Model { Name "new_motionplanner" Version 7.0 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.110" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "UTF-8" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions on ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off InitFcn "T=5;dt=1/1000;" Created "Tue Oct 27 19:35:13 2009" Creator "root" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "root" ModifiedDateFormat "%" LastModifiedDate "Tue Feb 23 23:36:27 2010" RTWModifiedTimeStamp 0 ModelVersionFormat "1.%" ConfigurationManager "None" SimulationMode "normal" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock off BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.3.0" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.3.0" StartTime "0.0" StopTime "T" AbsTol "auto" FixedStep "dt" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" Solver "FixedStepDiscrete" SolverName "FixedStepDiscrete" ZeroCrossControl "UseLocalSettings" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.3.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput on SaveState off SignalLogging on InspectSignalLogs off SaveTime on StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Array { Type "Cell" Dimension 5 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "InitFltsAndDblsToZero" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" PropName "DisabledProps" } Version "1.3.0" BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on 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 OptimizeModelRefInitCode off LifeSpan "inf" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off } Simulink.DebuggingCC { $ObjectID 5 Version "1.3.0" 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 CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "error" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" StrictBusMsg "Warning" LoggingUnavailableSignals "error" } Simulink.HardwareCC { $ObjectID 6 Version "1.3.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.3.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 2 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" PropName "DisabledProps" } Version "1.3.0" SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on TemplateMakefile "grt_default_tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ConfigAtBuild off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off RTWCompilerOptimization "Off" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 16 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" PropName "DisabledProps" } Version "1.3.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Array { Type "Cell" Dimension 15 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "PortableWordSizes" PropName "DisabledProps" } Version "1.3.0" TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on CompOptLevelCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } hdlcoderui.hdlcc { $ObjectID 11 Description "HDL Coder custom configuration component" Version "1.3.0" Name "HDL Coder" Array { Type "Cell" Dimension 1 Cell "" PropName "HDLConfigFile" } HDLCActiveTab "0" } PropName "Components" } Name "Configuration" ExtraOptions "-aGenerateTraceInfo=0 " CurrentDlgPage "Solver" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Lucida Bright" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType DataTypeConversion OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit via back propagation" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off ConvertRealWorld "Real World Value (RWV)" RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType Display Format "short" Decimation "10" Floating off SampleTime "-1" } Block { BlockType Goto IconDisplay "Tag" } Block { BlockType Ground } Block { BlockType Inport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchByCopyingInsideSignal off Interpolate on } Block { BlockType Memory X0 "0" InheritSampleTime off LinearizeMemory off LinearizeAsDelay off StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Scope ModelBased off TickLabels "OneTimeTick" ZoomMode "on" Grid "on" TimeRange "auto" YMin "-5" YMax "5" SaveToWorkspace off SaveName "ScopeData" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "-1" } Block { BlockType Selector NumberOfDimensions "1" IndexMode "One-based" InputPortWidth "-1" SampleTime "-1" } Block { BlockType "S-Function" FunctionName "system" SFunctionModules "''" PortCounts "[]" } 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 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" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Same as first input" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" FixptAsFi off } Block { BlockType Terminator } Block { BlockType UnitDelay X0 "0" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "fixdt(1,16,0)" ConRadixGroup "Use specified scaling" OutScaling "[]" SampleTime "inf" FramePeriod "inf" } Block { BlockType Trigonometry Operator "sin" OutputSignalType "auto" SampleTime "-1" } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Lucida Bright" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Lucida Bright" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "new_motionplanner" Location [526, 77, 1616, 981] 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" Block { BlockType Constant Name "Constant" Position [110, 120, 140, 150] Value "[1 2 3]" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant1" Position [110, 165, 140, 195] Value "[4 5 6]" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant2" Position [110, 205, 140, 235] Value "[4 5]" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant3" Position [115, 245, 145, 275] Value "2" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant6" Position [110, 365, 140, 395] Value "[2 3]" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType DataTypeConversion Name "Data Type Conversion" Position [90, 323, 165, 357] OutDataTypeMode "int32" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion1" Position [85, 283, 160, 317] OutDataTypeMode "int32" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType "S-Function" Name "S-Function1" Ports [0, 1] Position [555, 50, 615, 80] FunctionName "sf_softrt" Parameters "1000000" } Block { BlockType Scope Name "Scope" Ports [1] Position [530, 254, 560, 286] Floating off Location [149, 641, 473, 880] Open off NumInputPorts "1" List { ListType AxesTitles axes1 "%" } YMin "-1" YMax "9" DataFormat "StructureWithTime" LimitDataPoints off SampleTime "0" } Block { BlockType SubSystem Name "Smoetsiefeier" Ports [10, 3] Position [325, 120, 490, 430] BackgroundColor "[0.649000, 0.485906, 0.183018]" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Smoetsiefeier" Location [345, 163, 925, 745] 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 "pose_xyo" Position [60, 38, 90, 52] IconDisplay "Port number" } Block { BlockType Inport Name "target_xyo" Position [60, 78, 90, 92] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "subtarget_xy" Position [60, 118, 90, 132] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "not