcBlock "From5" SrcPort 1 DstBlock "Bus assigner" DstPort 6 } Line { SrcBlock "From9" SrcPort 1 DstBlock "Bus assigner" DstPort 7 } Line { SrcBlock "From6" SrcPort 1 DstBlock "Bus assigner" DstPort 8 } Line { SrcBlock "From7" SrcPort 1 DstBlock "Bus assigner" DstPort 9 } Line { SrcBlock "From8" SrcPort 1 DstBlock "Bus assigner" DstPort 10 } Line { SrcBlock "From10" SrcPort 1 DstBlock "Bus assigner" DstPort 11 } Line { SrcBlock "From11" SrcPort 1 DstBlock "Bus assigner" DstPort 12 } Line { SrcBlock "From12" SrcPort 1 DstBlock "Bus assigner" DstPort 13 } Line { SrcBlock "From13" SrcPort 1 DstBlock "Bus assigner" DstPort 14 } Line { SrcBlock "From14" SrcPort 1 DstBlock "Bus assigner" DstPort 15 } } } Block { BlockType S-Function Name "emergency handler" SID "442" Ports [4, 3] Position [665, 83, 815, 197] BackgroundColor "red" FunctionName "emergency_handler" EnableBusSupport off MaskDisplay "port_label('input',1,'motionbus');\nport_label('input',2,'target_xyo');\nport_label('input'," "3,'sensorfusionbus');\nport_label('input',4,'strategybus');\n\nport_label('output',1,'control enable');\nport_l" "abel('output',2,'target_xyo');\nport_label('output',3,'emergency status');" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType S-Function Name "subtargetplanner" SID "443" Ports [10, 4] Position [665, 386, 815, 594] FunctionName "determinesubtarget" EnableBusSupport off MaskDisplay "port_label('input',1,'subtarget_xy');\nport_label('input',2,'skill ID');\nport_label('input'" ",3,'obstaclesFromStrategy');\nport_label('input',4,'sensorfusionbus');\nport_label('input',5,'controlbus');\npo" "rt_label('input',6,'strategybus');\nport_label('input',7,'TRCbus');\nport_label('input',8,'teambus');\nport_lab" "el('input',9,'AHparStruct');\nport_label('input',10,'strategyTuningbus');\n\nport_label('output',1,'subtarget_g" "lobal_xy');\nport_label('output',2,'scrumFlag');\nport_label('output',3,'addedObstacles');\nport_label('output'" ",4,'subsubtarget');" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType S-Function Name "waypoint_handler" SID "444" Ports [5, 2] Position [665, 228, 815, 352] FunctionName "waypoint_handler" EnableBusSupport off MaskDisplay "port_label('input', 1, 'target_xyo')\nport_label('input', 2, 'skill ID')\nport_label('input'" ", 3, 'sensorfusionbus')\nport_label('input', 4, 'controlbus')\nport_label('input', 5, 'strategybus')\n\nport_la" "bel('output', 1, 'waypoint reached')\nport_label('output', 2, 'next waypoint')\n" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType Outport Name "actionsbus" SID "445" Position [980, 318, 1010, 332] IconDisplay "Port number" } Line { SrcBlock "waypoint_handler" SrcPort 2 Points [25, 0; 0, 55; -195, 0] DstBlock "subtargetplanner" DstPort 1 } Line { SrcBlock "motionbus" SrcPort 1 Points [80, 0] Branch { Points [0, 150] DstBlock "Action handler" DstPort 5 } Branch { DstBlock "emergency handler" DstPort 1 } } Line { SrcBlock "teambus" SrcPort 1 Points [90, 0] Branch { Points [0, -385] DstBlock "Action handler" DstPort 2 } Branch { DstBlock "subtargetplanner" DstPort 8 } } Line { SrcBlock "Strategy_tuning_bus" SrcPort 1 Points [70, 0] Branch { DstBlock "Action handler" DstPort 3 } Branch { Points [0, 395] DstBlock "subtargetplanner" DstPort 10 } } Line { SrcBlock "waypoint_handler" SrcPort 1 DstBlock "Goto9" DstPort 1 } Line { SrcBlock "create actionsbus" SrcPort 1 DstBlock "actionsbus" DstPort 1 } Line { SrcBlock "Action handler" SrcPort 2 DstBlock "Terminator3" DstPort 1 } Line { SrcBlock "Action handler" SrcPort 3 DstBlock "Goto3" DstPort 1 } Line { SrcBlock "Action handler" SrcPort 4 DstBlock "Goto1" DstPort 1 } Line { SrcBlock "Action handler" SrcPort 5 Points [10, 0] Branch { DstBlock "Goto4" DstPort 1 } Branch { Points [0, 20; 0, 0] Branch { Points [0, 155] DstBlock "subtargetplanner" DstPort 2 } Branch { DstBlock "waypoint_handler" DstPort 2 } } } Line { SrcBlock "Action handler" SrcPort 7 DstBlock "Goto2" DstPort 1 } Line { SrcBlock "Action handler" SrcPort 8 DstBlock "Goto5" DstPort 1 } Line { SrcBlock "Action handler" SrcPort 9 DstBlock "Goto13" DstPort 1 } Line { SrcBlock "Action handler" SrcPort 10 DstBlock "Goto14" DstPort 1 } Line { SrcBlock "Action handler" SrcPort 1 DstBlock "emergency handler" DstPort 2 } Line { SrcBlock "From1" SrcPort 1 DstBlock "Action handler" DstPort 10 } Line { SrcBlock "sensorfusionbus" SrcPort 1 Points [75, 0] Branch { DstBlock "Action handler" DstPort 1 } Branch { Points [0, 335; 400, 0] Branch { DstBlock "subtargetplanner" DstPort 4 } Branch { Points [0, -170] Branch { DstBlock "waypoint_handler" DstPort 3 } Branch { Points [0, -135] DstBlock "emergency handler" DstPort 3 } } } } Line { SrcBlock "motion_tuning_bus" SrcPort 1 DstBlock "Action handler" DstPort 4 } Line { SrcBlock "strategybus" SrcPort 1 Points [85, 0] Branch { Points [0, 165; 400, 0] Branch { DstBlock "subtargetplanner" DstPort 6 } Branch { Points [0, -160] Branch { DstBlock "waypoint_handler" DstPort 5 } Branch { Points [0, -155] DstBlock "emergency handler" DstPort 4 } } } Branch { DstBlock "Action handler" DstPort 8 } } Line { SrcBlock "parstructbus" SrcPort 1 Points [95, 0] Branch { DstBlock "Action handler" DstPort 9 } Branch { Points [0, 195] DstBlock "subtargetplanner" DstPort 9 } } Line { SrcBlock "Action handler" SrcPort 6 Points [5, 0; 0, 165] DstBlock "subtargetplanner" DstPort 3 } Line { SrcBlock "control bus" SrcPort 1 Points [80, 0] Branch { Points [0, -205] DstBlock "Action handler" DstPort 6 } Branch { Points [400, 0] Branch { DstBlock "subtargetplanner" DstPort 5 } Branch { Points [0, -165] DstBlock "waypoint_handler" DstPort 4 } } } Line { SrcBlock "TRCbus" SrcPort 1 Points [65, 0] Branch { DstBlock "Action handler" DstPort 7 } Branch { Points [0, 215] DstBlock "subtargetplanner" DstPort 7 } } Line { SrcBlock "subtargetplanner" SrcPort 2 DstBlock "Goto10" DstPort 1 } Line { SrcBlock "subtargetplanner" SrcPort 3 DstBlock "Goto15" DstPort 1 } Line { SrcBlock "emergency handler" SrcPort 1 DstBlock "Goto6" DstPort 1 } Line { SrcBlock "emergency handler" SrcPort 2 Points [20, 0] Branch { DstBlock "Goto8" DstPort 1 } Branch { Points [0, 80; -190, 0] DstBlock "waypoint_handler" DstPort 1 } } Line { SrcBlock "emergency handler" SrcPort 3 DstBlock "Goto7" DstPort 1 } Line { SrcBlock "subtargetplanner" SrcPort 1 DstBlock "Goto11" DstPort 1 } Line { SrcBlock "subtargetplanner" SrcPort 4 DstBlock "Goto12" DstPort 1 } } } Block { BlockType S-Function Name "comm output + vision input" SID "446" Ports [7, 1] Position [105, 94, 230, 206] BackgroundColor "green" FunctionName "mccomm_motion" EnableBusSupport off MaskDisplay "port_label('input',1,'motionbus');\nport_label('input',2,'actionsbus');\nport_label('input',3,'TRCb" "us');\nport_label('input',4,'controlbus');\nport_label('input',5,'sensorfusionbus');\nport_label('input',6,'strateg" "ybus');\nport_label('input',7,'teambus');\n\nport_label('output',1,'visionbus');" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType SubSystem Name "control" SID "447" Ports [7, 1] Position [985, 456, 1110, 644] BackgroundColor "gray" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "control" Location [191, 92, 1236, 912] 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 "motionbus" SID "448" Position [70, 268, 100, 282] ForegroundColor "green" IconDisplay "Port number" } Block { BlockType Inport Name "TRCbus" SID "449" Position [70, 658, 100, 672] ForegroundColor "lightBlue" Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "Motion_tuning_bus" SID "450" Position [70, 398, 100, 412] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "visionbus" SID "451" Position [70, 608, 100, 622] ForegroundColor "yellow" Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "actionsbus" SID "452" Position [70, 503, 100, 517] ForegroundColor "[0.700000, 0.500000, 0.000000]" Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "RS485_422_CH1" SID "453" Position [65, 693, 95, 707] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "strategybus" SID "454" Position [70, 533, 100, 547] ForegroundColor "orange" Port "7" IconDisplay "Port number" } Block { BlockType Constant Name "Constant3" SID "455" Position [280, 685, 310, 715] NamePlacement "alternate" ShowName off Value "zeros(23,1)" OutDataTypeStr "int8" SampleTime "0" } Block { BlockType SubSystem Name "Dxl control Keeper" SID "456" Ports [1, 1] Position [640, 698, 775, 732] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Dxl control Keeper" Location [277, 123, 988, 355] 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 "Motionbus" SID "457" Position [30, 138, 60, 152] IconDisplay "Port number" } Block { BlockType Sum Name "Add" SID "458" Ports [2, 1] Position [165, 37, 195, 68] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType S-Function Name "Bus decoder" SID "459" Ports [1, 1] Position [85, 129, 235, 161] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using the bu" "smanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |position_global_xyo|robot_active|position_local_xyo|tacho_left|tacho_right|arm_le" "ft|arm_right|battery_voltage|motor_temperatures|panic_and_reset_switches|local_y_velocity|shoot_lever_encoder|SHTs" "tatus|SHTValue|PWMmeasurement|velLocalRef_dxdydo|startBackupSoftwareSwitch|rs485ResultCh1|rs485ResultCh2|CAM1Statu" "s|Status|Counter|CAM1posX|0 |0 |0 " " |0 |0 |0 |0 " " |x |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'robot_active');\nport_label('input',1,'motionbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "motionbus|off|on|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|motionbus|2,3,4,5,6,7,8,9,11" ",13,14,15,16,17,18,22,20,23,24,25,26,27,28,|3," } Block { BlockType S-Function Name "Bus decoder1" SID "502" Ports [1, 2] Position [120, 287, 240, 323] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using the bu" "smanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |turtleID|teamColor|blueIsHome|roleIDs|refboxRoleIDs|refboxTask|refboxTaskTrigger|" "destination_xyo|roleAssignerMode|penaltyDemoMode|notBallHandlingDemo|joystick_v_xyo|joystickSkillID|joystickKickEf" "fort|joystickOnOff|position_local_xyo|e4ffsd|0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |" "0 |0 |0 |0 " " |x |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |" "0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'controlEnable');\nport_label('input',1,'actionsbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "actionsbus|off|off|off|off|on|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off" "|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|actionsbus|1,2,3,5,6,7,8,9," "10,11,12,13,14,15,16,|6," } Block { BlockType Reference Name "Compare\nTo Constant1" SID "504" Ports [1, 1] Position [875, 601, 925, 629] ShowName off 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" LogicOutDataTypeMode "uint8" ZeroCross "off" } Block { BlockType Reference Name "Compare\nTo Constant2" SID "505" Ports [1, 1] Position [340, 281, 390, 309] ShowName off 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 "1" LogicOutDataTypeMode "uint8" ZeroCross "off" } Block { BlockType Reference Name "Compare\nTo Constant3" SID "506" Ports [1, 1] Position [340, 331, 390, 359] ShowName off 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 "get_global_par('ROLE_GOALKEEPER')" LogicOutDataTypeMode "uint8" ZeroCross "off" } Block { BlockType Constant Name "Constant1" SID "507" Position [815, 525, 845, 555] ShowName off Value "[0 0]" } Block { BlockType Constant Name "Constant2" SID "508" Position [1150, 560, 1210, 590] ShowName off Value "LEDS_on" } Block { BlockType Constant Name "Constant3" SID "509" Position [1165, 450, 1195, 480] ShowName off Value "0" } Block { BlockType DataTypeConversion Name "Data Type Conversion" SID "510" Position [1175, 392, 1210, 428] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion2" SID "511" Position [275, 279, 325, 311] ShowName off OutDataTypeStr "int16" RndMeth "Nearest" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion3" SID "512" Position [275, 329, 325, 361] ShowName off OutDataTypeStr "int16" RndMeth "Nearest" SaturateOnIntegerOverflow off } Block { BlockType Demux Name "Demux" SID "513" Ports [1, 2] Position [1085, 382, 1090, 453] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Demux Name "Demux1" SID "514" Ports [1, 3] Position [220, 110, 225, 200] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" Port { PortNumber 1 Name "up" PropagatedSignals "frame up" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "left" PropagatedSignals "frame left" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "right" PropagatedSignals "frame right" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType From Name "From5" SID "515" Position [125, 401, 240, 419] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "current_role" TagVisibility "global" } Block { BlockType Ground Name "Ground" SID "516" Position [890, 340, 910, 360] } Block { BlockType SubSystem Name "Keeper action active" SID "517" Ports [0, 1] Position [275, 208, 445, 252] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Keeper action active" Location [433, 403, 931, 703] 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 Constant Name "Constant" SID "518" Position [155, 75, 185, 105] ShowName off Value "0" } Block { BlockType Constant Name "Constant1" SID "519" Position [155, 30, 185, 60] ShowName off } Block { BlockType Mux Name "Mux" SID "520" Ports [2, 1] Position [300, 22, 305, 113] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Outport Name "blue" SID "521" Position [360, 63, 390, 77] IconDisplay "Port number" } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "blue" DstPort 1 } } } Block { BlockType Logic Name "Logical\nOperator" SID "522" Ports [2, 1] Position [1125, 392, 1155, 423] ShowName off Operator "OR" AllPortsSameDT off OutDataTypeStr "boolean" } Block { BlockType Logic Name "Logical\nOperator1" SID "523" Ports [2, 1] Position [410, 271, 445, 369] ShowName off Operator "OR" AllPortsSameDT off OutDataTypeStr "boolean" } Block { BlockType Logic Name "Logical\nOperator2" SID "524" Ports [3, 1] Position [410, 106, 445, 204] ShowName off Operator "OR" Inputs "3" AllPortsSameDT off OutDataTypeStr "boolean" } Block { BlockType Logic Name "Logical\nOperator3" SID "525" Ports [2, 1] Position [960, 564, 985, 631] ShowName off AllPortsSameDT off OutDataTypeStr "boolean" } Block { BlockType MultiPortSwitch Name "Multiport\nSwitch" SID "526" Ports [9, 1] Position [485, 395, 530, 585] Inputs "8" zeroidx off InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType MultiPortSwitch Name "Multiport\nSwitch1" SID "527" Ports [3, 1] Position [485, 40, 530, 270] Inputs "2" zeroidx off InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "No keeper action active" SID "528" Ports [0, 1] Position [275, 58, 445, 102] NamePlacement "alternate" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "No keeper action active" Location [433, 403, 931, 703] 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 Constant Name "Constant" SID "529" Position [155, 30, 185, 60] ShowName off Value "0" } Block { BlockType Constant Name "Constant1" SID "530" Position [155, 75, 185, 105] ShowName off Value "0" } Block { BlockType Mux Name "Mux" SID "531" Ports [2, 1] Position [300, 22, 305, 113] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Outport Name "black" SID "532" Position [360, 63, 390, 77] IconDisplay "Port number" } Line { SrcBlock "Mux" SrcPort 1 DstBlock "black" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Mux" DstPort 2 } } } Block { BlockType SubSystem Name "Subsystem1" SID "533" Ports [0, 1] Position [275, 540, 445, 560] ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem1" Location [433, 403, 931, 703] 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 Constant Name "Constant" SID "534" Position [155, 30, 185, 60] ShowName off Value "0" } Block { BlockType Constant Name "Constant1" SID "535" Position [155, 75, 185, 105] ShowName off Value "0" } Block { BlockType Mux Name "Mux" SID "536" Ports [2, 1] Position [300, 22, 305, 113] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Outport Name "black" SID "537" Position [360, 63, 390, 77] IconDisplay "Port number" } Line { SrcBlock "Mux" SrcPort 1 DstBlock "black" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Mux" DstPort 2 } } } Block { BlockType SubSystem Name "Subsystem10" SID "538" Ports [0, 1] Position [275, 420, 445, 440] ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem10" Location [433, 403, 931, 703] 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 Constant Name "Constant" SID "539" Position [155, 75, 185, 105] ShowName off Value "0" } Block { BlockType Constant Name "Constant1" SID "540" Position [155, 30, 185, 60] ShowName off } Block { BlockType Mux Name "Mux" SID "541" Ports [2, 1] Position [300, 22, 305, 113] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Outport Name "continuous blue" SID "542" Position [360, 63, 390, 77] IconDisplay "Port number" } Line { SrcBlock "Mux" SrcPort 1 DstBlock "continuous blue" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Mux" DstPort 2 } } } Block { BlockType SubSystem Name "Subsystem11" SID "543" Ports [0, 1] Position [275, 440, 445, 460] ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem11" Location [103, 457, 601, 757] 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 Constant Name "Constant" SID "544" Position [155, 75, 185, 105] ShowName off Value "0" } Block { BlockType Mux Name "Mux" SID "545" Ports [2, 1] Position [300, 22, 305, 113] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType DiscretePulseGenerator Name "Pulse\nGenerator1" SID "546" Ports [0, 1] Position [155, 28, 200, 62] ShowName off PulseType "Time based" Period "1" PulseWidth "50" } Block { BlockType Outport Name "fast blinking blue" SID "547" Position [380, 63, 410, 77] IconDisplay "Port number" } Line { SrcBlock "Mux" SrcPort 1 DstBlock "fast blinking blue" DstPort 1 } Line { SrcBlock "Pulse\nGenerator1" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Mux" DstPort 2 } } } Block { BlockType SubSystem Name "Subsystem2" SID "548" Ports [0, 1] Position [275, 560, 445, 580] ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem2" Location [433, 403, 931, 703] 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 Constant Name "Constant" SID "549" Position [155, 30, 185, 60] ShowName off Value "0" } Block { BlockType Constant Name "Constant1" SID "550" Position [155, 75, 185, 105] ShowName off Value "0" } Block { BlockType Mux Name "Mux" SID "551" Ports [2, 1] Position [300, 22, 305, 113] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Outport Name "black" SID "552" Position [360, 63, 390, 77] IconDisplay "Port number" } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "black" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem3" SID "553" Ports [0, 1] Position [810, 357, 885, 383] ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem3" Location [433, 403, 931, 703] 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 Constant Name "Constant" SID "554" Position [155, 75, 185, 105] ShowName off } Block { BlockType Constant Name "Constant1" SID "555" Position [155, 30, 185, 60] ShowName off Value "0" } Block { BlockType Mux Name "Mux" SID "556" Ports [2, 1] Position [300, 22, 305, 113] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Outport Name "continuous amber" SID "557" Position [360, 63, 390, 77] IconDisplay "Port number" } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "continuous amber" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem4" SID "558" Ports [0, 1] Position [275, 520, 445, 540] ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem4" Location [433, 403, 931, 703] 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 Constant Name "Constant" SID "559" Position [155, 30, 185, 60] ShowName off Value "0" } Block { BlockType Constant Name "Constant1" SID "560" Position [155, 75, 185, 105] ShowName off Value "0" } Block { BlockType Mux Name "Mux" SID "561" Ports [2, 1] Position [300, 22, 305, 113] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Outport Name "black" SID "562" Position [360, 63, 390, 77] IconDisplay "Port number" } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "black" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem5" SID "563" Ports [0, 1] Position [810, 317, 885, 343] ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem5" Location [433, 403, 931, 703] 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 Constant Name "Constant" SID "564" Position [155, 75, 185, 105] ShowName off Value "0" } Block { BlockType Constant Name "Constant1" SID "565" Position [155, 30, 185, 60] ShowName off } Block { BlockType Mux Name "Mux" SID "566" Ports [2, 1] Position [300, 22, 305, 113] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Outport Name "continuous blue" SID "567" Position [360, 63, 390, 77] IconDisplay "Port number" } Line { SrcBlock "Mux" SrcPort 1 DstBlock "continuous blue" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Mux" DstPort 2 } } } Block { BlockType SubSystem Name "Subsystem8" SID "568" Ports [0, 1] Position [275, 460, 445, 480] ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem8" Location [433, 403, 931, 703] 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 Constant Name "Constant" SID "569" Position [155, 75, 185, 105] ShowName off Value "0" } Block { BlockType Mux Name "Mux" SID "570" Ports [2, 1] Position [300, 22, 305, 113] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType DiscretePulseGenerator Name "Pulse\nGenerator" SID "571" Ports [0, 1] Position [155, 28, 200, 62] ShowName off PulseType "Time based" Period "3" PulseWidth "50" } Block { BlockType Outport Name "slow blinking blue" SID "572" Position [360, 63, 390, 77] IconDisplay "Port number" } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "Pulse\nGenerator" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "slow blinking blue" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem9" SID "573" Ports [0, 1] Position [275, 480, 445, 500] ShowName off MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem9" Location [103, 457, 601, 757] 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 Constant Name "Constant" SID "574" Position [155, 75, 185, 105] ShowName off Value "0" } Block { BlockType Mux Name "Mux" SID "575" Ports [2, 1] Position [300, 22, 305, 113] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType DiscretePulseGenerator Name "Pulse\nGenerator1" SID "576" Ports [0, 1] Position [155, 28, 200, 62] ShowName off PulseType "Time based" Period "3" PulseWidth "20" } Block { BlockType Outport Name "once slow blinking blue" SID "577" Position [380, 63, 410, 77] IconDisplay "Port number" } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "Pulse\nGenerator1" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "once slow blinking blue" DstPort 1 } } } Block { BlockType Switch Name "Switch1" SID "578" Position [620, 185, 665, 455] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch2" SID "579" Position [930, 460, 970, 520] Criteria "u2 ~= 0" Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch3" SID "580" Position [1250, 403, 1280, 437] Criteria "u2 > Threshold" Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch4" SID "581" Position [930, 320, 970, 380] Criteria "u2 > Threshold" Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch5" SID "582" Position [1250, 483, 1280, 517] Criteria "u2 > Threshold" Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "switch" SID "583" Position [1025, 313, 1050, 527] Criteria "u2 > Threshold" Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Outport Name "LED (blue)" SID "584" Position [1315, 413, 1345, 427] IconDisplay "Port number" } Block { BlockType Outport Name "LED (amber)" SID "585" Position [1315, 493, 1345, 507] Port "2" IconDisplay "Port number" } Line { SrcBlock "Subsystem10" SrcPort 1 DstBlock "Multiport\nSwitch" DstPort 2 } Line { SrcBlock "Multiport\nSwitch" SrcPort 1 Points [55, 0; 0, -80] DstBlock "Switch1" DstPort 3 } Line { SrcBlock "Subsystem11" SrcPort 1 DstBlock "Multiport\nSwitch" DstPort 3 } Line { SrcBlock "Subsystem8" SrcPort 1 DstBlock "Multiport\nSwitch" DstPort 4 } Line { SrcBlock "Subsystem9" SrcPort 1 Points [10, 0] Branch { DstBlock "Multiport\nSwitch" DstPort 5 } Branch { Points [0, 20] DstBlock "Multiport\nSwitch" DstPort 6 } } Line { SrcBlock "Subsystem4" SrcPort 1 DstBlock "Multiport\nSwitch" DstPort 7 } Line { SrcBlock "Subsystem1" SrcPort 1 DstBlock "Multiport\nSwitch" DstPort 8 } Line { SrcBlock "Subsystem2" SrcPort 1 DstBlock "Multiport\nSwitch" DstPort 9 } Line { SrcBlock "Data Type Conversion2" SrcPort 1 DstBlock "Compare\nTo Constant2" DstPort 1 } Line { SrcBlock "IO keeper block" SrcPort 1 DstBlock "Demux1" DstPort 1 } Line { SrcBlock "Compare\nTo Constant2" SrcPort 1 DstBlock "Logical\nOperator1" DstPort 1 } Line { SrcBlock "Logical\nOperator1" SrcPort 1 DstBlock "Switch1" DstPort 2 } Line { SrcBlock "Data Type Conversion3" SrcPort 1 DstBlock "Compare\nTo Constant3" DstPort 1 } Line { SrcBlock "Compare\nTo Constant3" SrcPort 1 DstBlock "Logical\nOperator1" DstPort 2 } Line { Name "up" Labels [0, 0] SrcBlock "Demux1" SrcPort 1 DstBlock "Logical\nOperator2" DstPort 1 } Line { Name "left" Labels [0, 0] SrcBlock "Demux1" SrcPort 2 DstBlock "Logical\nOperator2" DstPort 2 } Line { Name "right" Labels [0, 0] SrcBlock "Demux1" SrcPort 3 DstBlock "Logical\nOperator2" DstPort 3 } Line { SrcBlock "Keeper action active" SrcPort 1 DstBlock "Multiport\nSwitch1" DstPort 3 } Line { SrcBlock "Logical\nOperator2" SrcPort 1 DstBlock "Multiport\nSwitch1" DstPort 2 } Line { SrcBlock "No keeper action active" SrcPort 1 DstBlock "Multiport\nSwitch1" DstPort 1 } Line { SrcBlock "Multiport\nSwitch1" SrcPort 1 Points [55, 0; 0, 75] DstBlock "Switch1" DstPort 1 } Line { SrcBlock "Bus decoder2" SrcPort 1 DstBlock "Switch2" DstPort 2 } Line { SrcBlock "Switch1" SrcPort 1 Points [15, 0; 0, 150] DstBlock "Switch2" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 Points [65, 0] DstBlock "Switch2" DstPort 3 } Line { SrcBlock "Logical\nOperator3" SrcPort 1 Points [10, 0; 0, -180] DstBlock "switch" DstPort 2 } Line { SrcBlock "Switch2" SrcPort 1 DstBlock "switch" DstPort 3 } Line { SrcBlock "switch" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Subsystem5" SrcPort 1 DstBlock "Switch4" DstPort 1 } Line { SrcBlock "Subsystem3" SrcPort 1 DstBlock "Switch4" DstPort 3 } Line { SrcBlock "Switch4" SrcPort 1 DstBlock "switch" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 Points [15, 0] Branch { DstBlock "Logical\nOperator" DstPort 2 } Branch { Points [0, 55] DstBlock "Switch5" DstPort 1 } } Line { SrcBlock "Logical\nOperator" SrcPort 1 DstBlock "Data Type Conversion" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "Logical\nOperator" DstPort 1 } Line { SrcBlock "Switch3" SrcPort 1 DstBlock "LED (blue)" DstPort 1 } Line { SrcBlock "Switch5" SrcPort 1 DstBlock "LED (amber)" DstPort 1 } Line { SrcBlock "Data Type Conversion" SrcPort 1 DstBlock "Switch3" DstPort 1 } Line { SrcBlock "Constant2" SrcPort 1 Points [5, 0; 0, -75] Branch { Points [0, -80] DstBlock "Switch3" DstPort 2 } Branch { DstBlock "Switch5" DstPort 2 } } Line { SrcBlock "Constant3" SrcPort 1 Points [30, 0] Branch { Points [0, -35] DstBlock "Switch3" DstPort 3 } Branch { Points [0, 45] DstBlock "Switch5" DstPort 3 } } Line { SrcBlock "motionbus" SrcPort 1 DstBlock "Bus decoder" DstPort 1 } Line { SrcBlock "From5" SrcPort 1 Points [10, 0] Branch { DstBlock "Multiport\nSwitch" DstPort 1 } Branch { Points [0, -65] DstBlock "Data Type Conversion3" DstPort 1 } } Line { SrcBlock "Bus decoder1" SrcPort 1 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "Ground" SrcPort 1 DstBlock "Switch4" DstPort 2 } Line { SrcBlock "TRCbus" SrcPort 1 DstBlock "Bus decoder1" DstPort 1 } Line { SrcBlock "actionsbus" SrcPort 1 DstBlock "Bus decoder2" DstPort 1 } Line { SrcBlock "Compare\nTo Constant1" SrcPort 1 DstBlock "Logical\nOperator3" DstPort 2 } Line { SrcBlock "Bus decoder" SrcPort 1 DstBlock "Logical\nOperator3" DstPort 1 } Line { SrcBlock "Bus decoder1" SrcPort 2 Points [0, 300] DstBlock "Compare\nTo Constant1" DstPort 1 } Annotation { Name "Roles:\n\nattacker main = 1\nattacker assist = 2\ndefender main = 3\ndefender assist 1 = 4\nde" "fender assist 2 = 5\ngoalkeeper = 6\ngohome = 7\nsearchball = 8\n\nSee globar_par.h" Position [138, 520] HorizontalAlignment "left" } Annotation { Name "In case of demo mode,\nthe LEDs will represent\nthe team color.\nthe cyan team is continuously\nblue, t" "he magenta team\ncontinuously amber.\n\nThe LEDs are turned on when \nthe robot is active (in field)" Position [1123, 305] HorizontalAlignment "left" } Annotation { Name "LEDS_on can be set in init_motion \nto turn LEDS off during game" Position [1113, 615] HorizontalAlignment "left" } } } Block { BlockType Sum Name "Sum" SID "586" Ports [2, 1] Position [810, 208, 820, 252] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Terminator Name "Terminator" SID "587" Position [800, 440, 820, 460] } Block { BlockType Terminator Name "Terminator4" SID "588" Position [155, 690, 175, 710] ShowName off } Block { BlockType S-Function Name "ballhandling control" SID "589" Ports [6, 3] Position [640, 346, 775, 474] BackgroundColor "blue" FunctionName "ballhandling" EnableBusSupport off MaskInitialization "labels = getLabels('ballhandling.c');\nset_param(gcb,'MaskDisplay',labels);" MaskDisplay "port_label('input',1,'retract ball')\nport_label('input',2,'motionbus')\nport_label('input'," "3,'TRCbus')\nport_label('input',4,'strategybus')\nport_label('input',5,'tunable parameters motion bus')\nport_l" "abel('input',6,'actionsbus')\nport_label('output',1,'CPBarm')\nport_label('output',2,'ballhandling control valu" "es')\nport_label('output',3,'clamp ball')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType SubSystem Name "create controlbus" SID "590" Ports [0, 1] Position [835, 738, 915, 782] BackgroundColor "cyan" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "create controlbus" Location [1104, 98, 1608, 783] 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 S-Function Name "Bus assigner" SID "591" Ports [23, 1] Position [225, 44, 380, 626] BackgroundColor "cyan" FunctionName "sf_bus_assign" Parameters "sizes,offsets,portwidth,types,bus_is_in,bus_size" EnableBusSupport off MaskType "Assign variables in bus." MaskDescription "Bus assigner to assign values to variables in a bus. \nThis block can overwrite values in an ex" "isting bus as well as \ncreate a bus and write values to certain parameters. Busses \ncan be editted and created u" "sing the busmanager. Note that \ndeleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |Bus is input |controlEnable|powerOnOff|amplifiersOnOff|posGlobalRef_xyo|velLocalR" "efManual_xyo_dot|shootLeverAngleMotor|LEDResetPanicSwitchButton|LEDBlue|LEDAmber|keeperFrame_ulr|SHTControl|SHTDut" "yCycle|clampBall|va_max|CPBarm|emergencyStatus|shootLeverState|rs485ControlCh1|rs485ControlCh2|shotFinished|cur_xy" "dot|ballHandlingControl|CAM1Control|ballHandlingControl|0 |0 " " |0 |0 |0 |0 " " |x |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'ov_lob_detected');\nport_label('input',1,'visionbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "visionbus|off|off|off|off|off|on|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|visionbus|1,2,3,4,5,6,7,8,9," "10,11,12,|6," } Block { BlockType DataTypeConversion Name "Data Type Conversion" SID "621" Position [370, 316, 440, 344] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType From Name "From1" SID "622" Position [310, 126, 425, 144] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "ActivateKeeperframe" TagVisibility "global" } Block { BlockType From Name "From2" SID "623" Position [305, 271, 420, 289] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "froncam_lobbal_trigger" TagVisibility "global" } Block { BlockType From Name "From28" SID "624" Position [310, 226, 425, 244] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "OVseeBall" TagVisibility "global" } Block { BlockType From Name "From40" SID "625" Position [310, 176, 425, 194] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "ball_xyzdxdydz" TagVisibility "global" } Block { BlockType From Name "From41" SID "626" Position [310, 151, 425, 169] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "cur_xyo" TagVisibility "global" } Block { BlockType From Name "From42" SID "627" Position [310, 201, 425, 219] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "ballFoundForStrategy" TagVisibility "global" } Block { BlockType S-Function Name "Keeper Frame Handler1" SID "628" Ports [10, 3] Position [545, 120, 765, 365] BackgroundColor "green" FunctionName "Keeperframe" EnableBusSupport off MaskDisplay "port_label('input',1,'keeper frame active')\nport_label('input',2,'cur xyo')\nport_label('input',3" ",'ball xyz/xyzdot')\nport_label('input',4,'ball_found')\nport_label('input',5,'OVseeBall')\nport_label('input',6,'" "ov_lob_detected')\nport_label('input',7,'FC_lob_detected')\nport_label('input',8,'Frontcam keeper')\nport_label('i" "nput',9,'Amplifier onOff')\nport_label('input',10,'TRC bus')\n\n\nport_label('output',1,'Frame UP')\nport_label('o" "utput',2,'Frame LEFT')\nport_label('output',3,'Frame RIGHT')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" Port { PortNumber 1 Name "frame up" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "frame left" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "frame right" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Mux Name "Mux1" SID "629" Ports [3, 1] Position [795, 111, 800, 359] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Constant Name "temp" SID "630" Position [390, 290, 420, 320] Value "[0,0]" OutDataTypeStr "int32" } Block { BlockType Outport Name "IO Keeper Block" SID "631" Position [875, 228, 905, 242] IconDisplay "Port number" } Line { SrcBlock "visionbus" SrcPort 1 DstBlock "Bus decoder" DstPort 1 } Line { SrcBlock "Bus decoder" SrcPort 1 Points [225, 0] DstBlock "Keeper Frame Handler1" DstPort 6 } Line { SrcBlock "From28" SrcPort 1 Points [100, 0] DstBlock "Keeper Frame Handler1" DstPort 5 } Line { SrcBlock "From42" SrcPort 1 Points [100, 0] DstBlock "Keeper Frame Handler1" DstPort 4 } Line { SrcBlock "amplifiers on/off" SrcPort 1 DstBlock "Data Type Conversion" DstPort 1 } Line { Name "frame up" Labels [2, 0] SrcBlock "Keeper Frame Handler1" SrcPort 1 Points [0, -10] DstBlock "Mux1" DstPort 1 } Line { Name "frame right" Labels [0, 0] SrcBlock "Keeper Frame Handler1" SrcPort 3 Points [0, -10] DstBlock "Mux1" DstPort 3 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "IO Keeper Block" DstPort 1 } Line { Name "frame left" Labels [0, 0] SrcBlock "Keeper Frame Handler1" SrcPort 2 Points [0, -10] DstBlock "Mux1" DstPort 2 } Line { SrcBlock "From1" SrcPort 1 Points [100, 0] DstBlock "Keeper Frame Handler1" DstPort 1 } Line { SrcBlock "From41" SrcPort 1 Points [100, 0] DstBlock "Keeper Frame Handler1" DstPort 2 } Line { SrcBlock "From40" SrcPort 1 Points [100, 0] DstBlock "Keeper Frame Handler1" DstPort 3 } Line { SrcBlock "From2" SrcPort 1 DstBlock "Keeper Frame Handler1" DstPort 7 } Line { SrcBlock "temp" SrcPort 1 DstBlock "Keeper Frame Handler1" DstPort 8 } Line { SrcBlock "Data Type Conversion" SrcPort 1 DstBlock "Keeper Frame Handler1" DstPort 9 } Line { SrcBlock "TRCbus" SrcPort 1 Points [55, 0; 0, -5; 55, 0] DstBlock "Keeper Frame Handler1" DstPort 10 } } } Block { BlockType SubSystem Name "kick control" SID "632" Ports [7, 9] Position [640, 70, 775, 320] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "kick control" Location [5, 77, 1531, 812] 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 "SkillID" SID "633" Position [405, 233, 435, 247] IconDisplay "Port number" } Block { BlockType Inport Name "KickEffort" SID "634" Position [405, 293, 435, 307] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "Amplifier and Power on/off" SID "635" Position [405, 173, 435, 187] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "motionbus" SID "636" Position [100, 353, 130, 367] ForegroundColor "green" Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "Motion_tunable_par" SID "637" Position [455, 473, 485, 487] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "TRCbus" SID "638" Position [455, 413, 485, 427] ForegroundColor "lightBlue" Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "emergency status" SID "639" Position [860, 618, 890, 632] Port "7" IconDisplay "Port number" } Block { BlockType S-Function Name "Bus decoder1" SID "640" Ports [1, 1] Position [255, 521, 430, 559] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using the bu" "smanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |position_global_xyo|velLocalRef_dxdydo|robot_active|position_local_xyo|tacho_left" "|tacho_right|arm_left|arm_right|battery_voltage|motor_temperatures|panic_and_reset_switches|local_y_velocity|shoot" "_lever_encoder|SHTstatus|SHTValue|PWMmeasurement|startBackupSoftwareSwitch|rs485ResultCh1|rs485ResultCh2|CAM1Statu" "s|Status|Counter|CAM1posX|0 |0 |0 " " |0 |0 |0 |0 " " |x |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'SF_v_max_move');\nport_label('output',2,'SF_a_max_move');\nport_label('outp" "ut',3,'SF_v_max_rotate_move');\nport_label('output',4,'SF_a_max_rotate_move');\nport_label('output',5,'SF_v_max_x_" "keeper');\nport_label('output',6,'SF_v_max_y_keeper');\nport_label('output',7,'SF_a_max_x_keeper');\nport_label('o" "utput',8,'SF_a_max_y_keeper');\nport_label('output',9,'SF_v_max_rotate_keeper');\nport_label('output',10,'SF_a_max" "_rotate_keeper');\nport_label('input',1,'tunable_pardata_motion_bus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "tunable_pardata_motion_bus|on|off|off|on|off|off|on|off|off|on|off|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|on|on|on|on|on|on|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|tunable_pardata_moti" "on_bus|5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,4" "2,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,|5,8,11,14,40,41,42,43,44,45," Port { PortNumber 1 Name "vmax_xy" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "amax_xy" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "vmax_phi" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "amax_phi" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType S-Function Name "Bus decoder1" SID "685" Ports [1, 5] Position [175, 383, 350, 527] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using the bu" "smanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |turtleID|teamColor|blueIsHome|roleIDs|refboxRoleIDs|refboxTask|refboxTaskTrigger|" "destination_xyo|roleAssignerMode|penaltyDemoMode|notBallHandlingDemo|joystick_v_xyo|joystickSkillID|joystickKickEf" "fort|joystickOnOff|dssssssf|e4ffsd|0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |x |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'skillId');\nport_label('output',2,'kickEffort');\nport_label('output',3,'em" "ergencyStatus');\nport_label('input',1,'actionsbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "actionsbus|off|off|off|on|off|on|off|off|off|off|off|on|off|off|off|off|off|off|off|off|off|off" "|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off" "|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|actionsbus|1,2,3,5,6,7,8,9,10" ",11,12,13,14,15,16,|5,13,7," } Block { BlockType Constant Name "Constant" SID "687" Position [835, 605, 865, 635] ShowName off Value "0" } Block { BlockType DataTypeConversion Name "Data Type Conversion" SID "688" Position [835, 444, 890, 466] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion1" SID "689" Position [835, 534, 890, 556] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion2" SID "690" Position [835, 669, 890, 691] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Demux Name "Demux1" SID "691" Ports [1, 3] Position [610, 224, 615, 416] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" Port { PortNumber 1 Name "x_l_retdot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "y_l_refdot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "phi_refdot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Demux Name "Demux2" SID "692" Ports [1, 2] Position [1055, 479, 1060, 546] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Demux Name "Demux3" SID "693" Ports [1, 6] Position [610, 71, 615, 214] BackgroundColor "black" ShowName off Outputs "6" DisplayOption "bar" Port { PortNumber 1 Name "vmax_xy" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "amax_xy" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "vmax_phi" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 6 Name "amax_phi" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Gain Name "Gain1" SID "694" Position [865, 383, 895, 407] ShowName off Gain "-1" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain2" SID "695" Position [910, 318, 940, 342] ShowName off Gain "-1" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain3" SID "696" Position [910, 253, 940, 277] ShowName off Gain "-1" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Mux Name "Mux1" SID "697" Ports [2, 1] Position [920, 531, 925, 589] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" SID "698" Ports [3, 1] Position [1055, 215, 1060, 415] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux3" SID "699" Ports [6, 1] Position [385, 49, 390, 146] ShowName off Inputs "6" DisplayOption "bar" } Block { BlockType Mux Name "Mux4" SID "700" Ports [6, 1] Position [385, 151, 390, 279] ShowName off Inputs "6" DisplayOption "bar" } Block { BlockType Mux Name "Mux5" SID "701" Ports [2, 1] Position [920, 439, 925, 501] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Product Name "Product" SID "702" Ports [2, 1] Position [840, 232, 870, 263] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product1" SID "703" Ports [2, 1] Position [840, 297, 870, 328] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product2" SID "704" Ports [2, 1] Position [740, 362, 770, 393] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Reference Name "Rate Limiter" SID "705" Ports [3, 1] Position [960, 229, 1025, 271] SourceBlock "simulink/Discontinuities/Rate Limiter\nDynamic" SourceType "Rate Limiter Dynamic" 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" } Block { BlockType Reference Name "Rate Limiter1" SID "706" Ports [3, 1] Position [960, 294, 1025, 336] SourceBlock "simulink/Discontinuities/Rate Limiter\nDynamic" SourceType "Rate Limiter Dynamic" 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" } Block { BlockType Reference Name "Rate Limiter2" SID "707" Ports [3, 1] Position [960, 359, 1025, 401] SourceBlock "simulink/Discontinuities/Rate Limiter\nDynamic" SourceType "Rate Limiter Dynamic" 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" } Block { BlockType Switch Name "Switch1" SID "708" Position [550, 98, 585, 192] Criteria "u2 ~= 0" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch3" SID "709" Position [990, 449, 1025, 581] Criteria "u2 > Threshold" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch4" SID "710" Position [990, 618, 1025, 692] Threshold "1" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch5" SID "711" Position [925, 615, 955, 645] ShowName off Threshold "2.