used" Position [65, 313, 95, 327] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "desired velocity" Position [60, 158, 90, 172] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "not used2" Position [60, 343, 90, 357] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "skillID" Position [60, 198, 90, 212] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "control enable" Position [60, 238, 90, 252] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "tunable parameters" Position [60, 278, 90, 292] Port "9" IconDisplay "Port number" } Block { BlockType Inport Name "not used3" Position [65, 388, 95, 402] Port "10" IconDisplay "Port number" } Block { BlockType DataTypeConversion Name "Data Type Conversion" Position [120, 231, 170, 259] ShowName off OutDataTypeMode "int32" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion1" Position [120, 191, 170, 219] ShowName off OutDataTypeMode "int32" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Ground Name "Ground" Position [435, 90, 455, 110] } Block { BlockType Ground Name "Ground1" Position [435, 250, 455, 270] } Block { BlockType Terminator Name "Terminator" Position [130, 310, 150, 330] } Block { BlockType Terminator Name "Terminator1" Position [130, 340, 150, 360] } Block { BlockType Terminator Name "Terminator2" Position [130, 385, 150, 405] } Block { BlockType SubSystem Name "smoetsiefeier" Ports [7, 1] Position [200, 26, 405, 304] BackgroundColor "[0.596000, 0.460072, 0.225288]" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "smoetsiefeier" Location [462, 109, 1594, 952] 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 "pose_xyo (enc)" Position [655, 308, 685, 322] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "target_xyo (enc)" Position [215, 193, 245, 207] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "subtarget_xy (enc)" Position [340, 223, 370, 237] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "desired velocity" Position [655, 608, 685, 622] Port "4" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "skillID" Position [655, 533, 685, 547] Port "5" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "control enable" Position [340, 253, 370, 267] Port "6" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "tunable parameters" Position [655, 458, 685, 472] Port "7" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Memory Name "Memory" Position [355, 125, 385, 155] ShowName off } Block { BlockType Memory Name "Memory1" Position [355, 155, 385, 185] ShowName off } Block { BlockType SubSystem Name "trajectoryplanner xyo" Ports [8, 2] Position [730, 127, 970, 728] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "trajectoryplanner xyo" Location [612, 211, 1675, 868] 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 "waypoints" Position [470, 118, 500, 132] IconDisplay "Port number" } Block { BlockType Inport Name "nwaypoints" Position [470, 168, 500, 182] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "pose_xyo" Position [395, 318, 425, 332] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "control \nenable" Position [465, 368, 495, 382] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "tunable parameters" Position [245, 243, 275, 257] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "skillID" Position [255, 208, 285, 222] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "desired velocity" Position [245, 278, 275, 292] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "target_xyo" Position [690, 433, 720, 447] Port "8" IconDisplay "Port number" } Block { BlockType Terminator Name "Terminator1" Position [670, 280, 690, 300] ShowName off } Block { BlockType "S-Function" Name "phi trajectoryplanner" Ports [6, 1] Position [760, 20, 905, 485] FunctionName "trajectorygenerator_phi" } Block { BlockType SubSystem Name "trajectory constraints" Ports [3, 2] Position [330, 198, 505, 302] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "trajectory constraints" Location [557, 600, 1055, 900] 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" Position [115, 188, 145, 202] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "tunable parameters" Position [110, 103, 140, 117] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "desired velocity" Position [115, 148, 145, 162] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant" Position [270, 95, 300, 125] Value "2" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant1" Position [270, 145, 300, 175] Value "2" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Terminator Name "Terminator1" Position [185, 100, 205, 120] ShowName off } Block { BlockType Terminator Name "Terminator2" Position [185, 145, 205, 165] ShowName off } Block { BlockType Terminator Name "Terminator3" Position [185, 185, 205, 205] ShowName off } Block { BlockType Outport Name "vmax" Position [360, 103, 390, 117] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "amax" Position [360, 153, 390, 167] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "desired velocity" SrcPort 1 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "skillID" SrcPort 1 DstBlock "Terminator3" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "vmax" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "amax" DstPort 1 } } } Block { BlockType "S-Function" Name "xy trajectoryplanner" Ports [6, 4] Position [525, 97, 650, 403] FunctionName "trajectorygenerator" } Block { BlockType Outport Name "waypoint \nreached" Position [675, 358, 705, 372] IconDisplay "Port number" } Block { BlockType Outport Name "ref_xyo" Position [925, 248, 955, 262] Port "2" IconDisplay "Port number" } Line { SrcBlock "xy trajectoryplanner" SrcPort 2 DstBlock "phi trajectoryplanner" DstPort 3 } Line { SrcBlock "xy trajectoryplanner" SrcPort 3 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "phi trajectoryplanner" SrcPort 1 DstBlock "ref_xyo" DstPort 1 } Line { SrcBlock "control \nenable" SrcPort 1 Points [5, 0] Branch { Labels [2, 0] Points [0, 45; 225, 0; 0, -130] DstBlock "phi trajectoryplanner" DstPort 4 } Branch { DstBlock "xy trajectoryplanner" DstPort 6 } } Line { SrcBlock "waypoints" SrcPort 1 DstBlock "xy trajectoryplanner" DstPort 1 } Line { SrcBlock "nwaypoints" SrcPort 1 DstBlock "xy trajectoryplanner" DstPort 2 } Line { SrcBlock "trajectory constraints" SrcPort 1 DstBlock "xy trajectoryplanner" DstPort 3 } Line { SrcBlock "pose_xyo" SrcPort 1 Points [15, 0] Branch { DstBlock "xy trajectoryplanner" DstPort 5 } Branch { Points [0, 100; 300, 0] DstBlock "phi trajectoryplanner" DstPort 5 } } Line { SrcBlock "xy trajectoryplanner" SrcPort 4 DstBlock "waypoint \nreached" DstPort 1 } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "trajectory constraints" DstPort 2 } Line { SrcBlock "skillID" SrcPort 1 Points [15, 0] Branch { Points [0, -150] DstBlock "phi trajectoryplanner" DstPort 1 } Branch { DstBlock "trajectory constraints" DstPort 1 } } Line { SrcBlock "xy trajectoryplanner" SrcPort 1 DstBlock "phi trajectoryplanner" DstPort 2 } Line { SrcBlock "desired velocity" SrcPort 