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Reference Name "turtle1:\ngoalkeeper" SID "712" Ports [1, 1] Position [460, 130, 490, 160] 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 "1" LogicOutDataTypeMode "uint8" ZeroCross "off" } Block { BlockType Outport Name "velLocalRefManual_dxdydo" SID "713" Position [1115, 308, 1145, 322] IconDisplay "Port number" } Block { BlockType Outport Name "Skill ID " SID "714" Position [1115, 488, 1145, 502] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "kick effort " SID "715" Position [1115, 523, 1145, 537] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "emergency out" SID "716" Position [1115, 648, 1145, 662] Port "4" IconDisplay "Port number" } Line { SrcBlock "Demux2" SrcPort 2 DstBlock "kick effort " DstPort 1 } Line { SrcBlock "Demux2" SrcPort 1 DstBlock "Skill ID " DstPort 1 } Line { SrcBlock "Mux5" SrcPort 1 DstBlock "Switch3" DstPort 1 } Line { SrcBlock "Switch3" SrcPort 1 DstBlock "Demux2" DstPort 1 } Line { Name "phi_refdot" Labels [0, 0] SrcBlock "Demux1" SrcPort 3 DstBlock "Product2" DstPort 2 } Line { Name "y_l_refdot" Labels [0, 0] SrcBlock "Demux1" SrcPort 2 DstBlock "Product1" DstPort 2 } Line { Name "x_l_retdot" Labels [0, 0] SrcBlock "Demux1" SrcPort 1 DstBlock "Product" DstPort 2 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "Switch3" DstPort 3 } Line { SrcBlock "Switch4" SrcPort 1 DstBlock "emergency out" DstPort 1 } Line { SrcBlock "Bus decoder2" SrcPort 2 Points [115, 0; 0, -70] DstBlock "Mux1" DstPort 2 } Line { Name "manual mode switch" Labels [0, 0] SrcBlock "Bus decoder1" SrcPort 5 Points [615, 0] Branch { Points [0, 140] DstBlock "Switch4" DstPort 2 } Branch { DstBlock "Switch3" DstPort 2 } } Line { Name "vmax_xy" Labels [0, 0] SrcBlock "Demux3" SrcPort 1 Points [200, 0; 0, 160] DstBlock "Product" DstPort 1 } Line { Name "vmax_phi" Labels [0, 0] SrcBlock "Demux3" SrcPort 5 Points [105, 0] DstBlock "Product2" DstPort 1 } Line { Name "amax_phi" Labels [0, 0] SrcBlock "Demux3" SrcPort 6 Points [170, 0; 0, 160] Branch { DstBlock "Rate Limiter2" DstPort 1 } Branch { Points [0, 30] DstBlock "Gain1" DstPort 1 } } Line { SrcBlock "Gain3" SrcPort 1 DstBlock "Rate Limiter" DstPort 3 } Line { SrcBlock "Product" SrcPort 1 DstBlock "Rate Limiter" DstPort 2 } Line { Name "amax_xy" Labels [0, 0] SrcBlock "Demux3" SrcPort 3 Points [275, 0; 0, 105] Branch { DstBlock "Gain3" DstPort 1 } Branch { DstBlock "Rate Limiter" DstPort 1 } } Line { SrcBlock "Product1" SrcPort 1 DstBlock "Rate Limiter1" DstPort 2 } Line { SrcBlock "Product2" SrcPort 1 DstBlock "Rate Limiter2" DstPort 2 } Line { SrcBlock "Gain1" SrcPort 1 DstBlock "Rate Limiter2" DstPort 3 } Line { SrcBlock "Switch5" SrcPort 1 DstBlock "Switch4" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Switch5" DstPort 1 } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "velLocalRefManual_dxdydo" DstPort 1 } Line { SrcBlock "Bus decoder2" SrcPort 1 Points [85, 0; 0, -65] DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "Rate Limiter" SrcPort 1 DstBlock "Mux2" DstPort 1 } Line { SrcBlock "Rate Limiter1" SrcPort 1 DstBlock "Mux2" DstPort 2 } Line { SrcBlock "Rate Limiter2" SrcPort 1 DstBlock "Mux2" DstPort 3 } Line { SrcBlock "Bus decoder1" SrcPort 3 DstBlock "Data Type Conversion" DstPort 1 } Line { SrcBlock "Bus decoder1" SrcPort 4 DstBlock "Mux5" DstPort 2 } Line { SrcBlock "TRC_bus" SrcPort 1 DstBlock "Bus decoder1" DstPort 1 } Line { SrcBlock "Data Type Conversion" SrcPort 1 DstBlock "Mux5" DstPort 1 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "Data Type Conversion2" SrcPort 1 Points [5, 0] Branch { DstBlock "Switch4" DstPort 3 } Branch { Points [0, -40] Branch { DstBlock "Switch5" DstPort 3 } Branch { Points [0, -10] DstBlock "Switch5" DstPort 2 } } } Line { SrcBlock "actionsbus" SrcPort 1 DstBlock "Bus decoder2" DstPort 1 } Line { SrcBlock "Motion_tuning_bus" SrcPort 1 DstBlock "Bus decoder" DstPort 1 } Line { Name "vmax_xy" Labels [0, 0] SrcBlock "Bus decoder" SrcPort 1 Points [5, 0; 0, -10] Branch { Points [0, -15] DstBlock "Mux3" DstPort 1 } Branch { DstBlock "Mux3" DstPort 2 } } Line { Name "amax_xy" Labels [0, 0] SrcBlock "Bus decoder" SrcPort 2 Points [15, 0] Branch { DstBlock "Mux3" DstPort 3 } Branch { DstBlock "Mux3" DstPort 4 } } Line { Name "vmax_phi" Labels [0, 0; 2, 1] SrcBlock "Bus decoder" SrcPort 3 Points [0, -5] DstBlock "Mux3" DstPort 5 } Line { Name "amax_phi" Labels [0, 0] SrcBlock "Bus decoder" SrcPort 4 Points [0, -10] DstBlock "Mux3" DstPort 6 } Line { SrcBlock "turtle1:\ngoalkeeper" SrcPort 1 DstBlock "Switch1" DstPort 2 } Line { SrcBlock "Mux3" SrcPort 1 Points [130, 0; 0, 75] DstBlock "Switch1" DstPort 3 } Line { SrcBlock "Mux4" SrcPort 1 Points [20, 0; 0, -100] DstBlock "Switch1" DstPort 1 } Line { SrcBlock "Switch1" SrcPort 1 DstBlock "Demux3" DstPort 1 } Line { SrcBlock "Gain2" SrcPort 1 DstBlock "Rate Limiter1" DstPort 3 } Line { SrcBlock "Demux3" SrcPort 2 Points [190, 0; 0, 200] DstBlock "Product1" DstPort 1 } Line { SrcBlock "Demux3" SrcPort 4 Points [270, 0; 0, 145] Branch { Points [0, 30] DstBlock "Gain2" DstPort 1 } Branch { DstBlock "Rate Limiter1" DstPort 1 } } Line { SrcBlock "Bus decoder1" SrcPort 2 Points [230, 0; 0, -105] DstBlock "Demux1" DstPort 1 } Line { SrcBlock "Bus decoder1" SrcPort 1 Points [70, 0; 0, -250] DstBlock "turtle1:\ngoalkeeper" DstPort 1 } Line { SrcBlock "Bus decoder" SrcPort 5 DstBlock "Mux4" DstPort 1 } Line { SrcBlock "Bus decoder" SrcPort 6 DstBlock "Mux4" DstPort 2 } Line { SrcBlock "Bus decoder" SrcPort 7 DstBlock "Mux4" DstPort 3 } Line { SrcBlock "Bus decoder" SrcPort 8 DstBlock "Mux4" DstPort 4 } Line { SrcBlock "Bus decoder" SrcPort 9 DstBlock "Mux4" DstPort 5 } Line { SrcBlock "Bus decoder" SrcPort 10 DstBlock "Mux4" DstPort 6 } Line { SrcBlock "Bus decoder2" SrcPort 3 DstBlock "Data Type Conversion2" DstPort 1 } Annotation { Position [993, 391] } Annotation { Name "0=no emergency\n1=power dip\n2=battery empty\n3=stop refbox" Position [553, 649] } Annotation { Name "feedthrough only\nemergency 0,1,2\nduring manual mode" Position [1083, 614] } Annotation { Position [415, 407] } } } Block { BlockType SubSystem Name "motion emergency handler:\namplifier and power control" SID "717" Ports [4, 6] Position [185, 212, 320, 373] BackgroundColor "gray" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "motion emergency handler:\namplifier and power control" Location [70, 275, 1306, 967] 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 "emergeny" SID "718" Position [290, 63, 320, 77] IconDisplay "Port number" } Block { BlockType Inport Name "motionbus" SID "719" Position [145, 493, 175, 507] ForegroundColor "green" Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "TRCbus" SID "720" Position [145, 333, 175, 347] ForegroundColor "lightBlue" Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "actionsbus" SID "721" Position [145, 393, 175, 407] ForegroundColor "[0.700000, 0.500000, 0.000000]" Port "4" IconDisplay "Port number" } Block { BlockType Sum Name "Add" SID "722" Ports [2, 1] Position [520, 47, 550, 78] InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType S-Function Name "Bus decoder" SID "723" Ports [1, 2] Position [220, 452, 365, 543] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using the bu" "smanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |position_global_xyo|robot_active|position_local_xyo|tacho_left|tacho_right|arm_le" "ft|arm_right|battery_voltage|motor_temperatures|panic_and_reset_switches|local_y_velocity|shoot_lever_encoder|SHTs" "tatus|SHTValue|PWMmeasurement|velLocalRef_dxdydo|startBackupSoftwareSwitch|rs485ResultCh1|rs485ResultCh2|CAM1Statu" "s|Status|Counter|CAM1posX|0 |0 |0 " " |0 |0 |0 |0 " " |x |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'joystickOnOff');\nport_label('input',1,'TRCbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "TRCbus|off|off|off|off|off|off|off|off|off|off|off|off|off|off|on|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off" "|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|TRCbus|1,2,3,4,5,6,7,8,9,10,11," "14,15,16,17,|17," } Block { BlockType S-Function Name "Bus decoder2" SID "725" Ports [1, 1] Position [220, 381, 365, 419] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using the bu" "smanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |desiredVelocityStrategy|aimTarget_xy|actionHandlerReturnValue|skillId|controlEnab" "le|emergencyStatus|target_xyo|waypointReached|scrum|subtarget_xy|subsubtarget_xy|kickEffort|desiredAccelerationStr" "ategy|CPPArobot|addedObstacles|dssssssf|e4ffsd|0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |x |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'position_global_xyo[3]');\nport_label('input',1,'motionbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "motionbus|on|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|motionbus|2,3,4,5,6,7,8,9,11" ",13,14,15,16,17,18,22,20,23,24,25,26,27,28,|2," } Block { BlockType S-Function Name "Bus decoder1" SID "882" Ports [1, 7] Position [120, 83, 295, 267] BackgroundColor "cyan" ShowName off FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using the bu" "smanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |desiredVelocityStrategy|aimTarget_xy|actionHandlerReturnValue|skillId|controlEnab" "le|emergencyStatus|target_xyo|waypointReached|scrum|subtarget_xy|subsubtarget_xy|kickEffort|desiredAccelerationStr" "ategy|CPPArobot|addedObstacles|dssssssf|e4ffsd|0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |x |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0" " |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'turtleID');\nport_label('input',1,'TRCbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "TRCbus|on|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off" "|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|o" "ff|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|TRCbus|1,2,3,4,5,6,7,8,9,10,11," "14,15,16,17,|1," } Block { BlockType From Name "From1" SID "884" Position [120, 451, 205, 469] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "cur_xyo" TagVisibility "global" } Block { BlockType From Name "From18" SID "885" Position [930, 331, 1015, 349] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "cur_xyo" TagVisibility "global" } Block { BlockType From Name "From3" SID "886" Position [120, 61, 235, 79] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "motion_offset" TagVisibility "global" } Block { BlockType Mux Name "Mux1" SID "887" Ports [2, 1] Position [1405, 425, 1410, 560] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType UnitDelay Name "Unit Delay" SID "888" Position [445, 703, 480, 737] BlockMirror on SampleTime "Ts" } Block { BlockType UnitDelay Name "Unit Delay1" SID "889" Position [535, 658, 570, 692] BlockMirror on SampleTime "Ts" } Block { BlockType UnitDelay Name "Unit Delay2" SID "890" Position [565, 538, 595, 572] ShowName off SampleTime "Ts" } Block { BlockType SubSystem Name "phi trajectory planner" SID "891" Ports [4, 2] Position [1220, 467, 1350, 698] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "phi trajectory planner" Location [487, 139, 1550, 587] 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 "phi_ref" SID "892" Position [95, 78, 125, 92] IconDisplay "Port number" } Block { BlockType Inport Name "control enable" SID "893" Position [480, 333, 510, 347] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "va_max_rotate" SID "894" Position [95, 298, 125, 312] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "robot_pos" SID "895" Position [480, 273, 510, 287] Port "4" IconDisplay "Port number" } Block { BlockType S-Function Name "2D Trajectory Planner" SID "896" Ports [1, 1] Position [345, 203, 460, 237] FunctionName "trajectoryplanner_phi" EnableBusSupport off } Block { BlockType Constant Name "Constant1" SID "897" Position [250, 150, 280, 180] ShowName off Value "0" } Block { BlockType Constant Name "Constant2" SID "898" Position [250, 185, 280, 215] ShowName off Value "0" } Block { BlockType Constant Name "Constant3" SID "899" Position [250, 115, 280, 145] ShowName off Value "0" } Block { BlockType SubSystem Name "Determine position reset" SID "900" Ports [3, 4] Position [550, 184, 765, 371] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Determine position reset" Location [159, 437, 985, 826] 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 "acceleration" SID "901" Position [55, 43, 85, 57] IconDisplay "Port number" } Block { BlockType Inport Name "robot_pos" SID "902" Position [55, 173, 85, 187] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "control enable" SID "903" Position [55, 113, 85, 127] Port "3" IconDisplay "Port number" } Block { BlockType Constant Name "Constant2" SID "904" Position [220, 215, 250, 245] Value "0" } Block { BlockType DataTypeConversion Name "Data Type Conversion2" SID "905" Position [275, 103, 350, 137] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType HitCross Name "Hit \nCrossing" SID "906" Ports [1, 1] Position [215, 105, 245, 135] ShowName off HitCrossingOffset "0.5" } Block { BlockType Integrator Name "Integrator" SID "907" Ports [3, 1] Position [485, 35, 520, 205] ShowName off ExternalReset "rising" InitialConditionSource "external" InitialCondition "[0 0]" } Block { BlockType Integrator Name "Integrator1" SID "908" Ports [2, 1] Position [410, 39, 450, 86] ShowName off ExternalReset "rising" InitialCondition "[0 0]" } Block { BlockType Mux Name "Mux1" SID "909" Ports [2, 1] Position [295, 154, 300, 256] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Product Name "Product" SID "910" Ports [2, 1] Position [390, 157, 420, 188] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Selector Name "select phi" SID "911" Ports [1, 1] Position [220, 161, 260, 199] InputPortWidth "3" IndexOptions "Index vector (dialog)" Indices "3" OutputSizes "[(-2)]" } Block { BlockType Outport Name " position" SID "912" Position [545, 113, 575, 127] IconDisplay "Port number" } Block { BlockType Outport Name " control enable" SID "913" Position [165, 128, 195, 142] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name " robot_pos (phi 0)" SID "914" Position [445, 238, 475, 252] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name " velocity" SID "915" Position [545, 13, 575, 27] Port "4" IconDisplay "Port number" } Line { SrcBlock "Integrator" SrcPort 1 Points [0, 0] DstBlock " position" DstPort 1 } Line { SrcBlock "acceleration" SrcPort 1 DstBlock "Integrator1" DstPort 1 } Line { SrcBlock "Product" SrcPort 1 Points [0, 0] DstBlock "Integrator" DstPort 3 } Line { SrcBlock "control enable" SrcPort 1 Points [35, 0] Branch { DstBlock "Hit \nCrossing" DstPort 1 } Branch { Points [0, 15] DstBlock " control enable" DstPort 1 } } Line { SrcBlock "Hit \nCrossing" SrcPort 1 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "select phi" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "Constant2" SrcPort 1 Points [0, 0] DstBlock "Mux1" DstPort 2 } Line { SrcBlock "robot_pos" SrcPort 1 DstBlock "select phi" DstPort 1 } Line { SrcBlock "Mux1" SrcPort 1 Points [70, 0] Branch { DstBlock "Product" DstPort 2 } Branch { Points [0, 40] DstBlock " robot_pos (phi 0)" DstPort 1 } } Line { SrcBlock "Data Type Conversion2" SrcPort 1 Points [20, 0] Branch { DstBlock "Product" DstPort 1 } Branch { DstBlock "Integrator" DstPort 2 } Branch { Points [0, -45] DstBlock "Integrator1" DstPort 2 } } Line { SrcBlock "Integrator1" SrcPort 1 Points [10, 0] Branch { DstBlock "Integrator" DstPort 1 } Branch { Points [0, -45] DstBlock " velocity" DstPort 1 } } } } Block { BlockType Mux Name "Mux" SID "916" Ports [8, 1] Position [315, 69, 320, 366] ShowName off Inputs "8" DisplayOption "bar" } Block { BlockType Switch Name "Switch3" SID "917" Position [805, 185, 835, 325] ShowName off Criteria "u2 > Threshold" Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Constant Name "rotation precision" SID "918" Position [250, 325, 280, 355] Value "get_global_par('PRECISION_ROTATION')" } Block { BlockType Selector Name "select\naccelerations" SID "919" Ports [1, 1] Position [480, 201, 520, 239] InputPortWidth "3" IndexOptions "Index vector (dialog)" Indices "[1 2]" OutputSizes "[(-2)]" } Block { BlockType Selector Name "select phi\n(2nd is redundant)" SID "920" Ports [1, 1] Position [865, 236, 905, 274] InputPortWidth "2" IndexOptions "Index vector (dialog)" Indices "1" OutputSizes "[(-2)]" } Block { BlockType S-Function Name "wrap to smallest angle" SID "921" Ports [2, 1] Position [180, 75, 280, 110] FunctionName "wrappen_trajectory" EnableBusSupport off } Block { BlockType Outport Name "phi" SID "922" Position [970, 248, 1000, 262] IconDisplay "Port number" } Block { BlockType Outport Name "phirefwrapped" SID "923" Position [350, 53, 380, 67] Port "2" IconDisplay "Port number" } Line { SrcBlock "wrap to smallest angle" SrcPort 1 Points [5, 0] Branch { DstBlock "Mux" DstPort 1 } Branch { Points [0, -35] DstBlock "phirefwrapped" DstPort 1 } } Line { SrcBlock "select phi\n(2nd is redundant)" SrcPort 1 Points [15, 0] Branch { Points [0, -230; -780, 0; 0, 75] DstBlock "wrap to smallest angle" DstPort 2 } Branch { DstBlock "phi" DstPort 1 } } Line { SrcBlock "2D Trajectory Planner" SrcPort 1 DstBlock "select\naccelerations" DstPort 1 } Line { SrcBlock "select\naccelerations" SrcPort 1 DstBlock "Determine position reset" DstPort 1 } Line { SrcBlock "Constant3" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "phi_ref" SrcPort 1 DstBlock "wrap to smallest angle" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Mux" DstPort 3 } Line { SrcBlock "Constant2" SrcPort 1 DstBlock "Mux" DstPort 4 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "2D Trajectory Planner" DstPort 1 } Line { SrcBlock "robot_pos" SrcPort 1 DstBlock "Determine position reset" DstPort 2 } Line { SrcBlock "control enable" SrcPort 1 DstBlock "Determine position reset" DstPort 3 } Line { SrcBlock "Switch3" SrcPort 1 DstBlock "select phi\n(2nd is redundant)" DstPort 1 } Line { SrcBlock "Determine position reset" SrcPort 3 DstBlock "Switch3" DstPort 3 } Line { SrcBlock "Determine position reset" SrcPort 1 Points [10, 0] Branch { DstBlock "Switch3" DstPort 1 } Branch { Points [0, -175; -625, 0; 0, 200] DstBlock "Mux" DstPort 5 } } Line { SrcBlock "Determine position reset" SrcPort 2 DstBlock "Switch3" DstPort 2 } Line { SrcBlock "Determine position reset" SrcPort 4 Points [10, 0; 0, 55; -625, 0; 0, -130] DstBlock "Mux" DstPort 6 } Line { SrcBlock "rotation precision" SrcPort 1 DstBlock "Mux" DstPort 8 } Line { SrcBlock "va_max_rotate" SrcPort 1 DstBlock "Mux" DstPort 7 } } } Block { BlockType S-Function Name "phimaker" SID "924" Ports [9, 2] Position [1040, 69, 1150, 451] FunctionName "phimaker" EnableBusSupport off MaskDisplay "port_label('output', 1, 'phi')\nport_label('input', 1, 'skillID')\nport_label('input', 2, 'target'" ")\nport_label('input', 3, 'aimtarget')\nport_label('input', 4, 'xydot')\nport_label('input', 5, 'xy')\nport_label(" "'input', 6, 'backwards attack')\nport_label('input', 7, 'pose xyo')\nport_label('input', 8, 'target global xyo')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType S-Function Name "trajectory planner preprocessor" SID "925" Ports [10, 3] Position [390, 214, 610, 496] FunctionName "trajplanpreproc" EnableBusSupport off MaskInitialization "labels = getLabels('trajplanpreproc.c');\nset_param(gcb,'MaskDisplay',labels);" MaskDisplay "port_label('input',1,'skillID')\nport_label('input',2,'desired refbox task velocity')\nport_label(" "'input',3,'tunable parameters')\nport_label('input',4,'strategy bus')\nport_label('input',5,'phi_ref')\nport_label" "('input',6,'pose_encoders')\nport_label('input',7,'cur_xydot')\nport_label('input',8,'robot ID')\nport_label('inpu" "t',9,'robot position: cur_xyo')\nport_label('input',10,'desired action acceleration')\nport_label('output',1,'va_m" "ax')\nport_label('output',2,'skill ID for trajectory planner')\nport_label('output',3,'va_max rotate (for phi)')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType SubSystem Name "xy trajectory planner" SID "926" Ports [8, 3] Position [745, 163, 880, 512] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "xy trajectory planner" Location [226, 212, 1333, 834] 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 "subtarget xy" SID "927" Position [90, 168, 120, 182] IconDisplay "Port number" } Block { BlockType Inport Name "va_max" SID "928" Position [90, 368, 120, 382] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "skill ID" SID "929" Position [415, 168, 445, 182] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "robot_pos" SID "930" Position [550, 318, 580, 332] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "phi" SID "931" Position [415, 118, 445, 132] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "control_enable" SID "932" Position [405, 358, 435, 372] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "turn flag" SID "933" Position [405, 323, 435, 337] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "robotID" SID "934" Position [90, 408, 120, 422] Port "8" IconDisplay "Port number" } Block { BlockType Constant Name "Constant1" SID "935" Position [210, 160, 240, 190] Value "0" } Block { BlockType Constant Name "Constant2" SID "936" Position [210, 240, 240, 270] Value "0" } Block { BlockType DataTypeConversion Name "Data Type Conversion1" SID "937" Position [160, 405, 205, 425] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion3" SID "938" Position [495, 165, 540, 185] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Demux Name "Demux1" SID "939" Ports [1, 2] Position [185, 93, 190, 257] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux" SID "940" Ports [8, 1] Position [260, 105, 265, 445] ShowName off Inputs "8" DisplayOption "bar" } Block { BlockType Sum Name "Sum" SID "941" Ports [2, 1] Position [830, 240, 850, 260] ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" SID "942" Ports [2, 1] Position [890, 240, 910, 260] ShowName off IconShape "round" Inputs "++|" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" SID "943" Ports [2, 1] Position [140, 165, 160, 185] ShowName off IconShape "round" Inputs "-+|" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch3" SID "944" Position [950, 225, 980, 375] ShowName off Criteria "u2 > Threshold" Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType UnitDelay Name "Unit Delay" SID "945" Position [540, 388, 575, 422] ShowName off SampleTime "-1" } Block { BlockType SubSystem Name "parking brake" SID "946" Ports [4, 1] Position [470, 260, 560, 315] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "parking brake" Location [867, 102, 1633, 559] 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 "a_xy" SID "947" Position [25, 93, 55, 107] IconDisplay "Port number" } Block { BlockType Inport Name "overshoot flag" SID "948" Position [25, 213, 55, 227] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "control enable" SID "949" Position [25, 248, 55, 262] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "turn flag" SID "950" Position [105, 368, 135, 382] Port "4" IconDisplay "Port number" } Block { BlockType Switch Name "Switch" SID "951" Position [440, 255, 470, 285] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "handbrake dribble turn" SID "952" Ports [3, 1] Position [290, 336, 420, 404] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "handbrake dribble turn" Location [815, 201, 1260, 472] 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 "a_xy" SID "953" Position [25, 48, 55, 62] IconDisplay "Port number" } Block { BlockType Inport Name "trigger" SID "954" Position [45, 168, 75, 182] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "control enable" SID "955" Position [45, 203, 75, 217] Port "3" IconDisplay "Port number" } Block { BlockType Gain Name " brakinggain" SID "956" Position [245, 195, 275, 225] Gain "4" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Demux Name "Demux4" SID "957" Ports [1, 2] Position [145, 27, 150, 78] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" SID "958" Ports [2, 1] Position [360, 144, 365, 246] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Product Name "Product" SID "959" Ports [2, 1] Position [100, 156, 130, 229] InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch" SID "960" Position [310, 155, 340, 185] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch1" SID "961" Position [310, 205, 340, 235] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Selector Name "accelrations" SID "962" Ports [1, 1] Position [80, 36, 120, 74] InputPortWidth "3" IndexOptions "Index vector (dialog)" Indices "[1 2]" OutputSizes "[(-2)]" } Block { BlockType Gain Name "brakinggain" SID "963" Position [245, 145, 275, 175] Gain "4" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "a_xy1" SID "964" Position [390, 188, 420, 202] IconDisplay "Port number" } Line { SrcBlock "control enable" SrcPort 1 DstBlock "Product" DstPort 2 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "a_xy1" DstPort 1 } Line { SrcBlock "trigger" SrcPort 1 DstBlock "Product" DstPort 1 } Line { SrcBlock "a_xy" SrcPort 1 DstBlock "accelrations" DstPort 1 } Line { SrcBlock "Demux4" SrcPort 1 Points [70, 0; 0, 70] Branch { Points [0, 70] DstBlock "Switch" DstPort 3 } Branch { Points [5, 0] DstBlock "brakinggain" DstPort 1 } } Line { SrcBlock "Switch1" SrcPort 1 DstBlock "Mux1" DstPort 2 } Line { SrcBlock " brakinggain" SrcPort 1 DstBlock "Switch1" DstPort 1 } Line { SrcBlock "Demux4" SrcPort 2 Points [40, 0; 0, 145] Branch { DstBlock " brakinggain" DstPort 1 } Branch { Points [0, 20] DstBlock "Switch1" DstPort 3 } } Line { SrcBlock "Switch" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "brakinggain" SrcPort 1 DstBlock "Switch" DstPort 1 } Line { SrcBlock "accelrations" SrcPort 1 DstBlock "Demux4" DstPort 1 } Line { SrcBlock "Product" SrcPort 1 Points [35, 0] Branch { Points [15, 0; 0, -25] DstBlock "Switch" DstPort 2 } Branch { Points [0, 25] DstBlock "Switch1" DstPort 2 } } } } Block { BlockType SubSystem Name "handbrake overshoot" SID "965" Ports [3, 1] Position [250, 186, 380, 254] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "handbrake overshoot" Location [815, 201, 1260, 472] 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 "a_xy" SID "966" Position [25, 48, 55, 62] IconDisplay "Port number" } Block { BlockType Inport Name "trigger" SID "967" Position [45, 168, 75, 182] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "control enable" SID "968" Position [45, 203, 75, 217] Port "3" IconDisplay "Port number" } Block { BlockType Gain Name " brakinggain" SID "969" Position [245, 195, 275, 225] Gain "overshootbrakegain" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Demux Name "Demux1" SID "970" Ports [1, 2] Position [160, 167, 165, 218] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Demux Name "Demux4" SID "971" Ports [1, 2] Position [145, 27, 150, 78] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" SID "972" Ports [2, 1] Position [360, 144, 365, 246] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Product Name "Product" SID "973" Ports [2, 1] Position [100, 156, 130, 229] InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch" SID "974" Position [310, 155, 340, 185] Threshold "2.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch1" SID "975" Position [310, 205, 340, 235] Threshold "2.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Selector Name "accelrations" SID "976" Ports [1, 1] Position [80, 36, 120, 74] InputPortWidth "3" IndexOptions "Index vector (dialog)" Indices "[1 2]" OutputSizes "[(-2)]" } Block { BlockType Gain Name "brakinggain" SID "977" Position [245, 145, 275, 175] Gain "overshootbrakegain" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Outport Name "a_xy1" SID "978" Position [390, 188, 420, 202] IconDisplay "Port number" } Line { SrcBlock "accelrations" SrcPort 1 DstBlock "Demux4" DstPort 1 } Line { SrcBlock "brakinggain" SrcPort 1 DstBlock "Switch" DstPort 1 } Line { SrcBlock "Switch" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "Demux4" SrcPort 2 Points [40, 0; 0, 145] Branch { Points [0, 20] DstBlock "Switch1" DstPort 3 } Branch { DstBlock " brakinggain" DstPort 1 } } Line { SrcBlock " brakinggain" SrcPort 1 DstBlock "Switch1" DstPort 1 } Line { SrcBlock "Switch1" SrcPort 1 DstBlock "Mux1" DstPort 2 } Line { SrcBlock "Demux4" SrcPort 1 Points [70, 0; 0, 70] Branch { Points [5, 0] DstBlock "brakinggain" DstPort 1 } Branch { Points [0, 70] DstBlock "Switch" DstPort 3 } } Line { SrcBlock "a_xy" SrcPort 1 DstBlock "accelrations" DstPort 1 } Line { SrcBlock "trigger" SrcPort 1 DstBlock "Product" DstPort 1 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "a_xy1" DstPort 1 } Line { SrcBlock "control enable" SrcPort 1 DstBlock "Product" DstPort 2 } Line { SrcBlock "Product" SrcPort 1 DstBlock "Demux1" DstPort 1 } Line { SrcBlock "Demux1" SrcPort 1 Points [55, 0; 0, -40; 65, 0; 0, 30] DstBlock "Switch" DstPort 2 } Line { SrcBlock "Demux1" SrcPort 2 Points [55, 0; 0, -65; 65, 0; 0, 80] DstBlock "Switch1" DstPort 2 } } } Block { BlockType Outport Name "a_xy " SID "979" Position [510, 263, 540, 277] IconDisplay "Port number" } Line { SrcBlock "a_xy" SrcPort 1 Points [100, 0] Branch { Points [75, 0] DstBlock "handbrake overshoot" DstPort 1 } Branch { Points [0, 250] DstBlock "handbrake dribble turn" DstPort 1 } } Line { SrcBlock "control enable" SrcPort 1 Points [150, 0] Branch { Points [25, 0] DstBlock "handbrake overshoot" DstPort 3 } Branch { Points [0, 135] DstBlock "handbrake dribble turn" DstPort 3 } } Line { SrcBlock "overshoot flag" SrcPort 1 DstBlock "handbrake overshoot" DstPort 2 } Line { SrcBlock "turn flag" SrcPort 1 Points [115, 0] Branch { Points [20, 0] DstBlock "handbrake dribble turn" DstPort 2 } Branch { Points [0, -105] DstBlock "Switch" DstPort 2 } } Line { SrcBlock "handbrake dribble turn" SrcPort 1 Points [0, -90; -5, 0; 0, -20] DstBlock "Switch" DstPort 1 } Line { SrcBlock "handbrake overshoot" SrcPort 1 Points [35, 0; 0, 60] DstBlock "Switch" DstPort 3 } Line { SrcBlock "Switch" SrcPort 1 DstBlock "a_xy " DstPort 1 } } } Block { BlockType SubSystem Name "position reset: skill ID switching, control enable" SID "980" Ports [5, 4] Position [600, 229, 795, 421] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "position reset: skill ID switching, control enable" Location [586, 227, 1395, 527] 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 "skill ID" SID "981" Position [55, 223, 85, 237] IconDisplay "Port number" } Block { BlockType Inport Name "axy" SID "982" Position [55, 48, 85, 62] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "robot_pos" SID "983" Position [55, 173, 85, 187] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "control enable" SID "984" Position [55, 113, 85, 127] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "xy" SID "985" Position [55, 268, 85, 282] Port "5" IconDisplay "Port number" } Block { BlockType DataTypeConversion Name "Data Type Conversion1" SID "986" Position [285, 213, 325, 247] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion2" SID "987" Position [285, 103, 325, 137] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType HitCross Name "Hit \nCrossing" SID "988" Ports [1, 1] Position [240, 105, 270, 135] ShowName off HitCrossingOffset "0.5" } Block { BlockType HitCross Name "Hit \nCrossing1" SID "989" Ports [1, 1] Position [240, 215, 270, 245] ShowName off HitCrossingOffset "1.5" HitCrossingDirection "falling" } Block { BlockType Integrator Name "Integrator" SID "990" Ports [3, 1] Position [555, 35, 590, 205] ShowName off ExternalReset "rising" InitialConditionSource "external" InitialCondition "[0 0]" } Block { BlockType Integrator Name "Integrator1" SID "991" Ports [2, 1] Position [485, 43, 520, 87] ShowName off ExternalReset "rising" InitialCondition "[0 0]" } Block { BlockType Product Name "Product" SID "992" Ports [2, 1] Position [350, 157, 380, 188] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product1" SID "993" Ports [2, 1] Position [350, 252, 380, 283] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" SID "994" Ports [2, 1] Position [405, 110, 425, 130] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" SID "995" Ports [2, 1] Position [450, 165, 470, 185] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Selector Name "accelrations" SID "996" Ports [1, 1] Position [115, 161, 155, 199] InputPortWidth "3" IndexOptions "Index vector (dialog)" Indices "[1 2]" OutputSizes "[(-2)]" } Block { BlockType Outport Name " xy" SID "997" Position [615, 113, 645, 127] IconDisplay "Port number" } Block { BlockType Outport Name " control enable" SID "998" Position [195, 128, 225, 142] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name " robot_pos" SID "999" Position [195, 193, 225, 207] Port "3" IconDisplay "Port number" } Block { BlockType Outport Name " vxy" SID "1000" Position [600, 18, 630, 32] Port "4" IconDisplay "Port number" } Line { SrcBlock "Integrator" SrcPort 1 Points [0, 0] DstBlock " xy" DstPort 1 } Line { SrcBlock "axy" SrcPort 1 DstBlock "Integrator1" DstPort 1 } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "Integrator" DstPort 3 } Line { SrcBlock "Product1" SrcPort 1 Points [75, 0] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "xy" SrcPort 1 DstBlock "Product1" DstPort 2 } Line { SrcBlock "Hit \nCrossing1" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "robot_pos" SrcPort 1 DstBlock "accelrations" DstPort 1 } Line { SrcBlock "Product" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "skill ID" SrcPort 1 DstBlock "Hit \nCrossing1" DstPort 1 } Line { SrcBlock "control enable" SrcPort 1 Points [90, 0] Branch { DstBlock "Hit \nCrossing" DstPort 1 } Branch { DstBlock " control enable" DstPort 1 } } Line { SrcBlock "Hit \nCrossing" SrcPort 1 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "accelrations" SrcPort 1 Points [20, 0] Branch { DstBlock "Product" DstPort 2 } Branch { DstBlock " robot_pos" DstPort 1 } } Line { SrcBlock "Sum1" SrcPort 1 DstBlock "Integrator" DstPort 2 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 Points [5, 0] Branch { DstBlock "Product1" DstPort 1 } Branch { Points [80, 0] DstBlock "Sum1" DstPort 2 } } Line { SrcBlock "Data Type Conversion2" SrcPort 1 Points [5, 0] Branch { DstBlock "Product" DstPort 1 } Branch { Points [35, 0] Branch { DstBlock "Sum1" DstPort 1 } Branch { Points [0, -45] DstBlock "Integrator1" DstPort 2 } } } Line { SrcBlock "Integrator1" SrcPort 1 Points [5, 0] Branch { Points [0, 0; 0, -40] DstBlock " vxy" DstPort 1 } Branch { DstBlock "Integrator" DstPort 1 } } } } Block { BlockType SubSystem Name "rotation part to rotate around ball" SID "1001" Ports [2, 2] Position [600, 100, 795, 200] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "rotation part to rotate around ball" Location [40, 216, 997, 593] 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 "phi" SID "1002" Position [50, 28, 80, 42] IconDisplay "Port number" } Block { BlockType Inport Name "skill ID" SID "1003" Position [50, 163, 80, 177] Port "2" IconDisplay "Port number" } Block { BlockType Constant Name "Constant" SID "1004" Position [560, 195, 590, 225] Value "[0 0]" } Block { BlockType Constant Name "Constant2" SID "1005" Position [560, 105, 590, 135] Value "[0 0]" } Block { BlockType DataTypeConversion Name "Data Type Conversion1" SID "1006" Position [305, 153, 380, 187] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Gain Name "Gain2" SID "1007" Position [350, 95, 380, 125] Gain "-1" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType HitCross Name "Hit \nCrossing" SID "1008" Ports [1, 1] Position [250, 155, 280, 185] HitCrossingOffset "1.5" HitCrossingDirection "rising" } Block { BlockType Memory Name "Memory" SID "1009" Position [495, 190, 525, 220] BlockMirror on } Block { BlockType Mux Name "Mux1" SID "1010" Ports [2, 1] Position [455, 13, 460, 142] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Product Name "Product" SID "1011" Ports [2, 1] Position [305, 27, 335, 58] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product1" SID "1012" Ports [2, 1] Position [305, 92, 335, 123] ShowName off InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch" SID "1013" Position [610, 175, 640, 205] Threshold "1.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch1" SID "1014" Position [610, 75, 640, 105] Threshold "1.