1 DstBlock "trajectory constraints" DstPort 3 } Line { SrcBlock "trajectory constraints" SrcPort 2 DstBlock "xy trajectoryplanner" DstPort 4 } Line { SrcBlock "target_xyo" SrcPort 1 DstBlock "phi trajectoryplanner" DstPort 6 } } } Block { BlockType "S-Function" Name "waypointplanner" Ports [5, 2] Position [415, 127, 700, 273] FunctionName "waypointplanner" } Block { BlockType Outport Name "ref_xyo" Position [1020, 573, 1050, 587] IconDisplay "Port number" } Line { SrcBlock "trajectoryplanner xyo" SrcPort 2 Points [20, 0] Branch { DstBlock "ref_xyo" DstPort 1 } Branch { Points [0, -495; -685, 0; 0, 85] DstBlock "Memory1" DstPort 1 } } Line { SrcBlock "waypointplanner" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 1 } Line { SrcBlock "waypointplanner" SrcPort 2 DstBlock "trajectoryplanner xyo" DstPort 2 } Line { SrcBlock "trajectoryplanner xyo" SrcPort 1 Points [5, 0; 0, -175; -645, 0; 0, 35] DstBlock "Memory" DstPort 1 } Line { SrcBlock "target_xyo (enc)" SrcPort 1 Points [35, 0] Branch { Points [0, 490] DstBlock "trajectoryplanner xyo" DstPort 8 } Branch { DstBlock "waypointplanner" DstPort 3 } } Line { SrcBlock "subtarget_xy (enc)" SrcPort 1 DstBlock "waypointplanner" DstPort 4 } Line { SrcBlock "skillID" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 6 } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 5 } Line { SrcBlock "control enable" SrcPort 1 Points [25, 0] Branch { Labels [0, 0] Points [0, 130] DstBlock "trajectoryplanner xyo" DstPort 4 } Branch { DstBlock "waypointplanner" DstPort 5 } } Line { SrcBlock "pose_xyo (enc)" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 3 } Line { SrcBlock "desired velocity" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 7 } Line { SrcBlock "Memory" SrcPort 1 DstBlock "waypointplanner" DstPort 1 } Line { SrcBlock "Memory1" SrcPort 1 DstBlock "waypointplanner" DstPort 2 } } } Block { BlockType Outport Name "notused2" Position [485, 93, 515, 107] IconDisplay "Port number" } Block { BlockType Outport Name "ref_xyo" Position [485, 158, 515, 172] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "not used1" Position [485, 253, 515, 267] Port "3" IconDisplay "Port number" } Line { SrcBlock "pose_xyo" SrcPort 1 DstBlock "smoetsiefeier" DstPort 1 } Line { SrcBlock "target_xyo" SrcPort 1 DstBlock "smoetsiefeier" DstPort 2 } Line { SrcBlock "subtarget_xy" SrcPort 1 DstBlock "smoetsiefeier" DstPort 3 } Line { SrcBlock "desired velocity" SrcPort 1 DstBlock "smoetsiefeier" DstPort 4 } Line { SrcBlock "smoetsiefeier" SrcPort 1 DstBlock "ref_xyo" DstPort 1 } Line { SrcBlock "skillID" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "control enable" SrcPort 1 DstBlock "Data Type Conversion" DstPort 1 } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "smoetsiefeier" DstPort 7 } Line { SrcBlock "not used" SrcPort 1 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "not used2" SrcPort 1 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "not used3" SrcPort 1 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "Ground" SrcPort 1 DstBlock "notused2" DstPort 1 } Line { SrcBlock "Ground1" SrcPort 1 DstBlock "not used1" DstPort 1 } Line { SrcBlock "Data Type Conversion" SrcPort 1 DstBlock "smoetsiefeier" DstPort 6 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "smoetsiefeier" DstPort 5 } } } Block { BlockType SubSystem Name "Smoetsiefeier with tracing" Ports [10, 3] Position [775, 140, 940, 450] BackgroundColor "[0.649000, 0.485906, 0.183018]" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Smoetsiefeier with tracing" Location [614, 353, 1194, 935] 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 "pose_xyo" Position [60, 38, 90, 52] IconDisplay "Port number" } Block { BlockType Inport Name "target_xyo" Position [60, 78, 90, 92] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "subtarget_xy" Position [60, 118, 90, 132] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "not used" Position [65, 313, 95, 327] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "desired velocity" Position [60, 158, 90, 172] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "not used2" Position [60, 343, 90, 357] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "skillID" Position [60, 198, 90, 212] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "control enable" Position [60, 238, 90, 252] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "tunable parameters" Position [60, 278, 90, 292] Port "9" IconDisplay "Port number" } Block { BlockType Inport Name "not used3" Position [65, 388, 95, 402] Port "10" IconDisplay "Port number" } Block { BlockType DataTypeConversion Name "Data Type Conversion" Position [120, 231, 170, 259] ShowName off OutDataTypeMode "int32" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion1" Position [120, 191, 170, 219] ShowName off OutDataTypeMode "int32" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Ground Name "Ground" Position [435, 90, 455, 110] } Block { BlockType Ground Name "Ground1" Position [440, 200, 460, 220] } Block { BlockType Terminator Name "Terminator" Position [130, 310, 150, 330] } Block { BlockType Terminator Name "Terminator1" Position [130, 340, 150, 360] } Block { BlockType Terminator Name "Terminator2" Position [130, 385, 150, 405] } Block { BlockType ToWorkspace Name "To Workspace" Position [440, 255, 500, 285] VariableName "pose" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace1" Position [440, 305, 500, 335] VariableName "target" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace2" Position [440, 350, 500, 380] VariableName "subtarget" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace3" Position [440, 395, 500, 425] VariableName "desvel" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace4" Position [440, 440, 500, 470] VariableName "skillid" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace5" Position [440, 485, 500, 515] VariableName "controlenable" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace6" Position [440, 530, 500, 560] VariableName "tunableparameters" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace7" Position [445, 20, 505, 50] VariableName "ref" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType SubSystem Name "smoetsiefeier" Ports [7, 1] Position [200, 26, 405, 304] BackgroundColor "[0.596000, 0.460072, 0.225288]" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "smoetsiefeier" Location [462, 109, 1594, 952] 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 "pose_xyo (enc)" Position [655, 308, 685, 322] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "target_xyo (enc)" Position [215, 193, 245, 207] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "subtarget_xy (enc)" Position [340, 223, 370, 237] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "desired velocity" Position [655, 608, 685, 622] Port "4" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "skillID" Position [655, 533, 685, 547] Port "5" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "control enable" Position [340, 253, 