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch2" SID "1015" Position [500, 155, 530, 185] ShowName off Criteria "u2 > Threshold" Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Trigonometry Name "Trigonometric\nFunction1" SID "1016" Ports [1, 1] Position [250, 100, 280, 130] ShowName off Operator "cos" } Block { BlockType Trigonometry Name "Trigonometric\nFunction2" SID "1017" Ports [1, 1] Position [250, 20, 280, 50] ShowName off } Block { BlockType Constant Name "robot-ball distance" SID "1018" Position [155, 60, 185, 90] Value "get_global_par('BALLROBOTDIST')" } Block { BlockType Outport Name "dynamic rotation part xy" SID "1019" Position [725, 83, 755, 97] IconDisplay "Port number" } Block { BlockType Outport Name "static rotation part xy" SID "1020" Position [725, 183, 755, 197] Port "2" IconDisplay "Port number" } Line { SrcBlock "phi" SrcPort 1 Points [145, 0] Branch { Points [0, 80] DstBlock "Trigonometric\nFunction1" DstPort 1 } Branch { DstBlock "Trigonometric\nFunction2" DstPort 1 } } Line { SrcBlock "Trigonometric\nFunction1" SrcPort 1 DstBlock "Product1" DstPort 2 } Line { SrcBlock "Trigonometric\nFunction2" SrcPort 1 DstBlock "Product" DstPort 1 } Line { SrcBlock "Gain2" SrcPort 1 Points [0, 0] DstBlock "Mux1" DstPort 2 } Line { SrcBlock "Product" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "Mux1" SrcPort 1 Points [0, 0; 20, 0] Branch { DstBlock "Switch2" DstPort 1 } Branch { DstBlock "Switch1" DstPort 1 } } Line { SrcBlock "Product1" SrcPort 1 DstBlock "Gain2" DstPort 1 } Line { SrcBlock "skill ID" SrcPort 1 Points [145, 0] Branch { DstBlock "Hit \nCrossing" DstPort 1 } Branch { Points [0, 60; 320, 0; 0, -40] Branch { DstBlock "Switch" DstPort 2 } Branch { Points [0, -100] DstBlock "Switch1" DstPort 2 } } } Line { SrcBlock "Hit \nCrossing" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 Points [0, 0] DstBlock "Switch2" DstPort 2 } Line { SrcBlock "Switch2" SrcPort 1 Points [0, 0; 5, 0] Branch { Points [55, 0] DstBlock "Switch" DstPort 1 } Branch { DstBlock "Memory" DstPort 1 } } Line { SrcBlock "Constant" SrcPort 1 Points [0, 0] DstBlock "Switch" DstPort 3 } Line { SrcBlock "Switch" SrcPort 1 Points [0, 0] DstBlock "static rotation part xy" DstPort 1 } Line { SrcBlock "Constant2" SrcPort 1 DstBlock "Switch1" DstPort 3 } Line { SrcBlock "Switch1" SrcPort 1 Points [0, 0] DstBlock "dynamic rotation part xy" DstPort 1 } Line { SrcBlock "robot-ball distance" SrcPort 1 Points [100, 0] Branch { DstBlock "Product" DstPort 2 } Branch { DstBlock "Product1" DstPort 1 } } Line { SrcBlock "Memory" SrcPort 1 Points [-5, 0] DstBlock "Switch2" DstPort 3 } } } Block { BlockType S-Function Name "trajectory planner xy" SID "1021" Ports [1, 2] Position [305, 253, 420, 297] FunctionName "trajectoryplanner" EnableBusSupport off } Block { BlockType Outport Name "cur_xydot" SID "1022" Position [1005, 393, 1035, 407] IconDisplay "Port number" } Block { BlockType Outport Name "xy_ball_dribble" SID "1023" Position [1005, 453, 1035, 467] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "xy" SID "1024" Position [1005, 293, 1035, 307] Port "3" IconDisplay "Port number" } Line { SrcBlock "Mux" SrcPort 1 DstBlock "trajectory planner xy" DstPort 1 } Line { SrcBlock "parking brake" SrcPort 1 Points [0, -5] DstBlock "position reset: skill ID switching, control enable" DstPort 2 } Line { SrcBlock "trajectory planner xy" SrcPort 2 Points [30, 0] DstBlock "parking brake" DstPort 2 } Line { Labels [1, 0] SrcBlock "skill ID" SrcPort 1 DstBlock "Data Type Conversion3" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 Points [10, 0] Branch { Points [0, -200; -800, 0; 0, 245] DstBlock "Mux" DstPort 5 } Branch { DstBlock "Sum1" DstPort 2 } } Line { SrcBlock "Sum1" SrcPort 1 Points [10, 0] Branch { DstBlock "Switch3" DstPort 1 } Branch { Points [0, 210] Branch { Points [-400, 0] DstBlock "Unit Delay" DstPort 1 } Branch { DstBlock "xy_ball_dribble" DstPort 1 } } } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Mux" DstPort 2 } Line { SrcBlock "Constant2" SrcPort 1 DstBlock "Mux" DstPort 4 } Line { SrcBlock "Demux1" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Demux1" SrcPort 2 DstBlock "Mux" DstPort 3 } Line { SrcBlock "position reset: skill ID switching, control enable" SrcPort 4 Points [10, 0] Branch { DstBlock "cur_xydot" DstPort 1 } Branch { Points [0, 85; -740, 0; 0, -150] DstBlock "Mux" DstPort 6 } } Line { SrcBlock "Switch3" SrcPort 1 DstBlock "xy" DstPort 1 } Line { SrcBlock "position reset: skill ID switching, control enable" SrcPort 2 DstBlock "Switch3" DstPort 2 } Line { SrcBlock "robot_pos" SrcPort 1 DstBlock "position reset: skill ID switching, control enable" DstPort 3 } Line { SrcBlock "control_enable" SrcPort 1 Points [10, 0] Branch { DstBlock "position reset: skill ID switching, control enable" DstPort 4 } Branch { Points [0, -70] DstBlock "parking brake" DstPort 3 } } Line { SrcBlock "phi" SrcPort 1 DstBlock "rotation part to rotate around ball" DstPort 1 } Line { SrcBlock "Unit Delay" SrcPort 1 DstBlock "position reset: skill ID switching, control enable" DstPort 5 } Line { SrcBlock "trajectory planner xy" SrcPort 1 DstBlock "parking brake" DstPort 1 } Line { SrcBlock "va_max" SrcPort 1 DstBlock "Mux" DstPort 7 } Line { SrcBlock "Data Type Conversion3" SrcPort 1 Points [30, 0] Branch { DstBlock "rotation part to rotate around ball" DstPort 2 } Branch { Points [0, 70] DstBlock "position reset: skill ID switching, control enable" DstPort 1 } } Line { SrcBlock "position reset: skill ID switching, control enable" SrcPort 1 DstBlock "Sum" DstPort 2 } Line { SrcBlock "rotation part to rotate around ball" SrcPort 2 Points [40, 0] Branch { DstBlock "Sum" DstPort 1 } Branch { Points [0, -100; -690, 0] DstBlock "Sum2" DstPort 1 } } Line { SrcBlock "rotation part to rotate around ball" SrcPort 1 Points [100, 0] DstBlock "Sum1" DstPort 1 } Line { SrcBlock "position reset: skill ID switching, control enable" SrcPort 3 DstBlock "Switch3" DstPort 3 } Line { SrcBlock "subtarget xy" SrcPort 1 DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Sum2" SrcPort 1 DstBlock "Demux1" DstPort 1 } Line { SrcBlock "turn flag" SrcPort 1 Points [0, -20] DstBlock "parking brake" DstPort 4 } Line { SrcBlock "robotID" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "Mux" DstPort 8 } } } Block { BlockType Outport Name "pose_g_robot_ref" SID "1025" Position [1465, 488, 1495, 502] IconDisplay "Port number" } Block { BlockType Outport Name "cur_dxdy" SID "1026" Position [970, 193, 1000, 207] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "va_max" SID "1027" Position [665, 253, 695, 267] Port "3" IconDisplay "Port number" } Line { SrcBlock "phi trajectory planner" SrcPort 1 Points [20, 0] Branch { DstBlock "Mux1" DstPort 2 } Branch { Points [0, 205; -685, 0; 0, -370] DstBlock "xy trajectory planner" DstPort 5 } } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "pose_g_robot_ref" DstPort 1 } Line { SrcBlock "xy trajectory planner" SrcPort 3 Points [505, 0] DstBlock "Mux1" DstPort 1 } Line { SrcBlock "phi trajectory planner" SrcPort 2 Points [10, 0; 0, 80] DstBlock "Unit Delay" DstPort 1 } Line { SrcBlock "Bus decoder1" SrcPort 4 Points [370, 0; 0, -30; 235, 0; 0, 155] DstBlock "phimaker" DstPort 6 } Line { SrcBlock "xy trajectory planner" SrcPort 2 Points [30, 0; 0, -80] DstBlock "phimaker" DstPort 5 } Line { SrcBlock "phimaker" SrcPort 1 Points [15, 0; 0, 335] DstBlock "phi trajectory planner" DstPort 1 } Line { SrcBlock "trajectory planner preprocessor" SrcPort 1 Points [0, -15; 35, 0] Branch { Points [80, 0] DstBlock "xy trajectory planner" DstPort 2 } Branch { DstBlock "va_max" DstPort 1 } } Line { SrcBlock "Bus decoder" SrcPort 1 Points [35, 0] Branch { DstBlock "trajectory planner preprocessor" DstPort 6 } Branch { Points [0, -40; 395, 0] DstBlock "xy trajectory planner" DstPort 4 } Branch { Points [0, 295] DstBlock "phi trajectory planner" DstPort 4 } } Line { SrcBlock "Bus decoder1" SrcPort 2 Points [0, 5] DstBlock "(sub)target filtering + global to local" DstPort 3 } Line { SrcBlock "Bus decoder1" SrcPort 1 Points [60, 0] Branch { DstBlock "(sub)target filtering + global to local" DstPort 2 } Branch { Points [0, 95; 315, 0; 0, -45; 225, 0; 0, 230] DstBlock "phimaker" DstPort 8 } } Line { SrcBlock "From3" SrcPort 1 DstBlock "(sub)target filtering + global to local" DstPort 1 } Line { SrcBlock "Bus decoder1" SrcPort 3 Points [75, 0] DstBlock "(sub)target filtering + global to local" DstPort 4 } Line { SrcBlock "xy trajectory planner" SrcPort 1 Points [5, 0] Branch { Points [0, 450] DstBlock "Unit Delay1" DstPort 1 } Branch { Points [45, 0] Branch { Points [0, -25] DstBlock "cur_dxdy" DstPort 1 } Branch { Points [90, 0] DstBlock "phimaker" DstPort 4 } } } Line { SrcBlock "strategybus" SrcPort 1 DstBlock "trajectory planner preprocessor" DstPort 4 } Line { SrcBlock "Bus decoder1" SrcPort 5 Points [50, 0; 0, 20] DstBlock "trajectory planner preprocessor" DstPort 1 } Line { SrcBlock "Unit Delay" SrcPort 1 Points [-80, 0; 0, -380] DstBlock "trajectory planner preprocessor" DstPort 5 } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [-160, 0; 0, -275] DstBlock "trajectory planner preprocessor" DstPort 7 } Line { SrcBlock "(sub)target filtering + global to local" SrcPort 2 Points [320, 0; 0, 65] DstBlock "phimaker" DstPort 3 } Line { SrcBlock "From18" SrcPort 1 DstBlock "phimaker" DstPort 7 } Line { SrcBlock "trajectory planner preprocessor" SrcPort 3 Points [0, 160] DstBlock "phi trajectory planner" DstPort 3 } Line { SrcBlock "(sub)target filtering + global to local" SrcPort 1 Points [400, 0; 0, 65] DstBlock "phimaker" DstPort 2 } Line { SrcBlock "(sub)target filtering + global to local" SrcPort 3 Points [110, 0] Branch { DstBlock "xy trajectory planner" DstPort 1 } Branch { Points [165, 0; 0, 265] DstBlock "phimaker" DstPort 9 } } Line { SrcBlock "trajectory planner preprocessor" SrcPort 2 Points [10, 0; 0, -65] Branch { Points [105, 0] DstBlock "xy trajectory planner" DstPort 3 } Branch { Points [0, -190] DstBlock "phimaker" DstPort 1 } } Line { SrcBlock "phimaker" SrcPort 2 Points [0, 190; -430, 0; 0, -95] DstBlock "xy trajectory planner" DstPort 7 } Line { SrcBlock "Motion_tuning_bus" SrcPort 1 DstBlock "trajectory planner preprocessor" DstPort 3 } Line { SrcBlock "Unit Delay2" SrcPort 1 Points [110, 0] Branch { DstBlock "phi trajectory planner" DstPort 2 } Branch { Points [0, -150] DstBlock "xy trajectory planner" DstPort 6 } } Line { SrcBlock "control enable,\namps on" SrcPort 1 DstBlock "Unit Delay2" DstPort 1 } Line { SrcBlock "motionbus" SrcPort 1 DstBlock "Bus decoder" DstPort 1 } Line { SrcBlock "actionsbus" SrcPort 1 DstBlock "Bus decoder1" DstPort 1 } Line { SrcBlock "Bus decoder1" SrcPort 6 Points [45, 0; 0, 25] DstBlock "trajectory planner preprocessor" DstPort 2 } Line { SrcBlock "TRCbus" SrcPort 1 DstBlock "Bus decoder2" DstPort 1 } Line { SrcBlock "Bus decoder2" SrcPort 1 Points [15, 0] Branch { Points [415, 0] DstBlock "xy trajectory planner" DstPort 8 } Branch { Points [0, -80] DstBlock "trajectory planner preprocessor" DstPort 8 } } Line { SrcBlock "From1" SrcPort 1 DstBlock "trajectory planner preprocessor" DstPort 9 } Line { SrcBlock "Bus decoder1" SrcPort 7 Points [25, 0; 0, 240] DstBlock "trajectory planner preprocessor" DstPort 10 } } } Block { BlockType Outport Name "controlbus" SID "1028" Position [935, 753, 965, 767] BackgroundColor "gray" IconDisplay "Port number" } Line { SrcBlock "keeper frame control" SrcPort 1 Points [10, 0] Branch { Points [0, -50; -175, 0; 0, -75] DstBlock "LED control" DstPort 2 } Branch { DstBlock "Goto19" DstPort 1 } } Line { SrcBlock "manual control (joystick)" SrcPort 2 DstBlock "kick control" DstPort 1 } Line { SrcBlock "manual control (joystick)" SrcPort 3 DstBlock "kick control" DstPort 2 } Line { SrcBlock "motion emergency handler:\namplifier and power control" SrcPort 1 Points [275, 0; 0, -70] DstBlock "kick control" DstPort 3 } Line { SrcBlock "motion emergency handler:\namplifier and power control" SrcPort 2 Points [10, 0] Branch { Points [0, 385] DstBlock "keeper frame control" DstPort 2 } Branch { DstBlock "Goto7" DstPort 1 } } Line { SrcBlock "manual control (joystick)" SrcPort 4 Points [5, 0; 0, 35] Branch { Points [-160, 0] DstBlock "motion emergency handler:\namplifier and power control" DstPort 1 } Branch { Points [260, 0; 0, 105] DstBlock "kick control" DstPort 7 } } Line { SrcBlock "motion emergency handler:\namplifier and power control" SrcPort 6 Points [5, 0] Branch { DstBlock "Goto4" DstPort 1 } Branch { Points [0, 70; -165, 0; 0, 40] DstBlock "trajectory planner" DstPort 1 } } Line { SrcBlock "motionbus" SrcPort 1 Points [50, 0] Branch { Points [0, 105] Branch { Points [0, 0; 455, 0] Branch { Points [0, -185] DstBlock "kick control" DstPort 4 } Branch { DstBlock "ballhandling control" DstPort 2 } Branch { Points [0, 110] Branch { DstBlock "LED control" DstPort 1 } Branch { Points [0, 225] DstBlock "Dxl control Keeper" DstPort 1 } } } Branch { Points [0, 100] DstBlock "trajectory planner" DstPort 2 } } Branch { Points [0, 0] DstBlock "motion emergency handler:\namplifier and power control" DstPort 2 } } Line { SrcBlock "trajectory planner" SrcPort 2 DstBlock "Goto1" DstPort 1 } Line { SrcBlock "Motion_tuning_bus" SrcPort 1 Points [15, 0] Branch { Points [0, 90] DstBlock "trajectory planner" DstPort 3 } Branch { Points [0, 35] Branch { Points [0, 0; 460, 0] Branch { Points [0, -210] DstBlock "kick control" DstPort 5 } Branch { DstBlock "ballhandling control" DstPort 5 } } Branch { Points [0, -380] DstBlock "manual control (joystick)" DstPort 1 } } } Line { SrcBlock "visionbus" SrcPort 1 DstBlock "keeper frame control" DstPort 1 } Line { SrcBlock "actionsbus" SrcPort 1 Points [40, 0] Branch { DstBlock "trajectory planner" DstPort 4 } Branch { Points [0, -65] Branch { Points [0, -90] Branch { DstBlock "motion emergency handler:\namplifier and power control" DstPort 4 } Branch { Points [0, -195] DstBlock "manual control (joystick)" DstPort 3 } } Branch { Points [450, 0; 0, 15] Branch { Points [0, 105] DstBlock "LED control" DstPort 4 } Branch { DstBlock "ballhandling control" DstPort 6 } } } } Line { SrcBlock "kick control" SrcPort 6 DstBlock "Sum" DstPort 1 } Line { SrcBlock "kick control" SrcPort 7 Points [5, 0; 0, 95; -160, 0] DstBlock "ballhandling control" DstPort 1 } Line { SrcBlock "kick control" SrcPort 3 DstBlock "Goto12" DstPort 1 } Line { SrcBlock "motion emergency handler:\namplifier and power control" SrcPort 5 Points [470, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "strategybus" SrcPort 1 Points [50, 0] Branch { DstBlock "trajectory planner" DstPort 6 } Branch { Points [0, 15; 465, 0; 0, -135] DstBlock "ballhandling control" DstPort 4 } } Line { SrcBlock "create controlbus" SrcPort 1 DstBlock "controlbus" DstPort 1 } Line { SrcBlock "trajectory planner" SrcPort 3 DstBlock "Goto3" DstPort 1 } Line { SrcBlock "trajectory planner" SrcPort 1 DstBlock "Goto2" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Goto6" DstPort 1 } Line { SrcBlock "motion emergency handler:\namplifier and power control" SrcPort 4 DstBlock "Goto5" DstPort 1 } Line { SrcBlock "motion emergency handler:\namplifier and power control" SrcPort 3 DstBlock "Goto8" DstPort 1 } Line { SrcBlock "manual control (joystick)" SrcPort 1 DstBlock "Goto9" DstPort 1 } Line { SrcBlock "ballhandling control" SrcPort 1 DstBlock "Goto14" DstPort 1 } Line { SrcBlock "ballhandling control" SrcPort 2 DstBlock "Goto15" DstPort 1 } Line { SrcBlock "kick control" SrcPort 1 DstBlock "Goto10" DstPort 1 } Line { SrcBlock "kick control" SrcPort 2 DstBlock "Goto11" DstPort 1 } Line { SrcBlock "kick control" SrcPort 4 DstBlock "Goto13" DstPort 1 } Line { SrcBlock "kick control" SrcPort 5 DstBlock "Goto18" DstPort 1 } Line { SrcBlock "TRCbus" SrcPort 1 Points [20, 0] Branch { Points [0, -140] Branch { Points [0, -415] Branch { DstBlock "manual control (joystick)" DstPort 2 } Branch { Points [0, 205] DstBlock "motion emergency handler:\namplifier and power control" DstPort 3 } } Branch { DstBlock "trajectory planner" DstPort 5 } } Branch { Points [435, 0; 0, 0] Branch { DstBlock "keeper frame control" DstPort 3 } Branch { Points [0, -125] Branch { DstBlock "LED control" DstPort 3 } Branch { Points [0, -140] Branch { Points [0, -135] DstBlock "kick control" DstPort 6 } Branch { DstBlock "ballhandling control" DstPort 3 } } } } } Line { SrcBlock "LED control" SrcPort 1 DstBlock "Goto20" DstPort 1 } Line { SrcBlock "LED control" SrcPort 2 DstBlock "Goto21" DstPort 1 } Line { SrcBlock "kick control" SrcPort 8 DstBlock "Goto16" DstPort 1 } Line { SrcBlock "Dxl control Keeper" SrcPort 1 DstBlock "Goto23" DstPort 1 } Line { SrcBlock "RS485_422_CH1" SrcPort 1 DstBlock "Terminator4" DstPort 1 } Line { SrcBlock "Constant3" SrcPort 1 DstBlock "Goto22" DstPort 1 } Line { SrcBlock "ballhandling control" SrcPort 3 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "kick control" SrcPort 9 DstBlock "Goto17" DstPort 1 } } } Block { BlockType SubSystem Name "sensor fusion" SID "1029" Ports [6, 2] Position [350, 458, 490, 642] BackgroundColor "[0.710000, 0.820000, 0.120000]" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "sensor fusion" Location [390, 145, 1019, 896] 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 "motionbus" SID "1030" Position [35, 493, 65, 507] ForegroundColor "green" IconDisplay "Port number" } Block { BlockType Inport Name "visionbus" SID "1031" Position [40, 543, 70, 557] ForegroundColor "yellow" Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "Strategy_tuning_bus" SID "1032" Position [40, 243, 70, 257] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "teambus" SID "1033" Position [40, 383, 70, 397] ForegroundColor "red" Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "LRFbus" SID "1034" Position [40, 593, 70, 607] ForegroundColor "gray" Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "control bus" SID "1035" Position [40, 683, 70, 697] ForegroundColor "gray" Port "6" IconDisplay "Port number" } Block { BlockType Goto Name "Goto1" SID "1036" Position [435, 331, 550, 349] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off GotoTag "ball_xyzdxdydz" TagVisibility "global" } Block { BlockType Goto Name "Goto10" SID "1037" Position [435, 666, 550, 684] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off GotoTag "CPBmerged" TagVisibility "global" } Block { BlockType Goto Name "Goto11" SID "1038" Position [435, 411, 550, 429] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off GotoTag "ball_found_by_teammate" TagVisibility "global" } Block { BlockType Goto Name "Goto2" SID "1039" Position [435, 481, 550, 499] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off GotoTag "cur_xyo" TagVisibility "global" } Block { BlockType Goto Name "Goto3" SID "1040" Position [435, 601, 550, 619] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off GotoTag "LaserPoseFound" TagVisibility "global" } Block { BlockType Goto Name "Goto4" SID "1041" Position [435, 126, 550, 144] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off GotoTag "froncam_lobbal_trigger" TagVisibility "global" } Block { BlockType Goto Name "Goto5" SID "1042" Position [435, 251, 550, 269] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off GotoTag "ballFoundForStrategy" TagVisibility "global" } Block { BlockType Goto Name "Goto6" SID "1043" Position [435, 291, 550, 309] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off GotoTag "OVseeBall" TagVisibility "global" } Block { BlockType Goto Name "Goto7" SID "1044" Position [435, 521, 550, 539] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off GotoTag "motion_offset" TagVisibility "global" } Block { BlockType Goto Name "Goto8" SID "1045" Position [435, 561, 550, 579] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off GotoTag "cur_xyo_at_l2g_vision" TagVisibility "global" } Block { BlockType Goto Name "Goto9" SID "1046" Position [435, 371, 550, 389] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off GotoTag "ball_pos_nearest_teammate" TagVisibility "global" } Block { BlockType S-Function Name "Merge CPB from LRF and ARM" SID "1047" Ports [2, 1] Position [215, 647, 380, 703] FunctionName "cpb_merge" EnableBusSupport off MaskDisplay "port_label('input',1,'LRFbus')\nport_label('input',2,'ControlBus')\nport_label('output',1,'C" "PB_merged')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType SubSystem Name "Subsystem" SID "1048" Ports [3, 3] Position [215, 87, 380, 143] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem" Location [331, 316, 1246, 498] 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 "motionbus1" SID "1049" Position [25, 63, 55, 77] ForegroundColor "green" IconDisplay "Port number" } Block { BlockType Inport Name "cur_xyo" SID "1050" Position [485, 93, 515, 107] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "kinectToFc" SID "1051" Position [485, 123, 515, 137] Port "3" IconDisplay "Port number" } Block { BlockType Constant Name "Constant3" SID "1052" Position [110, 55, 140, 85] NamePlacement "alternate" ShowName off Value "zeros(276,1)" OutDataTypeStr "int8" SampleTime "0" } Block { BlockType S-Function Name "FcCoord2global" SID "1053" Ports [4, 1] Position [545, 27, 690, 143] FunctionName "frontcam2global" EnableBusSupport off MaskDisplay "port_label('input',1,'BALLS struct')\nport_label('input',2,'dist lens - ball')\nport_label('input'" ",3,'cur_xyo')\nport_label('input',4,'Kinect_to_FC')\nport_label('output',1,'BallsOutStruc')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType S-Function Name "RS422ToFCcoord" SID "1054" Ports [1, 4] Position [170, 26, 350, 114] FunctionName "ec_vpu" EnableBusSupport off MaskDisplay "port_label('input',1,'motionbus')\nport_label('output',1,'BALLS struct')\nport_label('output',2,'d" "ist lens - ball')\nport_label('output',3,'RS485_CH1')\nport_label('output',4,'FC lob trigger')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType Terminator Name "Terminator4" SID "1055" Position [75, 60, 95, 80] ShowName off } Block { BlockType Outport Name "RS485_CH1" SID "1056" Position [405, 73, 435, 87] IconDisplay "Port number" } Block { BlockType Outport Name "fc_ball_xyzct" SID "1057" Position [735, 78, 765, 92] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "frontcam_lobbal_trigger" SID "1058" Position [405, 123, 435, 137] Port "3" IconDisplay "Port number" } Line { SrcBlock "RS422ToFCcoord" SrcPort 1 DstBlock "FcCoord2global" DstPort 1 } Line { SrcBlock "RS422ToFCcoord" SrcPort 2 Points [0, 10] DstBlock "FcCoord2global" DstPort 2 } Line { SrcBlock "FcCoord2global" SrcPort 1 DstBlock "fc_ball_xyzct" DstPort 1 } Line { SrcBlock "cur_xyo" SrcPort 1 DstBlock "FcCoord2global" DstPort 3 } Line { SrcBlock "RS422ToFCcoord" SrcPort 3 DstBlock "RS485_CH1" DstPort 1 } Line { SrcBlock "kinectToFc" SrcPort 1 DstBlock "FcCoord2global" DstPort 4 } Line { SrcBlock "RS422ToFCcoord" SrcPort 4 Points [15, 0; 0, 30] DstBlock "frontcam_lobbal_trigger" DstPort 1 } Line { SrcBlock "motionbus1" SrcPort 1 DstBlock "Terminator4" DstPort 1 } Line { SrcBlock "Constant3" SrcPort 1 DstBlock "RS422ToFCcoord" DstPort 1 } } } Block { BlockType SubSystem Name "ball update" SID "1059" Ports [7, 6] Position [215, 195, 380, 445] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "ball update" Location [122, 108, 1644, 957] 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 "frontcamdata" SID "1060" Position [330, 618, 360, 632] IconDisplay "Port number" } Block { BlockType Inport Name "Strategy_tuning_bus" SID "1061" Position [205, 643, 235, 657] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "motionbus" SID "1062" Position [205, 518, 235, 532] ForegroundColor "green" Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "visionbus" SID "1063" Position [205, 468, 235, 482] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "cur_xyo" SID "1064" Position [205, 438, 235, 452] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "teambus" SID "1065" Position [205, 398, 235, 412] ForegroundColor "red" Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "LRFbus" SID "1066" Position [205, 593, 235, 607] ForegroundColor "gray" Port "7" IconDisplay "Port number" } Block { BlockType SubSystem Name "Kinect" SID "1067" Ports [1, 1] Position [305, 561, 440, 589] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Kinect" Location [339, 161, 964, 417] 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 "cur xyo" SID "1068" Position [30, 53, 60, 67] IconDisplay "Port number" } Block { BlockType SubSystem Name "Protected Rate Transition" SID "1069" Ports [1, 1] Position [485, 56, 545, 114] BackgroundColor "red" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskType "ProtectedRateTransition" MaskDescription "Handle transfer of data between ports operating at different rates. Data transfer is protec" "ted by a semaphore. To be used only in combination with MultiTasking Target for Linux." MaskPromptString "Output port sample time:" MaskStyleString "edit" MaskVariables "period=@1;" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "Ts" System { Name "Protected Rate Transition" Location [412, 665, 1226, 990] 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 "In" SID "1070" Position [35, 138, 65, 152] IconDisplay "Port number" } Block { BlockType DataTypeConversion Name "Data Type Conversion2" SID "1071" Position [85, 128, 160, 162] NamePlacement "alternate" ShowName off OutDataTypeStr "double" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType S-Function Name "S-Function1" SID "1072" Ports [1, 2] Position [185, 103, 320, 187] BackgroundColor "red" FunctionName "sf_protected_write_output" EnableBusSupport off } Block { BlockType S-Function Name "S-Function2" SID "1073" Ports [2, 1] Position [400, 103, 525, 187] BackgroundColor "green" FunctionName "sf_protected_read_input" Parameters "period" EnableBusSupport off } Block { BlockType Outport Name "Out" SID "1074" Position [595, 138, 625, 152] IconDisplay "Port number" } Line { SrcBlock "Data Type Conversion2" SrcPort 1 DstBlock "S-Function1" DstPort 1 } Line { SrcBlock "S-Function2" SrcPort 1 DstBlock "Out" DstPort 1 } Line { SrcBlock "In" SrcPort 1 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "S-Function1" SrcPort 2 DstBlock "S-Function2" DstPort 2 } Line { SrcBlock "S-Function1" SrcPort 1 DstBlock "S-Function2" DstPort 1 } } } Block { BlockType SubSystem Name "Subsystem triggered \nby trigger of Task Block" SID "1075" Ports [1, 1, 1] Position [295, 64, 395, 106] TreatAsAtomicUnit on MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Subsystem triggered \nby trigger of Task Block" Location [421, 301, 919, 601] 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 "In" SID "1076" Position [105, 143, 135, 157] IconDisplay "Port number" } Block { BlockType EnablePort Name "Enable" SID "1077" Ports [] Position [235, 20, 255, 40] } Block { BlockType Mux Name "Mux" SID "1078" Ports [5, 1] Position [300, 111, 305, 189] ShowName off Inputs "5" DisplayOption "bar" } Block { BlockType S-Function Name "S-Function" SID "1079" Ports [1, 5] Position [180, 114, 245, 186] FunctionName "sf_kinect" EnableBusSupport off } Block { BlockType Outport Name "Out" SID "1080" Position [345, 143, 375, 157] IconDisplay "Port number" } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 2 DstBlock "Mux" DstPort 2 } Line { SrcBlock "S-Function" SrcPort 3 DstBlock "Mux" DstPort 3 } Line { SrcBlock "S-Function" SrcPort 4 DstBlock "Mux" DstPort 4 } Line { SrcBlock "In" SrcPort 1 DstBlock "S-Function" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "Out" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 5 DstBlock "Mux" DstPort 5 } } } Block { BlockType SubSystem Name "Task Block" SID "1081" Ports [2, 3] Position [95, 28, 215, 142] BackgroundColor "[0.419453, 0.518498, 1.000000]" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskType "Task Parameters" MaskDescription "The task block has to be used to create a subtask which is not\nrunning at the base rate bu" "t is triggered by an external signal.\nThe subtask has to be put in an enabled subsytem enabled by this block.\n" "All inputs of the subtask have to be led to the subtask via \nthis block. The ready flag will be high when the s" "ubtaks is ready." MaskPromptString "CPU Affinity|Priority (1=low, 99=high)|Period in s|Ignition for self-triggering" MaskStyleString "popup(cpu 0|cpu 1|cpu 2|cpu 3),edit,edit,checkbox" MaskVariables "cpu=@1;tkpriority=@2;period=@3;ignition=@4;" MaskTunableValueString "on,on,on,on" MaskCallbackString "|||" MaskEnableString "on,on,on,on" MaskVisibilityString "on,on,off,on" MaskToolTipString "on,on,on,on" MaskInitialization "period=1.007;" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "cpu 0|90||on" System { Name "Task Block" Location [654, 183, 1504, 896] 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 "Inputs" SID "1082" Position [210, 423, 240, 437] IconDisplay "Port number" } Block { BlockType Inport Name "Trigger" SID "1083" Position [290, 113, 320, 127] Port "2" IconDisplay "Port number" } Block { BlockType SubSystem Name "Protected Rate Transition" SID "1084" Ports [1, 1] Position [295, 401, 355, 459] BackgroundColor "red" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskType "ProtectedRateTransition" MaskDescription "Handle transfer of data between ports operating at different rates. Data transfer is protec" "ted by a semaphore. To be used only in combination with MultiTasking Target for Linux." MaskPromptString "Output port sample time:" MaskStyleString "edit" MaskVariables "period=@1;" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "period" System { Name "Protected Rate Transition" Location [412, 665, 1226, 990] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "In1" SID "1085" Position [80, 138, 110, 152] IconDisplay "Port number" } Block { BlockType S-Function Name "S-Function1" SID "1086" Ports [1, 2] Position [185, 103, 320, 187] BackgroundColor "red" FunctionName "sf_protected_write_output" EnableBusSupport off } Block { BlockType S-Function Name "S-Function2" SID "1087" Ports [2, 1] Position [355, 103, 480, 187] BackgroundColor "green" FunctionName "sf_protected_read_input" Parameters "period" EnableBusSupport off } Block { BlockType Outport Name "Out1" SID "1088" Position [550, 138, 580, 152] IconDisplay "Port number" } Line { SrcBlock "S-Function2" SrcPort 1 DstBlock "Out1" DstPort 1 } Line { SrcBlock "In1" SrcPort 1 DstBlock "S-Function1" DstPort 1 } Line { SrcBlock "S-Function1" SrcPort 2 DstBlock "S-Function2" DstPort 2 } Line { SrcBlock "S-Function1" SrcPort 1 DstBlock "S-Function2" DstPort 1 } } } Block { BlockType RateTransition Name "Rate Transition1" SID "1089" Position [285, 149, 325, 191] Deterministic off OutPortSampleTime "0" } Block { BlockType RateTransition Name "Rate Transition2" SID "1090" Position [410, 169, 450, 211] Deterministic off OutPortSampleTime "0" } Block { BlockType S-Function Name "S-Function" SID "1091" Ports [3, 1] Position [535, 141, 645, 199] BackgroundColor "red" FunctionName "sf_task_trigger" Parameters "ignition" EnableBusSupport off } Block { BlockType S-Function Name "Set Task Parameters" SID "1092" Ports [0, 2] Position [100, 153, 240, 222] BackgroundColor "green" FunctionName "sf_task_parameters" Parameters "cpu, tkpriority, period" EnableBusSupport off } Block { BlockType Outport Name "Enable" SID "1093" Position [595, 228, 625, 242] IconDisplay "Port number" } Block { BlockType Outport Name "Task Inputs" SID "1094" Position [415, 423, 445, 437] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "Ready" SID "1095" Position [690, 163, 720, 177] Port "3" IconDisplay "Port number" } Line { SrcBlock "Rate Transition2" SrcPort 1 DstBlock "S-Function" DstPort 3 } Line { SrcBlock "Set Task Parameters" SrcPort 2 Points [20, 0; 0, 30; 80, 0] Branch { Points [0, -45] DstBlock "Rate Transition2" DstPort 1 } Branch { DstBlock "Enable" DstPort 1 } } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "Ready" DstPort 1 } Line { SrcBlock "Rate Transition1" SrcPort 1 DstBlock "S-Function" DstPort 2 } Line { SrcBlock "Set Task Parameters" SrcPort 1 DstBlock "Rate Transition1" DstPort 1 } Line { SrcBlock "Trigger" SrcPort 1 Points [105, 0; 0, 30] DstBlock "S-Function" DstPort 1 } Line { SrcBlock "Inputs" SrcPort 1 DstBlock "Protected Rate Transition" DstPort 1 } Line { SrcBlock "Protected Rate Transition" SrcPort 1 DstBlock "Task Inputs" DstPort 1 } } } Block { BlockType UnitDelay Name "Unit Delay" SID "1096" Position [145, 198, 180, 232] BlockMirror on SampleTime "Ts" } Block { BlockType Outport Name "Kinectball" SID "1097" Position [570, 78, 600, 92] IconDisplay "Port number" } Line { SrcBlock "Unit Delay" SrcPort 1 Points [-70, 0; 0, -100] DstBlock "Task Block" DstPort 2 } Line { SrcBlock "Task Block" SrcPort 3 Points [0, 90] DstBlock "Unit Delay" DstPort 1 } Line { SrcBlock "Subsystem triggered \nby trigger of Task Block" SrcPort 1 DstBlock "Protected Rate Transition" DstPort 1 } Line { SrcBlock "Task Block" SrcPort 2 DstBlock "Subsystem triggered \nby trigger of Task Block" DstPort 1 } Line { SrcBlock "Task Block" SrcPort 1 Points [125, 0] DstBlock "Subsystem triggered \nby trigger of Task Block" DstPort enable } Line { SrcBlock "Protected Rate Transition" SrcPort 1 DstBlock "Kinectball" DstPort 1 } Line { SrcBlock "cur xyo" SrcPort 1 DstBlock "Task Block" DstPort 1 } } } Block { BlockType Mux Name "Mux4" SID "1098" Ports [2, 1] Position [1075, 379, 1080, 426] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType SubSystem Name "Tracker1" SID "1099" Ports [8, 5] Position [480, 466, 680, 659] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "Tracker1" Location [181, 203, 1656, 906] 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 "visionBus" SID "1100" Position [40, 108, 70, 122] IconDisplay "Port number" } Block { BlockType Inport Name "cur_xyo" SID "1101" Position [40, 168, 70, 182] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "motionBus" SID "1102" Position [40, 198, 70, 212] ForegroundColor "green" Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "teamBus" SID "1103" Position [40, 138, 70, 152] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "kinectball xyz conf t" SID "1104" Position [40, 288, 70, 302] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "LRFbus" SID "1105" Position [40, 228, 70, 242] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "frontcamBall xyz conf t" SID "1106" Position [40, 258, 70, 272] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "Strategy_tuning_bus" SID "1107" Position [40, 318, 70, 332] Port "8" IconDisplay "Port number" } Block { BlockType S-Function Name "Bus decoder" SID "1108" Ports [1, 1] Position [90, 196, 210, 214] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using th" "e busmanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |position_global_xyo|robot_active|position_local_xyo|tacho_left|tacho_right|ar" "m_left|arm_right|battery_voltage|motor_temperatures|panic_and_reset_switches|local_y_velocity|shoot_lever_encode" "r|SHTstatus|SHTValue|PWMmeasurement|velLocalRef_dxdydo|startBackupSoftwareSwitch|rs485ResultCh1|rs485ResultCh2|C" "AM1Status|Status|Counter|CAM1posX|0 |0 |0 " " |0 |0 |0 " " |0 |x |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |m" "emory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;bus_is_in=@2;var_name01=&3;var_name02=&4;var_name03=&5;var_name04=&6;var_name05=&7;v" "ar_name06=&8;var_name07=&9;var_name08=&10;var_name09=&11;var_name10=&12;var_name11=&13;var_name12=&14;var_name13=&" "15;var_name14=&16;var_name15=&17;var_name16=&18;var_name17=&19;var_name18=&20;var_name19=&21;var_name20=&22;var_na" "me21=&23;var_name22=&24;var_name23=&25;var_name24=&26;var_name25=&27;var_name26=&28;var_name27=&29;var_name28=&30;" "var_name29=&31;var_name30=&32;var_name31=&33;var_name32=&34;var_name33=&35;var_name34=&36;var_name35=&37;var_name3" "6=&38;var_name37=&39;var_name38=&40;var_name39=&41;var_name40=&42;var_name41=&43;var_name42=&44;var_name43=&45;var" "_name44=&46;var_name45=&47;var_name46=&48;var_name47=&49;var_name48=&50;var_name49=&51;var_name50=&52;var_name51=&" "53;var_name52=&54;var_name53=&55;var_name54=&56;var_name55=&57;var_name56=&58;var_name57=&59;var_name58=&60;var_na" "me59=&61;var_name60=&62;var_name61=&63;var_name62=&64;var_name63=&65;var_name64=&66;var_name65=&67;var_name66=&68;" "var_name67=&69;var_name68=&70;var_name69=&71;var_name70=&72;var_name71=&73;var_name72=&74;var_name73=&75;var_name7" "4=&76;var_name75=&77;var_name76=&78;var_name77=&79;var_name78=&80;var_name79=&81;var_name80=&82;var_name81=&83;var" "_name82=&84;var_name83=&85;var_name84=&86;var_name85=&87;var_name86=&88;var_name87=&89;var_name88=&90;var_name89=&" "91;var_name90=&92;var_name91=&93;var_name92=&94;var_name93=&95;var_name94=&96;var_name95=&97;var_name96=&98;var_na" "me97=&99;var_name98=&100;var_name99=&101;var_name100=&102;selected_bus=&103;var_ids=&104;checked_var_ids=&105;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_assign('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "|||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_assign('init');\n" MaskSelfModifiable on MaskDisplay "port_label('input',1,'frontcam_lobbal_trigger');\nport_label('input',2,'ballFoundForStrategy');\np" "ort_label('input',3,'OVseeBall');\nport_label('input',4,'ball_xyzdxdydz[6]');\nport_label('input',5,'ball_pos_near" "est_teammate[3]');\nport_label('input',6,'ball_found_by_teammate');\nport_label('input',7,'cur_xyo[3]');\nport_lab" "el('input',8,'motion_offset[3]');\nport_label('input',9,'cur_xyo_at_l2g_vision[3]');\nport_label('input',10,'laser" "_pose_found');\nport_label('input',11,'CPB_merged');\nport_label('output',1,'sensorfusionbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "sensorfusionbus|off|on|on|on|on|on|on|on|on|on|on|on|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|sensorfusionbus|1,2,3,4,5,6," "7,8,9,10,11,|1,2,3,4,5,6,7,8,9,10,11," } Block { BlockType From Name "From1" SID "1165" Position [75, 101, 190, 119] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "ballFoundForStrategy" TagVisibility "global" } Block { BlockType From Name "From10" SID "1166" Position [75, 371, 190, 389] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "CPBmerged" TagVisibility "global" } Block { BlockType From Name "From18" SID "1167" Position [75, 71, 190, 89] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "froncam_lobbal_trigger" TagVisibility "global" } Block { BlockType From Name "From2" SID "1168" Position [75, 131, 190, 149] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "OVseeBall" TagVisibility "global" } Block { BlockType From Name "From3" SID "1169" Position [75, 161, 190, 179] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "ball_xyzdxdydz" TagVisibility "global" } Block { BlockType From Name "From4" SID "1170" Position [75, 191, 190, 209] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "ball_pos_nearest_teammate" TagVisibility "global" } Block { BlockType From Name "From5" SID "1171" Position [75, 221, 190, 239] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "ball_found_by_teammate" TagVisibility "global" } Block { BlockType From Name "From6" SID "1172" Position [75, 251, 190, 269] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "cur_xyo" TagVisibility "global" } Block { BlockType From Name "From7" SID "1173" Position [75, 281, 190, 299] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "motion_offset" TagVisibility "global" } Block { BlockType From Name "From8" SID "1174" Position [75, 311, 190, 329] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "cur_xyo_at_l2g_vision" TagVisibility "global" } Block { BlockType From Name "From9" SID "1175" Position [75, 341, 190, 359] BackgroundColor "[0.710000, 0.820000, 0.120000]" ShowName off CloseFcn "tagdialog Close" GotoTag "LaserPoseFound" TagVisibility "global" } Block { BlockType Outport Name "sensorfusionbus" SID "1176" Position [485, 208, 515, 222] IconDisplay "Port number" } Line { SrcBlock "Bus assigner" SrcPort 1 Points [0, -15] DstBlock "sensorfusionbus" DstPort 1 } Line { SrcBlock "From18" SrcPort 1 DstBlock "Bus assigner" DstPort 1 } Line { SrcBlock "From1" SrcPort 1 DstBlock "Bus assigner" DstPort 2 } Line { SrcBlock "From2" SrcPort 1 DstBlock "Bus assigner" DstPort 3 } Line { SrcBlock "From3" SrcPort 1 DstBlock "Bus assigner" DstPort 4 } Line { SrcBlock "From4" SrcPort 1 DstBlock "Bus assigner" DstPort 5 } Line { SrcBlock "From5" SrcPort 1 DstBlock "Bus assigner" DstPort 6 } Line { SrcBlock "From6" SrcPort 1 DstBlock "Bus assigner" DstPort 7 } Line { SrcBlock "From7" SrcPort 1 DstBlock "Bus assigner" DstPort 8 } Line { SrcBlock "From8" SrcPort 1 DstBlock "Bus assigner" DstPort 9 } Line { SrcBlock "From9" SrcPort 1 DstBlock "Bus assigner" DstPort 10 } Line { SrcBlock "From10" SrcPort 1 DstBlock "Bus assigner" DstPort 11 } } } Block { BlockType SubSystem Name "position update" SID "1177" Ports [3, 4] Position [215, 474, 380, 626] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "position update" Location [103, 278, 1574, 970] 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 "motionbus" SID "1178" Position [440, 508, 470, 522] ForegroundColor "green" IconDisplay "Port number" } Block { BlockType Inport Name "visionbus" SID "1179" Position [15, 183, 45, 197] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "LRFbus" SID "1180" Position [345, 198, 375, 212] ForegroundColor "gray" Port "3" IconDisplay "Port number" } Block { BlockType S-Function Name " " SID "1181" Ports [4, 2] Position [595, 116, 730, 234] FunctionName "pose_selector" EnableBusSupport off MaskDisplay "port_label('input',1,'pose_xyo_ov')\nport_label('input',2,'pose_xyo_ov_found')\nport_label('input'" ",3,'pose_xyo_laser')\nport_label('input',4,'pose_xyo_laser_found')\n\nport_label('output',1,'pose_xyo')\nport_labe" "l('output',2,'Pose found')\n" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType S-Function Name "Bus decoder" SID "1182" Ports [1, 5] Position [70, 119, 245, 261] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using the bu" "smanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |pose_xyo_ov|pose_ov_found|ball_xyz_ov|ball_confidence_ov|ball_found_ov|ov_lob_det" "ected|obs_xy_xydot_r_for_strategy|image_time_ov|l2g_vision_time|ball_xyz_vxvyvz_est|obs_worldmodel_local_xyr|t_VL|" "vxcbdrf|cv|zfdbf|dssssssf|e4ffsd|0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |x |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |" "0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |" "0 |0 |0 |0 " " |0 |0 |0 " " |0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name06=&7;" "var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;var_name14=" "&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name21=&22;var_n" "ame22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29;var_name29=&30" ";var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_name36=&37;var_name" "37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=&44;var_name44=&45;va" "r_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;var_name51=&52;var_name52=" "&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name58=&59;var_name59=&60;var_n" "ame60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66;var_name66=&67;var_name67=&68" ";var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_name73=&74;var_name74=&75;var_name" "75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=&81;var_name81=&82;var_name82=&83;va" "r_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;var_name88=&89;var_name89=&90;var_name90=" "&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name95=&96;var_name96=&97;var_name97=&98;var_n" "ame98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'position_global_xyo[3]');\nport_label('input',1,'motionbus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "motionbus|on|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|motionbus|2,3,4,5,6,7,8,9,11" ",13,14,15,16,17,18,22,20,23,24,25,26,27,28,|2," } Block { BlockType S-Function Name "Bus decoder2" SID "1184" Ports [1, 2] Position [400, 173, 545, 237] BackgroundColor "cyan" FunctionName "sf_bus_decode" Parameters "sizes,offsets,portwidth,types,bus_size" EnableBusSupport off MaskType "Decode bus variables." MaskDescription "Bus decoder to obtain values of bus variables. \nBusses can be editted and created using the bu" "smanager. Note that deleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |ball_top_lrf|ball_top_lrf_f|pose_lrf|pose_lrf_f|ball_ground_lrf|lrf_on|cpb_lrf|ob" "st_lrf|WMLclipradius|WMLkscale|WMLmaxage|FixedShutterTime_us|joystickSkillID|joystickKickEffort|joystickOnOff|dsss" "sssf|e4ffsd|0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |" "0 |0 |0 |x " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |" "0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable_pardat" "a_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox" ",checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,check" "box,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,ch" "eckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,edit,edit,edit" MaskVariables "bus_name=&1;bus_is_in=@2;var_name01=&3;var_name02=&4;var_name03=&5;var_name04=&6;var_name05=&7;v" "ar_name06=&8;var_name07=&9;var_name08=&10;var_name09=&11;var_name10=&12;var_name11=&13;var_name12=&14;var_name13=&" "15;var_name14=&16;var_name15=&17;var_name16=&18;var_name17=&19;var_name18=&20;var_name19=&21;var_name20=&22;var_na" "me21=&23;var_name22=&24;var_name23=&25;var_name24=&26;var_name25=&27;var_name26=&28;var_name27=&29;var_name28=&30;" "var_name29=&31;var_name30=&32;var_name31=&33;var_name32=&34;var_name33=&35;var_name34=&36;var_name35=&37;var_name3" "6=&38;var_name37=&39;var_name38=&40;var_name39=&41;var_name40=&42;var_name41=&43;var_name42=&44;var_name43=&45;var" "_name44=&46;var_name45=&47;var_name46=&48;var_name47=&49;var_name48=&50;var_name49=&51;var_name50=&52;var_name51=&" "53;var_name52=&54;var_name53=&55;var_name54=&56;var_name55=&57;var_name56=&58;var_name57=&59;var_name58=&60;var_na" "me59=&61;var_name60=&62;var_name61=&63;var_name62=&64;var_name63=&65;var_name64=&66;var_name65=&67;var_name66=&68;" "var_name67=&69;var_name68=&70;var_name69=&71;var_name70=&72;var_name71=&73;var_name72=&74;var_name73=&75;var_name7" "4=&76;var_name75=&77;var_name76=&78;var_name77=&79;var_name78=&80;var_name79=&81;var_name80=&82;var_name81=&83;var" "_name82=&84;var_name83=&85;var_name84=&86;var_name85=&87;var_name86=&88;var_name87=&89;var_name88=&90;var_name89=&" "91;var_name90=&92;var_name91=&93;var_name92=&94;var_name93=&95;var_name94=&96;var_name95=&97;var_name96=&98;var_na" "me97=&99;var_name98=&100;var_name99=&101;var_name100=&102;selected_bus=&103;var_ids=&104;checked_var_ids=&105;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_assign('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "|||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,o" "n,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" MaskInitialization "mask_sf_bus_assign('init');\n" MaskSelfModifiable on MaskDisplay "port_label('input',1,'opp_xydxdyr[5*NAVOIDABLES_FOR_STRATEGY]');\nport_label('input',2,'refbox_rol" "e');\nport_label('input',3,'assigned_role');\nport_label('input',4,'current_role');\nport_label('input',5,'taskswi" "tch_go[6]');\nport_label('input',6,'roleSwitch[2]');\nport_label('input',7,'wppathlength');\nport_label('input',8," "'waypoints_xyo[3*NPATH_MAX]');\nport_label('input',9,'motionControlDisableRefboxhandler');\nport_label('input',10," "'handlingOnOffRefboxhandler');\nport_label('input',11,'RefboxStageState');\nport_label('input',12,'RefboxRandNr');" "\nport_label('input',13,'refboxParams[3]');\nport_label('input',14,'GameStageState');\nport_label('input',15,'pass" "_role_id');\nport_label('input',16,'ActivateKeeperFrame');\nport_label('input',17,'RefboxTaskExtended');\nport_lab" "el('input',18,'RefboxRolesDesiredPos[3*MAX_ACTIVE_TURTLES]');\nport_label('input',19,'RefboxInProgress');\nport_la" "bel('input',20,'strategyDisable');\nport_label('input',21,'TSR_ROH[MAX_ACTIVE_TURTLES]');\nport_label('output',1,'" "strategybus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "strategybus|off|on|on|on|on|on|on|on|on|on|on|on|on|on|on|on|on|on|on|on|on|on|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|" "off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|strategybus|2,3,4,5,6,7,8,9,10,11,12,13,14" ",15,16,17,18,19,20,21,22,|17,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,18,19,20,21,22," } Block { BlockType From Name "From1" SID "1367" Position [25, 81, 140, 99] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "refbox_role" TagVisibility "global" } Block { BlockType From Name "From10" SID "1368" Position [25, 431, 140, 449] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "RefboxRandNr" TagVisibility "global" } Block { BlockType From Name "From11" SID "1369" Position [25, 396, 140, 414] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "RefboxStageState" TagVisibility "global" } Block { BlockType From Name "From12" SID "1370" Position [25, 326, 140, 344] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "motionControlDisableRefboxhandler" TagVisibility "global" } Block { BlockType From Name "From13" SID "1371" Position [25, 571, 140, 589] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "ActivateKeeperframe" TagVisibility "global" } Block { BlockType From Name "From14" SID "1372" Position [25, 536, 140, 554] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "pass_role_id" TagVisibility "global" } Block { BlockType From Name "From15" SID "1373" Position [25, 466, 140, 484] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "refboxParams" TagVisibility "global" } Block { BlockType From Name "From16" SID "1374" Position [25, 501, 140, 519] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "GameStageState" TagVisibility "global" } Block { BlockType From Name "From17" SID "1375" Position [25, 46, 140, 64] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "opp_xydxdyr" TagVisibility "global" } Block { BlockType From Name "From18" SID "1376" Position [25, 746, 140, 764] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "TSR_ROH" TagVisibility "global" } Block { BlockType From Name "From19" SID "1377" Position [25, 711, 140, 729] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "strategyDisable" TagVisibility "global" } Block { BlockType From Name "From2" SID "1378" Position [25, 151, 140, 169] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "current_role" TagVisibility "global" } Block { BlockType From Name "From20" SID "1379" Position [25, 641, 140, 659] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "RefboxRoleDesiredPos" TagVisibility "global" } Block { BlockType From Name "From21" SID "1380" Position [25, 676, 140, 694] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "RefboxInProgress" TagVisibility "global" } Block { BlockType From Name "From3" SID "1381" Position [25, 116, 140, 134] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "assigned_role" TagVisibility "global" } Block { BlockType From Name "From4" SID "1382" Position [25, 221, 140, 239] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "roleSwitch" TagVisibility "global" } Block { BlockType From Name "From5" SID "1383" Position [25, 291, 140, 309] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "waypoints_xy" TagVisibility "global" } Block { BlockType From Name "From6" SID "1384" Position [25, 256, 140, 274] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "wppathlength" TagVisibility "global" } Block { BlockType From Name "From7" SID "1385" Position [25, 186, 140, 204] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "taskswitch_go" TagVisibility "global" } Block { BlockType From Name "From8" SID "1386" Position [25, 361, 140, 379] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "ballhandlingOnOffRefboxhandler" TagVisibility "global" } Block { BlockType From Name "From9" SID "1387" Position [25, 606, 140, 624] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "RefboxTaskExtended" TagVisibility "global" } Block { BlockType Outport Name "strategybus" SID "1388" Position [440, 398, 470, 412] IconDisplay "Port number" } Line { SrcBlock "From1" SrcPort 1 DstBlock "Bus assigner" DstPort 2 } Line { SrcBlock "From3" SrcPort 1 DstBlock "Bus assigner" DstPort 3 } Line { SrcBlock "From2" SrcPort 1 DstBlock "Bus assigner" DstPort 4 } Line { SrcBlock "From7" SrcPort 1 DstBlock "Bus assigner" DstPort 5 } Line { SrcBlock "From4" SrcPort 1 DstBlock "Bus assigner" DstPort 6 } Line { SrcBlock "From6" SrcPort 1 DstBlock "Bus assigner" DstPort 7 } Line { SrcBlock "From5" SrcPort 1 DstBlock "Bus assigner" DstPort 8 } Line { SrcBlock "From12" SrcPort 1 DstBlock "Bus assigner" DstPort 9 } Line { SrcBlock "From8" SrcPort 1 DstBlock "Bus assigner" DstPort 10 } Line { SrcBlock "From11" SrcPort 1 DstBlock "Bus assigner" DstPort 11 } Line { SrcBlock "From10" SrcPort 1 DstBlock "Bus assigner" DstPort 12 } Line { SrcBlock "From15" SrcPort 1 DstBlock "Bus assigner" DstPort 13 } Line { SrcBlock "From16" SrcPort 1 DstBlock "Bus assigner" DstPort 14 } Line { SrcBlock "From14" SrcPort 1 DstBlock "Bus assigner" DstPort 15 } Line { SrcBlock "From13" SrcPort 1 DstBlock "Bus assigner" DstPort 16 } Line { SrcBlock "Bus assigner" SrcPort 1 DstBlock "strategybus" DstPort 1 } Line { SrcBlock "From17" SrcPort 1 DstBlock "Bus assigner" DstPort 1 } Line { SrcBlock "From9" SrcPort 1 DstBlock "Bus assigner" DstPort 17 } Line { SrcBlock "From20" SrcPort 1 DstBlock "Bus assigner" DstPort 18 } Line { SrcBlock "From21" SrcPort 1 DstBlock "Bus assigner" DstPort 19 } Line { SrcBlock "From19" SrcPort 1 DstBlock "Bus assigner" DstPort 20 } Line { SrcBlock "From18" SrcPort 1 DstBlock "Bus assigner" DstPort 21 } } } Block { BlockType Terminator Name "path found" SID "1389" Position [555, 365, 575, 385] } Block { BlockType S-Function Name "strategy handler" SID "1390" Ports [8, 4] Position [275, 564, 515, 726] BackgroundColor "orange" FunctionName "strategy" EnableBusSupport off MaskDisplay "port_label('input',1,'assigned role id')\nport_label('input',2,'refbox role reset')\nport_la" "bel('input',3,'strategybus (delayed)')\nport_label('input',4,'sensorfusion bus')\nport_label('input',5,'tunable" " parameters')\nport_label('input',6,'TRC bus')\nport_label('input',7,'team bus')\nport_label('input',8,'control" " bus')\n\nport_label('output',1,'aggresionlevel')\nport_label('output',2,'taskswitch')\nport_label('output',3,'" "current_role')\nport_label('output',4,'role switch')\n\n" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType SubSystem Name "switchert" SID "1391" Ports [8, 2] Position [1285, 307, 1420, 578] BackgroundColor "orange" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "switchert" Location [195, 350, 911, 909] 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 "refbox in progress" SID "1392" Position [230, 343, 260, 357] IconDisplay "Port number" } Block { BlockType Inport Name "obstacles refboxh" SID "1393" Position [340, 163, 370, 177] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "AHparstruct refboxh" SID "1394" Position [340, 323, 370, 337] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "obstacles roleh" SID "1395" Position [340, 203, 370, 217] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "AHparstruct roleh" SID "1396" Position [340, 363, 370, 377] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "Iam GK" SID "1397" Position [230, 273, 260, 287] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "obstacles GK" SID "1398" Position [335, 93, 365, 107] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "AHparstrcut GK" SID "1399" Position [340, 253, 370, 267] Port "8" IconDisplay "Port number" } Block { BlockType Switch Name "Switch" SID "1400" Position [410, 318, 440, 382] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch1" SID "1401" Position [475, 248, 505, 312] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch2" SID "1402" Position [415, 158, 445, 222] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch3" SID "1403" Position [480, 88, 510, 152] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Outport Name "obstacles" SID "1404" Position [535, 113, 565, 127] IconDisplay "Port number" } Block { BlockType Outport Name "AH_parstruct" SID "1405" Position [530, 273, 560, 287] Port "2" IconDisplay "Port number" } Line { SrcBlock "AHparstruct refboxh" SrcPort 1 DstBlock "Switch" DstPort 1 } Line { SrcBlock "AHparstruct roleh" SrcPort 1 DstBlock "Switch" DstPort 3 } Line { SrcBlock "refbox in progress" SrcPort 1 Points [35, 0] Branch { DstBlock "Switch" DstPort 2 } Branch { Points [0, -160] DstBlock "Switch2" DstPort 2 } } Line { SrcBlock "Iam GK" SrcPort 1 Points [25, 0] Branch { DstBlock "Switch1" DstPort 2 } Branch { Points [0, -160] DstBlock "Switch3" DstPort 2 } } Line { SrcBlock "Switch" SrcPort 1 Points [5, 0; 0, -50] DstBlock "Switch1" DstPort 3 } Line { SrcBlock "AHparstrcut GK" SrcPort 1 DstBlock "Switch1" DstPort 1 } Line { SrcBlock "Switch2" SrcPort 1 Points [5, 0; 0, -50] DstBlock "Switch3" DstPort 3 } Line { SrcBlock "obstacles roleh" SrcPort 1 DstBlock "Switch2" DstPort 3 } Line { SrcBlock "obstacles refboxh" SrcPort 1 DstBlock "Switch2" DstPort 1 } Line { SrcBlock "obstacles GK" SrcPort 1 DstBlock "Switch3" DstPort 1 } Line { SrcBlock "Switch3" SrcPort 1 DstBlock "obstacles" DstPort 1 } Line { SrcBlock "Switch1" SrcPort 1 DstBlock "AH_parstruct" DstPort 1 } Annotation { Name "switch between output of refboxhandler, rolehandler and goalkeeper" Position [391, 59] } } } Block { BlockType S-Function Name "waypointplanner" SID "1406" Ports [3, 3] Position [275, 299, 515, 391] BackgroundColor "orange" FunctionName "waypointplanner" EnableBusSupport off MaskDisplay "port_label('input',1,'sensorfusionbus');\nport_label('input',2,'actionsbus');\nport_label('i" "nput',3,'teambus');\n\nport_label('output',1,'wppathlength');\nport_label('output',2,'waypoints_xy');\nport_lab" "el('output',3,'path found');" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType Outport Name "AHparStruct bus" SID "1407" Position [1455, 503, 1490, 517] IconDisplay "Port number" } Block { BlockType Outport Name "strategybus" SID "1408" Position [1380, 48, 1415, 62] Port "2" IconDisplay "Port number" } Line { SrcBlock "Role assigner" SrcPort 1 Points [10, 0] Branch { Points [0, 15] DstBlock "Goto1" DstPort 1 } Branch { Points [170, 0; 0, -355] DstBlock "Refbox handler" DstPort 1 } } Line { SrcBlock "strategy handler" SrcPort 3 Points [5, 0] Branch { DstBlock "Goto2" DstPort 1 } Branch { Points [0, -20; 235, 0] Branch { DstBlock "Goal Keeper" DstPort 2 } Branch { Points [0, -285] DstBlock "Role handler" DstPort 2 } } } Line { SrcBlock "strategy handler" SrcPort 1 Points [235, 0; 0, -205] DstBlock "Role handler" DstPort 3 } Line { SrcBlock "strategy handler" SrcPort 4 DstBlock "Goto6" DstPort 1 } Line { SrcBlock "Refbox handler" SrcPort 3 Points [180, 0] Branch { DstBlock "switchert" DstPort 1 } Branch { DstBlock "Goto15" DstPort 1 } } Line { SrcBlock "Refbox handler" SrcPort 10 Points [5, 0] Branch { Points [0, 25; -230, 0; 0, 20] Branch { Points [0, 290] DstBlock "Goal Keeper" DstPort 1 } Branch { DstBlock "Role handler" DstPort 1 } } Branch { DstBlock "Goto7" DstPort 1 } } Line { SrcBlock "Role assigner" SrcPort 2 Points [10, 0] Branch { DstBlock "Goto3" DstPort 1 } Branch { Points [0, 90; -270, 0] DstBlock "strategy handler" DstPort 1 } } Line { SrcBlock "Role handler" SrcPort 1 DstBlock "Goto19" DstPort 1 } Line { SrcBlock "Role handler" SrcPort 2 DstBlock "Goto22" DstPort 1 } Line { SrcBlock "TRCbus" SrcPort 1 Points [40, 0] Branch { Points [620, 0] Branch { Points [0, 250] Branch { Points [0, 195] DstBlock "Goal Keeper" DstPort 8 } Branch { DstBlock "Role handler" DstPort 11 } } Branch { DstBlock "Refbox handler" DstPort 8 } } Branch { Points [0, 180] Branch { DstBlock "Role assigner" DstPort 2 } Branch { Points [0, 205] DstBlock "strategy handler" DstPort 6 } } } Line { SrcBlock "visionbus" SrcPort 1 Points [680, 0] Branch { Points [0, 290] Branch { DstBlock "Role handler" DstPort 7 } Branch { Points [0, 215] Branch { DstBlock "Goal Keeper" DstPort 4 } Branch { Points [0, 210] DstBlock "Defcon" DstPort 4 } } } Branch { DstBlock "Refbox handler" DstPort 4 } } Line { SrcBlock "Goal Keeper" SrcPort 1 Points [170, 0; 0, -135] DstBlock "switchert" DstPort 6 } Line { SrcBlock "Goal Keeper" SrcPort 2 DstBlock "Goto24" DstPort 1 } Line { SrcBlock "Refbox handler" SrcPort 7 DstBlock "Goto18" DstPort 1 } Line { SrcBlock "Refbox handler" SrcPort 8 Points [175, 0; 0, 110] DstBlock "switchert" DstPort 2 } Line { SrcBlock "Goal Keeper" SrcPort 3 Points [175, 0; 0, -170] DstBlock "switchert" DstPort 7 } Line { SrcBlock "Strategy_tuning_bus" SrcPort 1 Points [65, 0] Branch { Points [625, 0] Branch { Points [0, 310] DstBlock "Role handler" DstPort 5 } Branch { DstBlock "Refbox handler" DstPort 2 } } Branch { Points [0, 545] DstBlock "strategy handler" DstPort 5 } } Line { SrcBlock "control_bus" SrcPort 1 Points [55, 0] Branch { Points [620, 0] Branch { Points [0, 280] Branch { DstBlock "Role handler" DstPort 8 } Branch { Points [0, 210] DstBlock "Goal Keeper" DstPort 5 } } Branch { DstBlock "Refbox handler" DstPort 5 } } Branch { Points [0, 515] DstBlock "strategy handler" DstPort 8 } } Line { SrcBlock "Refbox handler" SrcPort 9 Points [170, 0; 0, 120] DstBlock "switchert" DstPort 3 } Line { SrcBlock "Goal Keeper" SrcPort 4 Points [180, 0] DstBlock "switchert" DstPort 8 } Line { SrcBlock "Role handler" SrcPort 3 Points [0, 15] DstBlock "switchert" DstPort 4 } Line { SrcBlock "create strategybus" SrcPort 1 DstBlock "strategybus" DstPort 1 } Line { SrcBlock "sensorfusionbus" SrcPort 1 Points [60, 0] Branch { Points [625, 0] Branch { DstBlock "Refbox handler" DstPort 3 } Branch { Points [0, 300] Branch { DstBlock "Role handler" DstPort 6 } Branch { Points [0, 220] Branch { DstBlock "Goal Keeper" DstPort 3 } Branch { Points [0, 165] DstBlock "Defcon" DstPort 2 } } } } Branch { Points [0, 175] Branch { DstBlock "waypointplanner" DstPort 1 } Branch { Points [0, 320] DstBlock "strategy handler" DstPort 4 } } } Line { SrcBlock "switchert" SrcPort 1 DstBlock "Goto8" DstPort 1 } Line { SrcBlock "switchert" SrcPort 2 DstBlock "AHparStruct bus" DstPort 1 } Line { SrcBlock "waypointplanner" SrcPort 3 DstBlock "path found" DstPort 1 } Line { SrcBlock "waypointplanner" SrcPort 2 Points [10, 0] Branch { DstBlock "Goto14" DstPort 1 } Branch { Points [0, 55] DstBlock "Role handler" DstPort 4 } } Line { SrcBlock "waypointplanner" SrcPort 1 DstBlock "Goto13" DstPort 1 } Line { SrcBlock "Role handler" SrcPort 6 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "Role handler" SrcPort 5 Points [180, 0] DstBlock "switchert" DstPort 5 } Line { SrcBlock "actionsbus" SrcPort 1 Points [50, 0] Branch { Points [0, 115] DstBlock "waypointplanner" DstPort 2 } Branch { Points [620, 0] Branch { DstBlock "Refbox handler" DstPort 6 } Branch { Points [0, 270] Branch { DstBlock "Role handler" DstPort 9 } Branch { Points [0, 205] Branch { DstBlock "Goal Keeper" DstPort 6 } Branch { Points [0, 150] DstBlock "Defcon" DstPort 3 } } } } } Line { SrcBlock "teambus" SrcPort 1 Points [45, 0] Branch { Points [0, 115] Branch { DstBlock "waypointplanner" DstPort 3 } Branch { Points [0, 130] Branch { DstBlock "Role assigner" DstPort 3 } Branch { Points [0, 190] DstBlock "strategy handler" DstPort 7 } } } Branch { Points [620, 0] Branch { DstBlock "Refbox handler" DstPort 7 } Branch { Points [0, 260] Branch { DstBlock "Role handler" DstPort 10 } Branch { Points [0, 200] Branch { Points [0, 75] DstBlock "Defcon" DstPort 1 } Branch { DstBlock "Goal Keeper" DstPort 7 } } } } } Line { SrcBlock "Refbox handler" SrcPort 4 DstBlock "Goto" DstPort 1 } Line { SrcBlock "Refbox handler" SrcPort 5 DstBlock "Goto10" DstPort 1 } Line { SrcBlock "Refbox handler" SrcPort 6 DstBlock "Goto11" DstPort 1 } Line { SrcBlock "strategybus " SrcPort 1 Points [35, 0] Branch { DstBlock "Role assigner" DstPort 1 } Branch { Points [0, 180] DstBlock "strategy handler" DstPort 3 } } Line { SrcBlock "Refbox handler" SrcPort 1 DstBlock "Goto5" DstPort 1 } Line { SrcBlock "Refbox handler" SrcPort 2 DstBlock "Goto12" DstPort 1 } Line { SrcBlock "Role handler" SrcPort 4 DstBlock "Goto17" DstPort 1 } Line { SrcBlock "Role handler" SrcPort 7 DstBlock "Goto16" DstPort 1 } Line { SrcBlock "strategy handler" SrcPort 2 DstBlock "Goto4" DstPort 1 } Line { SrcBlock "Role assigner" SrcPort 3 Points [0, 50; -265, 0; 0, 40] DstBlock "strategy handler" DstPort 2 } Line { SrcBlock "tunable_pardata_motion_bus" SrcPort 1 Points [0, -5] DstBlock "Defcon" DstPort 5 } } } Block { BlockType SubSystem Name "team, worldmodel comm" SID "1409" Ports [0, 1] Position [105, 382, 230, 498] BackgroundColor "red" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off System { Name "team, worldmodel comm" Location [5, 79, 1608, 726] 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 S-Function Name "Bus assigner" SID "1410" Ports [8, 1] Position [1270, 241, 1510, 524] BackgroundColor "cyan" FunctionName "sf_bus_assign" Parameters "sizes,offsets,portwidth,types,bus_is_in,bus_size" EnableBusSupport off MaskType "Assign variables in bus." MaskDescription "Bus assigner to assign values to variables in a bus. \nThis block can overwrite values i" "n an existing bus as well as \ncreate a bus and write values to certain parameters. Busses \ncan be editted and" " created using the busmanager. Note that \ndeleting input variables of this bus assigner will mix the inputs." MaskPromptString "Name of bus |Bus is input |blueIsHomeGoal|robotsInField|teamColors|gameRoleIds|current_" "xyo|subtarget_xy|CPBteam|t_MS|CPPAroleIdDef|CPPAteamDef|CPPAroleIdAtt|CPPAteamAtt|taskSwitchRequest|roleSwitchI" "nitiative|refboxRoleIds|refboxStageStates|gameStageStates|receptorPassTarget|receptorRoleId|refboxGlobalNrs|pre" "vGameRoleIds|WMactive|WMopponents_xy_dxdy_r|WMrobot_xyo|WMactiveRobots|turtleTargets|t_BS|ball_xyz|ball_xyzdot|" "ballSource|ballConfidence|seeBall|usedBallTurtleID|isPeer|refboxRolesPositions|gameRolesPositions|refboxRolesTa" "rgets|gameRolesSubTargets|refboxRolesStageStates|gameRolesStageStates|globalNrsRoles|0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " "|0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 |0 " " |0 |0 |0 " " |0 |0 |0 " "|0 |memory variable|memory variable|memory variable" MaskStyleString "popup(|TRCbus|motionbus|teambus|visionbus|tunable_pardata_motion_bus|tunable" "_pardata_vision_bus|tunable_pardata_strategy_bus|actionsbus|controlbus|LRFbus|strategybus|sensorfusionbus),chec" "kbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbo" "x,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,c" "heckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,chec" "kbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbo" "x,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,c" "heckbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,chec" "kbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbo" "x,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,checkbox,c" "heckbox,edit,edit,edit" MaskVariables "bus_name=&1;var_name01=&2;var_name02=&3;var_name03=&4;var_name04=&5;var_name05=&6;var_name" "06=&7;var_name07=&8;var_name08=&9;var_name09=&10;var_name10=&11;var_name11=&12;var_name12=&13;var_name13=&14;va" "r_name14=&15;var_name15=&16;var_name16=&17;var_name17=&18;var_name18=&19;var_name19=&20;var_name20=&21;var_name" "21=&22;var_name22=&23;var_name23=&24;var_name24=&25;var_name25=&26;var_name26=&27;var_name27=&28;var_name28=&29" ";var_name29=&30;var_name30=&31;var_name31=&32;var_name32=&33;var_name33=&34;var_name34=&35;var_name35=&36;var_n" "ame36=&37;var_name37=&38;var_name38=&39;var_name39=&40;var_name40=&41;var_name41=&42;var_name42=&43;var_name43=" "&44;var_name44=&45;var_name45=&46;var_name46=&47;var_name47=&48;var_name48=&49;var_name49=&50;var_name50=&51;va" "r_name51=&52;var_name52=&53;var_name53=&54;var_name54=&55;var_name55=&56;var_name56=&57;var_name57=&58;var_name" "58=&59;var_name59=&60;var_name60=&61;var_name61=&62;var_name62=&63;var_name63=&64;var_name64=&65;var_name65=&66" ";var_name66=&67;var_name67=&68;var_name68=&69;var_name69=&70;var_name70=&71;var_name71=&72;var_name72=&73;var_n" "ame73=&74;var_name74=&75;var_name75=&76;var_name76=&77;var_name77=&78;var_name78=&79;var_name79=&80;var_name80=" "&81;var_name81=&82;var_name82=&83;var_name83=&84;var_name84=&85;var_name85=&86;var_name86=&87;var_name87=&88;va" "r_name88=&89;var_name89=&90;var_name90=&91;var_name91=&92;var_name92=&93;var_name93=&94;var_name94=&95;var_name" "95=&96;var_name96=&97;var_name97=&98;var_name98=&99;var_name99=&100;var_name100=&101;selected_bus=&102;var_ids=" "&103;checked_var_ids=&104;" MaskTunableValueString "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,o" "ff,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off," "off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskCallbackString "mask_sf_bus_decode('init');|||||||||||||||||||||||||||||||||||||||||||||||||||||||||||" "||||||||||||||||||||||||||||||||||||||||||||" MaskEnableString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on," "on" MaskVisibilityString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" ",on,on,on,on,on,on,on,on,on,on,on,on,on,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" ",off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,of" "f,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off,off" MaskToolTipString "on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" ",on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" ",on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on,on" ",on" MaskInitialization "mask_sf_bus_decode('init');\n" MaskSelfModifiable on MaskDisplay "port_label('output',1,'refboxRoleIds[MAX_ACTIVE_TURTLES]');\nport_label('output',2,'gameRole" "Ids[MAX_ACTIVE_TURTLES]');\nport_label('output',3,'refboxStageStates[MAX_ACTIVE_TURTLES]');\nport_label('output" "',4,'gameStageStates[MAX_ACTIVE_TURTLES]');\nport_label('output',5,'refboxGlobalNrs[MAX_ACTIVE_TURTLES]');\npor" "t_label('output',6,'WMrobot_xyo[3*MAX_ACTIVE_TURTLES]');\nport_label('output',7,'turtleTargets[3*MAX_ACTIVE_TUR" "TLES]');\nport_label('output',8,'subtarget_xy[2*MAX_ACTIVE_TURTLES]');\nport_label('input',1,'teambus')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "teambus|off|off|off|on|off|on|off|off|off|off|off|off|on|on|on|off|off|on|off|off|off|on" "|off|on|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off" "|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|of" "f|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|off|teambus|1,2,3,4,5,6,7" ",8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,31,27,28,29,30,32,34,35,36,37,38,39,40,41,42,|13,4,14,1" "5,18,22,24,6," } Block { BlockType S-Function Name "CPBteam, CPPAteam,\ndynamic role switching" SID "1412" Ports [2, 1] Position [365, 51, 530, 424] FunctionName "mccomm_teamstatus" EnableBusSupport off } Block { BlockType DataTypeConversion Name "Data Type Conversion" SID "1413" Position [855, 255, 920, 275] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion1" SID "1414" Position [855, 290, 920, 310] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion2" SID "1415" Position [855, 325, 920, 345] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion3" SID "1416" Position [855, 360, 920, 380] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion4" SID "1417" Position [155, 120, 190, 140] ShowName off RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Demux Name "Demux2" SID "1418" Ports [1, 6] Position [210, 45, 215, 215] BackgroundColor "black" NamePlacement "alternate" ShowName off Outputs "6" DisplayOption "bar" } Block { BlockType From Name "From2" SID "1419" Position [20, 121, 135, 139] BackgroundColor "orange" ShowName off CloseFcn "tagdialog Close" GotoTag "taskswitch_go" TagVisibility "global" } Block { BlockType Mux Name "Mux2" SID "1420" Ports [2, 1] Position [250, 70, 255, 130] NamePlacement "alternate" ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType S-Function Name "Role mapper" SID "1421" Ports [8, 9] Position [950, 244, 1190, 526] BackgroundColor "red" FunctionName "role_position_mapper" EnableBusSupport off MaskDisplay "port_label('input',1,'refbox_role_IDs')\nport_label('input',2,'game_role_IDs')\nport_label('" "input',3,'refbox_stage_states')\nport_label('input',4,'game_stage_states')\nport_label('input',5,'global_number" "s')\nport_label('input',6,'position_turtles')\nport_label('input',7,'targets_turtles')\nport_label('input',8,'s" "ubtargets_turtles')\nport_label('output',1,'refbox_role_position')\nport_label('output',2,'game_role_position')" "\nport_label('output',3,'refbox_role_target')\nport_label('output',4,'game_role_target')\nport_label('output',5" ",'refbox_role_subtarget')\nport_label('output',6,'game_role_subtarget')\nport_label('output',7,'refbox_role_sta" "ge_state')\nport_label('output',8,'game_role_stage_state')\nport_label('output',9,'global_numbers_roles')\n" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" } Block { BlockType Terminator Name "Terminator" SID "1422" Position [1215, 345, 1235, 365] ShowName off } Block { BlockType Terminator Name "Terminator1" SID "1423" Position [265, 45, 285, 65] ShowName off } Block { BlockType Terminator Name "Terminator2" SID "1424" Position [260, 195, 280, 215] ShowName off } Block { BlockType Terminator Name "Terminator3" SID "1425" Position [1215, 375, 1235, 395] ShowName off } Block { BlockType Terminator Name "Terminator5" SID "1426" Position [235, 135, 255, 155] ShowName off } Block { BlockType Outport Name "teambus" SID "1427" Position [1540, 378, 1570, 392] IconDisplay "Port number" } Line { SrcBlock "Demux2" SrcPort 4 DstBlock "Terminator5" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 2 DstBlock "Mux2" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 3 DstBlock "Mux2" DstPort 2 } Line { SrcBlock "Demux2" SrcPort 1 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 5 Points [100, 0; 0, 155] DstBlock "CPBteam, CPPAteam,\ndynamic role switching" DstPort 2 } Line { SrcBlock "Mux2" SrcPort 1 Points [90, 0] DstBlock "CPBteam, CPPAteam,\ndynamic role switching" DstPort 1 } Line { SrcBlock "From2" SrcPort 1 DstBlock "Data Type Conversion4" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 6 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "CPBteam, CPPAteam,\ndynamic role switching" SrcPort 1 Points [290, 0; -255, 0] Branch { Points [685, 0] DstBlock "Bus assigner" DstPort 1 } Branch { DstBlock "Bus decoder" DstPort 1 } } Line { SrcBlock "Bus decoder" SrcPort 1 DstBlock "Data Type Conversion" DstPort 1 } Line { SrcBlock "Bus decoder" SrcPort 2 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "Bus decoder" SrcPort 3 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "Bus decoder" SrcPort 4 DstBlock "Data Type Conversion3" DstPort 1 } Line { SrcBlock "Bus decoder" SrcPort 5 DstBlock "Role mapper" DstPort 5 } Line { SrcBlock "Bus decoder" SrcPort 6 DstBlock "Role mapper" DstPort 6 } Line { SrcBlock "Bus decoder" SrcPort 7 DstBlock "Role mapper" DstPort 7 } Line { SrcBlock "Role mapper" SrcPort 1 Points [60, 0] DstBlock "Bus assigner" DstPort 2 } Line { SrcBlock "Role mapper" SrcPort 2 Points [60, 0] DstBlock "Bus assigner" DstPort 3 } Line { SrcBlock "Role mapper" SrcPort 3 Points [60, 0] DstBlock "Bus assigner" DstPort 4 } Line { SrcBlock "Role mapper" SrcPort 4 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "Bus decoder" SrcPort 8 DstBlock "Role mapper" DstPort 8 } Line { SrcBlock "Role mapper" SrcPort 7 Points [60, 0] DstBlock "Bus assigner" DstPort 6 } Line { SrcBlock "Role mapper" SrcPort 8 Points [60, 0] DstBlock "Bus assigner" DstPort 7 } Line { SrcBlock "Role mapper" SrcPort 9 DstBlock "Bus assigner" DstPort 8 } Line { SrcBlock "Role mapper" SrcPort 5 DstBlock "Terminator3" DstPort 1 } Line { SrcBlock "Role mapper" SrcPort 6 Points [60, 0] DstBlock "Bus assigner" DstPort 5 } Line { SrcBlock "Bus assigner" SrcPort 1 DstBlock "teambus" DstPort 1 } Line { SrcBlock "Data Type Conversion" SrcPort 1 DstBlock "Role mapper" DstPort 1 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "Role mapper" DstPort 2 } Line { SrcBlock "Data Type Conversion2" SrcPort 1 DstBlock "Role mapper" DstPort 3 } Line { SrcBlock "Data Type Conversion3" SrcPort 1 DstBlock "Role mapper" DstPort 4 } Line { SrcBlock "Data Type Conversion4" SrcPort 1 DstBlock "Demux2" DstPort 1 } } } Block { BlockType Outport Name "TRCbus" SID "1428" Position [1150, 248, 1180, 262] BackgroundColor "lightBlue" IconDisplay "Port number" } Block { BlockType Outport Name "controlbus" SID "1429" Position [1150, 543, 1180, 557] BackgroundColor "gray" Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "Motion_tuning_bus" SID "1430" Position [1150, 288, 1180, 302] Port "3" IconDisplay "Port number" } Line { SrcBlock "motionbus" SrcPort 1 Points [10, 0] Branch { Points [275, 0] Branch { Points [410, 0] Branch { Points [225, 0] DstBlock "control" DstPort 1 } Branch { Points [0, 430] DstBlock "actions" DstPort 3 } } Branch { DstBlock "sensor fusion" DstPort 1 } } Branch { Points [0, 25] DstBlock "comm output + vision input" DstPort 1 } } Line { SrcBlock "TRC comm" SrcPort 1 Points [50, 0] Branch { Points [245, 0] Branch { Points [205, 0] Branch { Points [0, 275] DstBlock "actions" DstPort 4 } Branch { Points [220, 0] Branch { DstBlock "TRCbus" DstPort 1 } Branch { Points [0, 245] DstBlock "control" DstPort 2 } } } Branch { Points [0, 235] DstBlock "strategy" DstPort 2 } } Branch { Points [0, -25; -195, 0] DstBlock "comm output + vision input" DstPort 3 } } Line { SrcBlock "comm output + vision input" SrcPort 1 Points [85, 0] Branch { Points [200, 0] Branch { Points [0, 360] DstBlock "strategy" DstPort 3 } Branch { Points [410, 0; 0, 400] DstBlock "control" DstPort 4 } } Branch { Points [0, 365] Branch { Points [15, 0] DstBlock "sensor fusion" DstPort 2 } Branch { Points [0, 155; -235, 0; 0, -120] DstBlock "LaserRangeFinders" DstPort 1 } } } Line { SrcBlock "TRC comm" SrcPort 2 Points [280, 0] Branch { Points [210, 0] Branch { Points [0, 195] DstBlock "actions" DstPort 2 } Branch { Points [215, 0] Branch { Points [0, 230] DstBlock "control" DstPort 3 } Branch { DstBlock "Motion_tuning_bus" DstPort 1 } } } Branch { Points [0, 235] DstBlock "strategy" DstPort 4 } } Line { SrcBlock "TRC comm" SrcPort 3 Points [70, 0] Branch { Points [205, 0] Branch { Points [0, 215] DstBlock "strategy" DstPort 5 } Branch { Points [240, 0; 0, 135] DstBlock "actions" DstPort 1 } } Branch { Points [0, 200] DstBlock "sensor fusion" DstPort 3 } } Line { SrcBlock "actions" SrcPort 1 Points [15, 0; 0, 20] Branch { Points [0, 115; -405, 0] Branch { DstBlock "Memory2" DstPort 1 } Branch { Points [-440, 0; 0, -565] DstBlock "comm output + vision input" DstPort 2 } } Branch { Points [50, 0] DstBlock "control" DstPort 5 } } Line { SrcBlock "Memory2" SrcPort 1 Points [0, -45] DstBlock "strategy" DstPort 7 } Line { SrcBlock "control" SrcPort 1 Points [5, 0] Branch { DstBlock "controlbus" DstPort 1 } Branch { Points [0, 145; -365, 0] Branch { DstBlock "Memory1" DstPort 1 } Branch { Points [-220, 0] Branch { DstBlock "Memory3" DstPort 1 } Branch { Points [-200, 0] Branch { Points [-270, 0; 0, -545] DstBlock "comm output + vision input" DstPort 4 } Branch { DstBlock "Memory6" DstPort 1 } } } } } Line { SrcBlock "team, worldmodel comm" SrcPort 1 Points [40, 0] Branch { Points [0, 125] DstBlock "sensor fusion" DstPort 4 } Branch { Points [265, 0] Branch { Points [180, 0; 0, 110] DstBlock "actions" DstPort 5 } Branch { Points [0, 30] DstBlock "strategy" DstPort 1 } } Branch { Points [0, -65; -190, 0; 0, -180] DstBlock "comm output + vision input" DstPort 7 } } Line { SrcBlock "Memory1" SrcPort 1 Points [0, -5] DstBlock "actions" DstPort 9 } Line { SrcBlock "LaserRangeFinders" SrcPort 1 Points [10, 0; 0, 20] DstBlock "sensor fusion" DstPort 5 } Line { SrcBlock "sensor fusion" SrcPort 2 Points [0, 95; 465, 0; 0, -90] DstBlock "control" DstPort 6 } Line { SrcBlock "Memory3" SrcPort 1 Points [0, -25] DstBlock "strategy" DstPort 8 } Line { SrcBlock "strategy" SrcPort 2 Points [0, -5; 5, 0] Branch { Points [50, 0] DstBlock "actions" DstPort 8 } Branch { Points [0, 85] Branch { Points [260, 0] DstBlock "control" DstPort 7 } Branch { Points [-155, 0] Branch { DstBlock "Memory4" DstPort 1 } Branch { Points [-475, 0; 0, -500] DstBlock "comm output + vision input" DstPort 6 } } } } Line { SrcBlock "sensor fusion" SrcPort 1 Points [5, 0; 0, 65] Branch { DstBlock "strategy" DstPort 6 } Branch { Points [0, 105] Branch { Points [230, 0; 0, -85] DstBlock "actions" DstPort 7 } Branch { Points [-410, 0] Branch { Points [-20, 0; 0, -510] DstBlock "comm output + vision input" DstPort 5 } Branch { DstBlock "Memory5" DstPort 1 } } } } Line { SrcBlock "Memory4" SrcPort 1 Points [0, -5] DstBlock "strategy" DstPort 9 } Line { SrcBlock "strategy" SrcPort 1 Points [5, 0; 0, 65] DstBlock "actions" DstPort 6 } Line { SrcBlock "Memory5" SrcPort 1 DstBlock "LaserRangeFinders" DstPort 2 } Line { SrcBlock "Memory6" SrcPort 1 DstBlock "sensor fusion" DstPort 6 } } } Line { SrcBlock "Clock" SrcPort 1 DstBlock "Actual time in s" DstPort 1 } Line { SrcBlock "strategy & control" SrcPort 1 DstBlock "decoupled controlled robot" DstPort 1 } Line { SrcBlock "decoupled controlled robot" SrcPort 1 Points [20, 0; 0, 145; -480, 0; 0, -145] DstBlock "strategy & control" DstPort 1 } Line { SrcBlock "Step" SrcPort 1 Points [60, 0] DstBlock "strategy & control" DstPort enable } Line { SrcBlock "strategy & control" SrcPort 3 DstBlock "decoupled controlled robot" DstPort 3 } Line { SrcBlock "strategy & control" SrcPort 2 DstBlock "decoupled controlled robot" DstPort 2 } Annotation { Name "This scheme has to be used with \nthe scheme find_ball from vision\nwhich delivers the coordinates " "\n(i.e. radius and angle to the ball) \nof the ball such that the robot will\ngo to the ball face forward" Position [665, 181] } } }