370, 267] Port "6" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "tunable parameters" Position [655, 458, 685, 472] Port "7" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Memory Name "Memory" Position [355, 125, 385, 155] ShowName off } Block { BlockType Memory Name "Memory1" Position [355, 155, 385, 185] ShowName off } Block { BlockType SubSystem Name "trajectoryplanner xyo" Ports [8, 2] Position [730, 127, 970, 728] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "trajectoryplanner xyo" Location [612, 211, 1675, 868] 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 "waypoints" Position [470, 118, 500, 132] IconDisplay "Port number" } Block { BlockType Inport Name "nwaypoints" Position [470, 168, 500, 182] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "pose_xyo" Position [395, 318, 425, 332] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "control \nenable" Position [465, 368, 495, 382] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "tunable parameters" Position [245, 243, 275, 257] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "skillID" Position [255, 208, 285, 222] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "desired velocity" Position [245, 278, 275, 292] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "target_xyo" Position [690, 433, 720, 447] Port "8" IconDisplay "Port number" } Block { BlockType Terminator Name "Terminator1" Position [670, 280, 690, 300] ShowName off } Block { BlockType "S-Function" Name "phi trajectoryplanner" Ports [6, 1] Position [760, 20, 905, 485] FunctionName "trajectorygenerator_phi" } Block { BlockType SubSystem Name "trajectory constraints" Ports [3, 2] Position [330, 198, 505, 302] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "trajectory constraints" Location [557, 600, 1055, 900] 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" Position [115, 188, 145, 202] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "tunable parameters" Position [110, 103, 140, 117] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "desired velocity" Position [115, 148, 145, 162] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant" Position [270, 95, 300, 125] Value "2" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant1" Position [270, 145, 300, 175] Value "2" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Terminator Name "Terminator1" Position [185, 100, 205, 120] ShowName off } Block { BlockType Terminator Name "Terminator2" Position [185, 145, 205, 165] ShowName off } Block { BlockType Terminator Name "Terminator3" Position [185, 185, 205, 205] ShowName off } Block { BlockType Outport Name "vmax" Position [360, 103, 390, 117] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "amax" Position [360, 153, 390, 167] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "desired velocity" SrcPort 1 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "skillID" SrcPort 1 DstBlock "Terminator3" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "vmax" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "amax" DstPort 1 } } } Block { BlockType "S-Function" Name "xy trajectoryplanner" Ports [6, 4] Position [525, 97, 650, 403] FunctionName "trajectorygenerator" } Block { BlockType Outport Name "waypoint \nreached" Position [675, 358, 705, 372] IconDisplay "Port number" } Block { BlockType Outport Name "ref_xyo" Position [925, 248, 955, 262] Port "2" IconDisplay "Port number" } Line { SrcBlock "xy trajectoryplanner" SrcPort 2 DstBlock "phi trajectoryplanner" DstPort 3 } Line { SrcBlock "xy trajectoryplanner" SrcPort 3 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "phi trajectoryplanner" SrcPort 1 DstBlock "ref_xyo" DstPort 1 } Line { SrcBlock "control \nenable" SrcPort 1 Points [5, 0] Branch { Labels [2, 0] Points [0, 45; 225, 0; 0, -130] DstBlock "phi trajectoryplanner" DstPort 4 } Branch { DstBlock "xy trajectoryplanner" DstPort 6 } } Line { SrcBlock "waypoints" SrcPort 1 DstBlock "xy trajectoryplanner" DstPort 1 } Line { SrcBlock "nwaypoints" SrcPort 1 DstBlock "xy trajectoryplanner" DstPort 2 } Line { SrcBlock "trajectory constraints" SrcPort 1 DstBlock "xy trajectoryplanner" DstPort 3 } Line { SrcBlock "pose_xyo" SrcPort 1 Points [15, 0] Branch { DstBlock "xy trajectoryplanner" DstPort 5 } Branch { Points [0, 100; 300, 0] DstBlock "phi trajectoryplanner" DstPort 5 } } Line { SrcBlock "xy trajectoryplanner" SrcPort 4 DstBlock "waypoint \nreached" DstPort 1 } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "trajectory constraints" DstPort 2 } Line { SrcBlock "skillID" SrcPort 1 Points [15, 0] Branch { Points [0, -150] DstBlock "phi trajectoryplanner" DstPort 1 } Branch { DstBlock "trajectory constraints" DstPort 1 } } Line { SrcBlock "xy trajectoryplanner" SrcPort 1 DstBlock "phi trajectoryplanner" DstPort 2 } Line { SrcBlock "desired velocity" SrcPort 1 DstBlock "trajectory constraints" DstPort 3 } Line { SrcBlock "trajectory constraints" SrcPort 2 DstBlock "xy trajectoryplanner" DstPort 4 } Line { SrcBlock "target_xyo" SrcPort 1 DstBlock "phi trajectoryplanner" DstPort 6 } } } Block { BlockType "S-Function" Name "waypointplanner" Ports [5, 2] Position [415, 127, 700, 273] FunctionName "waypointplanner" } Block { BlockType Outport Name "ref_xyo" Position [1020, 573, 1050, 587] IconDisplay "Port number" } Line { SrcBlock "trajectoryplanner xyo" SrcPort 2 Points [20, 0] Branch { DstBlock "ref_xyo" DstPort 1 } Branch { Points [0, -495; -685, 0; 0, 85] DstBlock "Memory1" DstPort 1 } } Line { SrcBlock "waypointplanner" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 1 } Line { SrcBlock "waypointplanner" SrcPort 2 DstBlock "trajectoryplanner xyo" DstPort 2 } Line { SrcBlock "trajectoryplanner xyo" SrcPort 1 Points [5, 0; 0, -175; -645, 0; 0, 35] DstBlock "Memory" DstPort 1 } Line { SrcBlock "target_xyo (enc)" SrcPort 1 Points [35, 0] Branch { Points [0, 490] DstBlock "trajectoryplanner xyo" DstPort 8 } Branch { DstBlock "waypointplanner" DstPort 3 } } Line { SrcBlock "subtarget_xy (enc)" SrcPort 1 DstBlock "waypointplanner" DstPort 4 } Line { SrcBlock "skillID" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 6 } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 5 } Line { SrcBlock "control enable" SrcPort 1 Points [25, 0] Branch { Labels [0, 0] Points [0, 130] DstBlock "trajectoryplanner xyo" DstPort 4 } Branch { DstBlock "waypointplanner" DstPort 5 } } Line { SrcBlock "pose_xyo (enc)" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 3 } Line { SrcBlock "desired velocity" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 7 } Line { SrcBlock "Memory" SrcPort 1 DstBlock "waypointplanner" DstPort 1 } Line { SrcBlock "Memory1" SrcPort 1 DstBlock "waypointplanner" DstPort 2 } } } Block { BlockType Outport Name "notused2" Position [485, 93, 515, 107] IconDisplay "Port number" } Block { BlockType Outport Name "ref_xyo" Position [485, 158, 515, 172] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "not used1" Position [490, 203, 520, 217] Port "3" IconDisplay "Port number" } Line { SrcBlock "pose_xyo" SrcPort 1 Points [70, 0] Branch { DstBlock "smoetsiefeier" DstPort 1 } Branch { Points [0, 225] DstBlock "To Workspace" DstPort 1 } } Line { SrcBlock "target_xyo" SrcPort 1 Points [60, 0] Branch { DstBlock "smoetsiefeier" DstPort 2 } Branch { Points [0, 235] DstBlock "To Workspace1" DstPort 1 } } Line { SrcBlock "subtarget_xy" SrcPort 1 Points [45, 0] Branch { DstBlock "smoetsiefeier" DstPort 3 } Branch { Points [0, 240] DstBlock "To Workspace2" DstPort 1 } } Line { SrcBlock "desired velocity" SrcPort 1 Points [35, 0] Branch { DstBlock "smoetsiefeier" DstPort 4 } Branch { Points [0, 245] DstBlock "To Workspace3" DstPort 1 } } Line { SrcBlock "smoetsiefeier" SrcPort 1 Points [5, 0] Branch { DstBlock "ref_xyo" DstPort 1 } Branch { Points [0, -130] DstBlock "To Workspace7" DstPort 1 } } Line { SrcBlock "skillID" SrcPort 1 Points [5, 0] Branch { DstBlock "Data Type Conversion1" DstPort 1 } Branch { Points [0, 250] DstBlock "To Workspace4" DstPort 1 } } Line { SrcBlock "control enable" SrcPort 1 Points [0, 0] Branch { DstBlock "Data Type Conversion" DstPort 1 } Branch { Points [0, 255] DstBlock "To Workspace5" DstPort 1 } } Line { SrcBlock "tunable parameters" SrcPort 1 Points [20, 0] Branch { DstBlock "smoetsiefeier" DstPort 7 } Branch { Points [0, 260] DstBlock "To Workspace6" DstPort 1 } } Line { SrcBlock "not used" SrcPort 1 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "not used2" SrcPort 1 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "not used3" SrcPort 1 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "Ground" SrcPort 1 DstBlock "notused2" DstPort 1 } Line { SrcBlock "Ground1" SrcPort 1 DstBlock "not used1" DstPort 1 } Line { SrcBlock "Data Type Conversion" SrcPort 1 DstBlock "smoetsiefeier" DstPort 6 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "smoetsiefeier" DstPort 5 } } } Block { BlockType SubSystem Name "Smoetsiefeier with tracing+waypointplanner" Ports [12, 3] Position [275, 482, 440, 793] BackgroundColor "[0.649000, 0.485906, 0.183018]" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Smoetsiefeier with tracing+waypointplanner" Location [5, 77, 1675, 1020] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "pose_xyo_global" Position [60, 38, 90, 52] IconDisplay "Port number" } Block { BlockType Inport Name "target_xyo_global" Position [60, 108, 90, 122] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "obstacles_xyr_global" Position [60, 118, 90, 132] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "motion offset" Position [70, 623, 100, 637] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "not used" Position [65, 313, 95, 327] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "desired velocity" Position [60, 158, 90, 172] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "not used2" Position [60, 343, 90, 357] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "skillID" Position [60, 198, 90, 212] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "control enable" Position [60, 238, 90, 252] Port "9" IconDisplay "Port number" } Block { BlockType Inport Name "tunable parameters" Position [60, 278, 90, 292] Port "10" IconDisplay "Port number" } Block { BlockType Inport Name "not used3" Position [65, 388, 95, 402] Port "11" IconDisplay "Port number" } Block { BlockType Inport Name "pose_xyo_enc" Position [60, 78, 90, 92] Port "12" IconDisplay "Port number" } Block { BlockType DataTypeConversion Name "Data Type Conversion" Position [120, 231, 170, 259] ShowName off OutDataTypeMode "int32" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion1" Position [120, 191, 170, 219] ShowName off OutDataTypeMode "int32" OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Ground Name "Ground" Position [435, 90, 455, 110] } Block { BlockType Ground Name "Ground1" Position [440, 200, 460, 220] } Block { BlockType Terminator Name "Terminator" Position [130, 310, 150, 330] } Block { BlockType Terminator Name "Terminator1" Position [130, 340, 150, 360] } Block { BlockType Terminator Name "Terminator2" Position [130, 385, 150, 405] } Block { BlockType ToWorkspace Name "To Workspace" Position [440, 255, 500, 285] VariableName "pose" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace1" Position [440, 305, 500, 335] VariableName "target" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace2" Position [440, 350, 500, 380] VariableName "subtarget" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace3" Position [440, 395, 500, 425] VariableName "desvel" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace4" Position [440, 440, 500, 470] VariableName "skillid" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace5" Position [440, 485, 500, 515] VariableName "controlenable" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace6" Position [440, 530, 500, 560] VariableName "tunableparameters" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace7" Position [445, 20, 505, 50] VariableName "ref" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace8" Position [440, 585, 500, 615] VariableName "pose_enc" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace9" Position [370, 645, 430, 675] VariableName "motionoffset" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType SubSystem Name "smoetsiefeier" Ports [9, 1] Position [200, 29, 405, 311] BackgroundColor "[0.596000, 0.460072, 0.225288]" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "smoetsiefeier" Location [347, 117, 1479, 960] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "pose_xyo_global" Position [370, 173, 400, 187] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "pose_xyo_enc" Position [650, 308, 680, 322] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "target_xyo_global" Position [305, 658, 335, 672] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "obstacles_xyr_global" Position [365, 253, 395, 267] Port "4" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "motion offset" Position [300, 708, 330, 722] Port "5" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "desired velocity" Position [655, 608, 685, 622] Port "6" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "skillID" Position [655, 533, 685, 547] Port "7" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "control enable" Position [650, 383, 680, 397] Port "8" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "tunable parameters" Position [655, 458, 685, 472] Port "9" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Memory Name "Memory" Position [420, 125, 450, 155] ShowName off } Block { BlockType SubSystem Name "global to encoders" Ports [2, 1] Position [430, 640, 590, 740] BackgroundColor "lightBlue" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "global to encoders" Location [82, 737, 642, 959] 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 "105" Block { BlockType Inport Name "global xyo" Position [305, 33, 335, 47] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "offset encoders to pose" Position [230, 83, 260, 97] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Sum Name "Add3" Ports [2, 1] Position [370, 25, 395, 85] ShowName off Inputs "+-" CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^-10" SaturateOnIntegerOverflow off } Block { BlockType Mux Name "Mux2" Ports [2, 1] Position [545, 51, 550, 144] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType SubSystem Name "R_(F,R)1" Ports [2, 1] Position [470, 35, 525, 110] NamePlacement "alternate" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "R_(F,R)1" Location [652, 778, 1037, 981] 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_w y_w]" Position [25, 58, 55, 72] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "theta" Position [25, 108, 55, 122] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Demux Name "Demux" Ports [1, 2] Position [80, 25, 85, 100] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [300, 31, 305, 129] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType SubSystem Name "Subsystem3" Ports [3, 2] Position [165, 30, 230, 130] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Subsystem3" Location [1047, 643, 1619, 1087] 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_W" Position [25, 28, 55, 42] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "y_W" Position [25, 78, 55, 92] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "theta" Position [25, 218, 55, 232] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Product Name "Product" Ports [2, 1] Position [245, 27, 275, 58] CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product1" Ports [2, 1] Position [245, 77, 275, 108] CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product2" Ports [2, 1] Position [245, 127, 275, 158] CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product3" Ports [2, 1] Position [245, 177, 275, 208] CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum3" Ports [2, 1] Position [290, 60, 310, 80] ShowName off IconShape "round" CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum4" Ports [2, 1] Position [290, 160, 310, 180] ShowName off IconShape "round" Inputs "-+" CollapseMode "All dimensions" InputSameDT off OutDataTypeMode "Inherit via internal rule" OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Trigonometry Name "Trigonometric\nFunction" Ports [1, 1] Position [165, 270, 195, 300] } Block { BlockType Trigonometry Name "Trigonometric\nFunction1" Ports [1, 1] Position [165, 210, 195, 240] Operator "cos" } Block { BlockType Outport Name "x_R" Position [335, 63, 365, 77] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "y_R" Position [335, 163, 365, 177] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock "theta" SrcPort 1 Points [70, 0] Branch { Points [0, 60] DstBlock "Trigonometric\nFunction" DstPort 1 } Branch { DstBlock "Trigonometric\nFunction1" DstPort 1 } } Line { SrcBlock "x_W" 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_W" SrcPort 1 Points [115, 0] Branch { DstBlock "Product1" DstPort 1 } Branch { Points [0, 100] DstBlock "Product3" DstPort 1 } } Line { SrcBlock "Sum3" SrcPort 1 Points [0, 0] DstBlock "x_R" DstPort 1 } Line { SrcBlock "Sum4" SrcPort 1 Points [0, 0] DstBlock "y_R" DstPort 1 } } } Block { BlockType Outport Name "[x_R y_R]_out" Position [330, 73, 360, 87] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock "Mux" SrcPort 1 DstBlock "[x_R y_R]_out" DstPort 1 } Line { SrcBlock "[x_w y_w]" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Subsystem3" SrcPort 2 DstBlock "Mux" DstPort 2 } Line { SrcBlock "Subsystem3" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "Subsystem3" DstPort 2 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "Subsystem3" DstPort 1 } Line { SrcBlock "theta" SrcPort 1 DstBlock "Subsystem3" DstPort 3 } } } Block { BlockType Selector Name "Selector1" Ports [1, 1] Position [325, 77, 350, 103] InputPortWidth "3" IndexOptions "Index vector (dialog)" Indices "3" OutputSizes "1" } Block { BlockType Selector Name "Selector5" Ports [1, 1] Position [420, 42, 445, 68] InputPortWidth "3" IndexOptions "Index vector (dialog)" Indices "[1:2]" OutputSizes "1" } Block { BlockType Selector Name "Selector6" Ports [1, 1] Position [420, 107, 445, 133] InputPortWidth "3" IndexOptions "Index vector (dialog)" Indices "3" OutputSizes "1" } Block { BlockType Outport Name "encoders" Position [595, 93, 625, 107] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock "Selector5" SrcPort 1 DstBlock "R_(F,R)1" DstPort 1 } Line { SrcBlock "R_(F,R)1" SrcPort 1 DstBlock "Mux2" DstPort 1 } Line { SrcBlock "Selector6" SrcPort 1 DstBlock "Mux2" DstPort 2 } Line { SrcBlock "Add3" SrcPort 1 Points [0, 0; 5, 0] Branch { DstBlock "Selector6" DstPort 1 } Branch { DstBlock "Selector5" DstPort 1 } } Line { SrcBlock "Selector1" SrcPort 1 DstBlock "R_(F,R)1" DstPort 2 } Line { SrcBlock "global xyo" SrcPort 1 Points [0, 0] DstBlock "Add3" DstPort 1 } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "encoders" DstPort 1 } Line { SrcBlock "offset encoders to pose" SrcPort 1 Points [15, 0] Branch { DstBlock "Selector1" DstPort 1 } Branch { Points [0, -20] DstBlock "Add3" DstPort 2 } } } } Block { BlockType SubSystem Name "trajectoryplanner xyo" Ports [9, 2] Position [730, 126, 970, 804] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "trajectoryplanner xyo" Location [443, 211, 1675, 868] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "waypoints" Position [365, 143, 395, 157] IconDisplay "Port number" } Block { BlockType Inport Name "nwaypoints" Position [375, 218, 405, 232] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "pose_xyo" Position [450, 368, 480, 382] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "control \nenable" Position [520, 418, 550, 432] Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "tunable parameters" Position [300, 293, 330, 307] Port "5" IconDisplay "Port number" } Block { BlockType Inport Name "skillID" Position [220, 258, 250, 272] Port "6" IconDisplay "Port number" } Block { BlockType Inport Name "desired velocity" Position [300, 328, 330, 342] Port "7" IconDisplay "Port number" } Block { BlockType Inport Name "target_xyo" Position [745, 483, 775, 497] Port "8" IconDisplay "Port number" } Block { BlockType Inport Name "motionoffset" Position [315, 168, 345, 182] Port "9" IconDisplay "Port number" } Block { BlockType Terminator Name "Terminator1" Position [725, 330, 745, 350] ShowName off } Block { BlockType "S-Function" Name "global2encoders" Ports [3, 1] Position [435, 137, 565, 213] FunctionName "global2encoders" } Block { BlockType "S-Function" Name "phi trajectoryplanner" Ports [6, 1] Position [815, 70, 960, 535] FunctionName "trajectorygenerator_phi" } Block { BlockType SubSystem Name "trajectory constraints" Ports [3, 2] Position [385, 248, 560, 352] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "trajectory constraints" Location [557, 600, 1055, 900] 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" Position [115, 188, 145, 202] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "tunable parameters" Position [110, 103, 140, 117] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "desired velocity" Position [115, 148, 145, 162] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant" Position [270, 95, 300, 125] Value "2" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "Constant1" Position [270, 145, 300, 175] Value "2" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Terminator Name "Terminator1" Position [185, 100, 205, 120] ShowName off } Block { BlockType Terminator Name "Terminator2" Position [185, 145, 205, 165] ShowName off } Block { BlockType Terminator Name "Terminator3" Position [185, 185, 205, 205] ShowName off } Block { BlockType Outport Name "vmax" Position [360, 103, 390, 117] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "amax" Position [360, 153, 390, 167] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "amax" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "vmax" DstPort 1 } Line { SrcBlock "skillID" SrcPort 1 DstBlock "Terminator3" DstPort 1 } Line { SrcBlock "desired velocity" SrcPort 1 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "Terminator1" DstPort 1 } } } Block { BlockType "S-Function" Name "xy trajectoryplanner" Ports [6, 4] Position [580, 147, 705, 453] FunctionName "trajectorygenerator" } Block { BlockType Outport Name "waypoint \nreached" Position [730, 408, 760, 422] IconDisplay "Port number" } Block { BlockType Outport Name "ref_xyo" Position [980, 298, 1010, 312] Port "2" IconDisplay "Port number" } Line { SrcBlock "target_xyo" SrcPort 1 DstBlock "phi trajectoryplanner" DstPort 6 } Line { SrcBlock "trajectory constraints" SrcPort 2 DstBlock "xy trajectoryplanner" DstPort 4 } Line { SrcBlock "desired velocity" SrcPort 1 DstBlock "trajectory constraints" DstPort 3 } Line { SrcBlock "xy trajectoryplanner" SrcPort 1 DstBlock "phi trajectoryplanner" DstPort 2 } Line { SrcBlock "skillID" SrcPort 1 Points [15, 0] Branch { DstBlock "trajectory constraints" DstPort 1 } Branch { Points [0, -150] DstBlock "phi trajectoryplanner" DstPort 1 } } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "trajectory constraints" DstPort 2 } Line { SrcBlock "xy trajectoryplanner" SrcPort 4 DstBlock "waypoint \nreached" DstPort 1 } Line { SrcBlock "pose_xyo" SrcPort 1 Points [15, 0] Branch { Points [0, 100; 300, 0] DstBlock "phi trajectoryplanner" DstPort 5 } Branch { DstBlock "xy trajectoryplanner" DstPort 5 } } Line { SrcBlock "trajectory constraints" SrcPort 1 DstBlock "xy trajectoryplanner" DstPort 3 } Line { SrcBlock "nwaypoints" SrcPort 1 Points [10, 0] Branch { DstBlock "xy trajectoryplanner" DstPort 2 } Branch { DstBlock "global2encoders" DstPort 3 } } Line { SrcBlock "control \nenable" SrcPort 1 Points [5, 0] Branch { DstBlock "xy trajectoryplanner" DstPort 6 } Branch { Labels [2, 0] Points [0, 45; 225, 0; 0, -130] DstBlock "phi trajectoryplanner" DstPort 4 } } Line { SrcBlock "phi trajectoryplanner" SrcPort 1 DstBlock "ref_xyo" DstPort 1 } Line { SrcBlock "xy trajectoryplanner" SrcPort 3 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "xy trajectoryplanner" SrcPort 2 DstBlock "phi trajectoryplanner" DstPort 3 } Line { SrcBlock "global2encoders" SrcPort 1 DstBlock "xy trajectoryplanner" DstPort 1 } Line { SrcBlock "waypoints" SrcPort 1 DstBlock "global2encoders" DstPort 1 } Line { SrcBlock "motionoffset" SrcPort 1 DstBlock "global2encoders" DstPort 2 } } } Block { BlockType SubSystem Name "waypointplanner" Ports [4, 2] Position [490, 123, 695, 277] MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "waypointplanner" Location [138, 449, 1226, 977] 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 "waypoint reached" Position [400, 313, 430, 327] IconDisplay "Port number" } Block { BlockType Inport Name "ref_xyo" Position [25, 103, 55, 117] Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "target_xyo" Position [190, 118, 220, 132] Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "obstacles_xyr" Position [65, 233, 95, 247] Port "4" IconDisplay "Port number" } Block { BlockType DataTypeConversion Name "Data Type Conversion1" Position [480, 303, 550, 337] ShowName off OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion2" Position [320, 133, 390, 167] ShowName off OutDataType "sfix(16)" OutScaling "2^0" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Goto Name "Goto3" Position [840, 116, 955, 134] BackgroundColor "green" ShowName off GotoTag "waypoints_xy" TagVisibility "global" } Block { BlockType Goto Name "Goto5" Position [835, 196, 950, 214] BackgroundColor "green" ShowName off GotoTag "wppathlength" TagVisibility "global" } Block { BlockType Mux Name "Mux3" Ports [2, 1] Position [415, 112, 420, 163] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType "S-Function" Name "S-Function" Ports [10, 4] Position [595, 87, 740, 403] FunctionName "waypointplanner" } Block { BlockType Terminator Name "Terminator" Position [780, 355, 800, 375] ShowName off } Block { BlockType UnitDelay Name "Unit Delay1" Position [650, 428, 685, 462] Orientation "left" SampleTime "-1" } Block { BlockType Constant Name "hysteresis\npercentage check" Position [340, 185, 370, 215] Value ".1" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "maximum\nvelocity" Position [520, 365, 550, 395] Value "2" OutDataTypeMode "double" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "obstacle\nradius" Position [425, 215, 455, 245] Value ".7" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Display Name "path found" Ports [1] Position [855, 270, 945, 300] Decimation "1" Lockdown off } Block { BlockType Selector Name "path_xy" Ports [1, 1] Position [780, 106, 820, 144] InputPortWidth "200" IndexOptions "Index vector (dialog)" Indices "[1,2,5,6,9,10,13,14,17,18,21,22,25,26,29,30]" OutputSizes "1" } Block { BlockType Selector Name "pos" Ports [1, 1] Position [90, 91, 130, 129] InputPortWidth "3" IndexOptions "Index vector (dialog)" Indices "[1:2]" OutputSizes "1" } Block { BlockType Selector Name "pos1" Ports [1, 1] Position [130, 221, 170, 259] InputPortWidth "3*50" IndexOptions "Index vector (dialog)" Indices "[1:30]" OutputSizes "1" } Block { BlockType UnitDelay Name "prevpath" Position [650, 28, 685, 62] Orientation "left" X0 "zeros(1,200)" SampleTime "-1" } Block { BlockType Constant Name "target\nvelocity" Position [265, 135, 295, 165] Value "0" OutDataTypeMode "int32" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "targetisball" Position [315, 335, 345, 365] OutDataTypeMode "int32" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "waypoints" Position [795, 38, 825, 52] IconDisplay "Port number" } Block { BlockType Outport Name "nwaypoints" Position [790, 168, 820, 182] Port "2" IconDisplay "Port number" } Line { SrcBlock "hysteresis\npercentage check" SrcPort 1 DstBlock "S-Function" DstPort 4 } Line { SrcBlock "S-Function" SrcPort 3 DstBlock "path found" DstPort 1 } Line { SrcBlock "pos" SrcPort 1 DstBlock "S-Function" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 2 Points [10, 0] Branch { Points [0, 240] DstBlock "Unit Delay1" DstPort 1 } Branch { Points [0, 0] Branch { DstBlock "Goto5" DstPort 1 } Branch { Points [0, -30] DstBlock "nwaypoints" DstPort 1 } } } Line { SrcBlock "S-Function" SrcPort 1 Points [10, 0] Branch { DstBlock "path_xy" DstPort 1 } Branch { Points [0, -80] Branch { DstBlock "prevpath" DstPort 1 } Branch { DstBlock "waypoints" DstPort 1 } } } Line { SrcBlock "waypoint reached" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "prevpath" SrcPort 1 Points [-100, 0; 0, 215] DstBlock "S-Function" DstPort 6 } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [-70, 0; 0, -155] DstBlock "S-Function" DstPort 7 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 DstBlock "S-Function" DstPort 8 } Line { SrcBlock "targetisball" SrcPort 1 DstBlock "S-Function" DstPort 9 } Line { SrcBlock "maximum\nvelocity" SrcPort 1 DstBlock "S-Function" DstPort 10 } Line { SrcBlock "obstacle\nradius" SrcPort 1 DstBlock "S-Function" DstPort 5 } Line { SrcBlock "S-Function" SrcPort 4 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "Mux3" SrcPort 1 DstBlock "S-Function" DstPort 2 } Line { SrcBlock "target\nvelocity" SrcPort 1 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "Data Type Conversion2" SrcPort 1 DstBlock "Mux3" DstPort 2 } Line { SrcBlock "pos1" SrcPort 1 Points [135, 0; 0, -65; 270, 0] DstBlock "S-Function" DstPort 3 } Line { SrcBlock "ref_xyo" SrcPort 1 DstBlock "pos" DstPort 1 } Line { SrcBlock "target_xyo" SrcPort 1 DstBlock "Mux3" DstPort 1 } Line { SrcBlock "obstacles_xyr" SrcPort 1 DstBlock "pos1" DstPort 1 } Line { SrcBlock "path_xy" SrcPort 1 DstBlock "Goto3" DstPort 1 } } } Block { BlockType Outport Name "ref_xyo" Position [1015, 628, 1045, 642] IconDisplay "Port number" } Line { SrcBlock "Memory" SrcPort 1 DstBlock "waypointplanner" DstPort 1 } Line { SrcBlock "desired velocity" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 7 } Line { SrcBlock "control enable" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 4 } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 5 } Line { SrcBlock "skillID" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 6 } Line { SrcBlock "trajectoryplanner xyo" SrcPort 1 Points [5, 0; 0, -190; -580, 0; 0, 35] DstBlock "Memory" DstPort 1 } Line { SrcBlock "waypointplanner" SrcPort 2 DstBlock "trajectoryplanner xyo" DstPort 2 } Line { SrcBlock "waypointplanner" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 1 } Line { SrcBlock "trajectoryplanner xyo" SrcPort 2 DstBlock "ref_xyo" DstPort 1 } Line { SrcBlock "obstacles_xyr_global" SrcPort 1 DstBlock "waypointplanner" DstPort 4 } Line { SrcBlock "target_xyo_global" SrcPort 1 Points [50, 0] Branch { DstBlock "global to encoders" DstPort 1 } Branch { Points [0, -445] DstBlock "waypointplanner" DstPort 3 } } Line { SrcBlock "global to encoders" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 8 } Line { SrcBlock "motion offset" SrcPort 1 Points [65, 0] Branch { DstBlock "global to encoders" DstPort 2 } Branch { Points [0, 50] DstBlock "trajectoryplanner xyo" DstPort 9 } } Line { SrcBlock "pose_xyo_enc" SrcPort 1 DstBlock "trajectoryplanner xyo" DstPort 3 } Line { SrcBlock "pose_xyo_global" SrcPort 1 DstBlock "waypointplanner" DstPort 2 } } } Block { BlockType Outport Name "notused2" Position [485, 93, 515, 107] IconDisplay "Port number" } Block { BlockType Outport Name "ref_xyo" Position [485, 158, 515, 172] Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "not used1" Position [490, 203, 520, 217] Port "3" IconDisplay "Port number" } Line { SrcBlock "Data Type Conversion1" SrcPort 1 Points [10, 0] DstBlock "smoetsiefeier" DstPort 7 } Line { SrcBlock "Data Type Conversion" SrcPort 1 Points [10, 0] DstBlock "smoetsiefeier" DstPort 8 } Line { SrcBlock "Ground1" SrcPort 1 DstBlock "not used1" DstPort 1 } Line { SrcBlock "Ground" SrcPort 1 DstBlock "notused2" DstPort 1 } Line { SrcBlock "not used3" SrcPort 1 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "not used2" SrcPort 1 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "not used" SrcPort 1 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "tunable parameters" SrcPort 1 Points [20, 0] Branch { Points [0, 260] DstBlock "To Workspace6" DstPort 1 } Branch { Points [70, 0] DstBlock "smoetsiefeier" DstPort 9 } } Line { SrcBlock "control enable" SrcPort 1 Points [0, 0] Branch { Points [0, 255] DstBlock "To Workspace5" DstPort 1 } Branch { DstBlock "Data Type Conversion" DstPort 1 } } Line { SrcBlock "skillID" SrcPort 1 Points [5, 0] Branch { Points [0, 250] DstBlock "To Workspace4" DstPort 1 } Branch { DstBlock "Data Type Conversion1" DstPort 1 } } Line { SrcBlock "smoetsiefeier" SrcPort 1 Points [0, -5; 5, 0] Branch { Points [0, -130] DstBlock "To Workspace7" DstPort 1 } Branch { DstBlock "ref_xyo" DstPort 1 } } Line { SrcBlock "desired velocity" SrcPort 1 Points [35, 0] Branch { Points [0, 245] DstBlock "To Workspace3" DstPort 1 } Branch { Points [55, 0] DstBlock "smoetsiefeier" DstPort 6 } } Line { SrcBlock "obstacles_xyr_global" SrcPort 1 Points [45, 0] Branch { Points [0, 240] DstBlock "To Workspace2" DstPort 1 } Branch { Points [45, 0] DstBlock "smoetsiefeier" DstPort 4 } } Line { SrcBlock "target_xyo_global" SrcPort 1 Points [60, 0] Branch { Points [0, 205] DstBlock "To Workspace1" DstPort 1 } Branch { DstBlock "smoetsiefeier" DstPort 3 } } Line { SrcBlock "pose_xyo_global" SrcPort 1 Points [70, 0] Branch { Points [0, 225] DstBlock "To Workspace" DstPort 1 } Branch { Points [20, 0] DstBlock "smoetsiefeier" DstPort 1 } } Line { SrcBlock "motion offset" SrcPort 1 Points [75, 0] Branch { Points [0, -460] DstBlock "smoetsiefeier" DstPort 5 } Branch { Points [0, 30] DstBlock "To Workspace9" DstPort 1 } } Line { SrcBlock "pose_xyo_enc" SrcPort 1 Points [45, 0] Branch { Points [45, 0] DstBlock "smoetsiefeier" DstPort 2 } Branch { Points [0, 515] DstBlock "To Workspace8" DstPort 1 } } } } Block { BlockType Step Name "Step" Position [20, 335, 50, 365] Time "4" Before "1" After "0" } Block { BlockType Step Name "Step1" Position [25, 285, 55, 315] Time "2" Before "1" After "3" } Block { BlockType Terminator Name "Terminator" Position [650, 55, 670, 75] } Line { SrcBlock "S-Function1" SrcPort 1 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 Points [165, 0] DstBlock "Smoetsiefeier" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 Points [165, 0] DstBlock "Smoetsiefeier" DstPort 2 } Line { SrcBlock "Constant2" SrcPort 1 Points [165, 0] DstBlock "Smoetsiefeier" DstPort 3 } Line { SrcBlock "Constant3" SrcPort 1 DstBlock "Smoetsiefeier" DstPort 5 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 Points [145, 0] DstBlock "Smoetsiefeier" DstPort 7 } Line { SrcBlock "Step" SrcPort 1 Points [20, 0] DstBlock "Data Type Conversion" DstPort 1 } Line { SrcBlock "Constant6" SrcPort 1 DstBlock "Smoetsiefeier" DstPort 9 } Line { SrcBlock "Smoetsiefeier" SrcPort 2 Points [0, -5] DstBlock "Scope" DstPort 1 } Line { SrcBlock "Data Type Conversion" SrcPort 1 Points [140, 0] DstBlock "Smoetsiefeier" DstPort 8 } Line { SrcBlock "Step1" SrcPort 1 DstBlock "Data Type Conversion1" DstPort 1 } } }