Model { Name "vision_turtle" Version 6.2 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.2227" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "US-ASCII" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions on ShowPortDataTypes on ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause 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 Created "Wed Jan 31 12:33:46 2001" Creator "root" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "root" ModifiedDateFormat "%" LastModifiedDate "Tue Jul 3 19:17:46 2007" ModelVersionFormat "1.%" ConfigurationManager "none" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF 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 StrictBusMsg "None" ProdHWDeviceType "32-bit Generic" ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.1.0" Array { Type "Handle" Dimension 7 Simulink.SolverCC { $ObjectID 2 Version "1.1.0" StartTime "0.0" StopTime "10000" AbsTol "auto" FixedStep "1/16" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" 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 "1.1.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "4000*3600" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput on SaveState off SignalLogging on 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 "1.1.0" BlockReduction off BooleanDataType off ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on FoldNonRolledExpr on LocalBlockOutputs on ParameterPooling 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 } Simulink.DebuggingCC { $ObjectID 5 Version "1.1.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" SolverPrmCheckMsg "none" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "warning" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterPrecisionLossMsg "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" } Simulink.HardwareCC { $ObjectID 6 Version "1.1.0" 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 "LittleEndian" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "MATLAB Host" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.1.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 1 Cell "IncludeHyperlinkInReport" PropName "DisabledProps" } Version "1.1.0" SystemTargetFile "wintarget_svr_rtc.tlc" GenCodeOnly off MakeCommand "make_rtw OPTS='-DWTSVR_PORT=8009'" TemplateMakefile "wtsvr_unix_rtc.tmf" Description "Wintarget Server Real-Time Target for Linux" "/RTC" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage on TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ProcessScript "wintarget_svr_rtc_make_rtw_hook" ConfigAtBuild off CustomInclude "../Libs/ipcomm2 ../Libs/camera ../Strategy/" "coach/coach ../Targets/wintarget ./src/task_executer/turtle_passing ../SHM ." "./Global_par ../Libs/TueDacs/RbmIo ../Libs/TueDacs/UgcIo" CustomLibrary "/usr/lib/libcamera.so /usr/lib/libpthread.s" "o /usr/lib/libipcomm2_client.so /usr/lib/libipcomm2_server.so /usr/lib/libdia" "g.so /usr/lib/libgd.so /usr/lib/libshm_client.so /usr/lib/libturtle_talking.s" "o /usr/lib/libio_RbmIo.so" IncludeHyperlinkInReport off LaunchReport off TargetLang "C" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 9 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" PropName "DisabledProps" } Version "1.1.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement on IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off PrefixModelToSubsysFcnNames on CustomSymbolStr "$R$N$M" MangleLength 1 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 12 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" PropName "DisabledProps" } Version "1.1.0" TargetFcnLib "ansi_tfl_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off IsPILTarget off ModelReferenceCompliant 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 ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" SimulationMode "normal" CurrentDlgPage "Solver" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType BusCreator Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Clock DisplayTime off } Block { BlockType Constant Value "1" VectorParams1D on OutDataTypeMode "Inherit from 'Constant value'" OutDataType "sfix(16)" ConRadixGroup "Use specified scaling" OutScaling "2^0" SampleTime "inf" } Block { BlockType DataTypeConversion OutDataTypeMode "Inherit via back propagation" OutDataType "sfix(16)" OutScaling "2^0" 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 EnablePort StatesWhenEnabling "held" ShowOutputPort off ZeroCross on } Block { BlockType From IconDisplay "Tag" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParameterDataTypeMode "Same as input" ParameterDataType "sfix(16)" ParameterScalingMode "Best Precision: Matrix-wise" ParameterScaling "2^0" OutDataTypeMode "Same as input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Goto IconDisplay "Tag" } Block { BlockType Inport UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" Interpolate on } Block { BlockType Logic Operator "AND" Inputs "2" AllPortsSameDT on OutDataTypeMode "Logical (see Configuration Parameters: Optimiza" "tion)" LogicDataType "uint(8)" SampleTime "-1" } Block { BlockType Memory X0 "0" InheritSampleTime off LinearizeMemory 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" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType RelationalOperator Operator ">=" InputSameDT on LogicOutDataTypeMode "Logical (see Configuration Parameters: Optimiza" "tion)" LogicDataType "uint(8)" ZeroCross on SampleTime "-1" } Block { BlockType Saturate UpperLimit "0.5" LowerLimit "-0.5" LinearizeAsGain on ZeroCross on SampleTime "-1" } Block { BlockType Selector InputType "Vector" IndexMode "One-based" ElementSrc "Internal" Elements "1" RowSrc "Internal" Rows "1" ColumnSrc "Internal" Columns "1" InputPortWidth "-1" IndexIsStartValue off OutputPortSize "1" } Block { BlockType "S-Function" FunctionName "system" SFunctionModules "''" PortCounts "[]" } Block { BlockType SignalSpecification Dimensions "-1" SampleTime "-1" DataType "auto" OutDataType "sfix(16)" OutScaling "2^0" SignalType "auto" SamplingMode "auto" } Block { BlockType SubSystem ShowPortLabels on Permissions "ReadWrite" PermitHierarchicalResolution "All" SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Sum IconShape "rectangular" Inputs "++" InputSameDT on OutDataTypeMode "Same as first input" OutDataType "sfix(16)" OutScaling "2^0" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Switch Criteria "u2 >= Threshold" Threshold "0" InputSameDT on OutDataTypeMode "Inherit via internal rule" RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" } Block { BlockType Terminator } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" FixptAsFi off } Block { BlockType Trigonometry Operator "sin" OutputSignalType "auto" SampleTime "-1" } Block { BlockType UnitDelay X0 "0" SampleTime "1" StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "vision_turtle" Location [4, 54, 1397, 999] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType Display Name "Actual time in s" Ports [1] Position [125, 45, 215, 75] Decimation "1" } Block { BlockType Clock Name "Clock" Position [60, 50, 80, 70] Decimation "10" } Block { BlockType DataTypeConversion Name "Data Type Conversion4" Position [90, 374, 140, 406] ShowName off OutDataTypeMode "int32" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion5" Position [90, 464, 140, 496] ShowName off OutDataTypeMode "int32" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "Path_Planning" Ports [3, 1] Position [715, 240, 850, 590] BackgroundColor "magenta" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Path_Planning" Location [131, 203, 1226, 780] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "cur_xyo" Position [120, 313, 150, 327] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "opp_xyo (global)" Position [225, 393, 255, 407] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "TE out_xy" Position [305, 343, 335, 357] Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType From Name "From" Position [500, 139, 600, 181] CloseFcn "tagdialog Close" GotoTag "taskID_block" } Block { BlockType Goto Name "Goto1" Position [880, 224, 980, 256] GotoTag "target_global_xy" TagVisibility "global" } Block { BlockType Goto Name "Goto2" Position [415, 224, 515, 256] GotoTag "TE_out_xy" TagVisibility "global" } Block { BlockType "S-Function" Name "S-Function" Ports [2, 1] Position [330, 388, 395, 437] FunctionName "global2local" } Block { BlockType Saturate Name "Saturation" Position [625, 335, 655, 365] UpperLimit "subtargetsaturation" LowerLimit "-subtargetsaturation" } Block { BlockType SubSystem Name "Subsystem" Ports [3, 1] Position [430, 303, 565, 397] BackgroundColor "yellow" ShowName off TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Subsystem" Location [3, 82, 1271, 754] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "global position" Position [25, 68, 55, 82] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "TE global x, y" Position [25, 33, 55, 47] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "avoidables plus" Position [250, 113, 280, 127] Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType SignalSpecification Name "Signal Specification1" Position [265, 49, 315, 71] Dimensions "[2 1]" } Block { BlockType SubSystem Name "global2local1" Ports [2, 1] Position [130, 24, 240, 91] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "global2local1" Location [410, 156, 835, 398] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "global" Position [145, 78, 175, 92] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "global position" Position [40, 38, 70, 52] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Demux Name "Demux1" Ports [1, 2] Position [105, 13, 110, 77] BackgroundColor "black" ShowName off Outputs "[2 1]" DisplayOption "bar" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [180, 20, 200, 40] ShowName off IconShape "round" Inputs "|-+" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "inverse rotation matrix" Ports [2, 1] Position [230, 18, 315, 67] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "inverse rotation matrix" Location [450, 441, 1017, 716] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "xy" Position [25, 113, 55, 127] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "phi" Position [75, 173, 105, 187] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Demux Name "Demux" Ports [1, 2] Position [80, 101, 85, 139] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Gain Name "Gain1" Position [200, 165, 215, 195] Gain "-1" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Mux Name "Mux2" Ports [2, 1] Position [480, 86, 485, 124] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Product Name "Product" Ports [2, 1] Position [380, 42, 410, 73] InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product1" Ports [2, 1] Position [370, 177, 400, 208] InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product3" Ports [2, 1] Position [235, 172, 265, 203] InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product4" Ports [2, 1] Position [205, 42, 235, 73] InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [430, 50, 450, 70] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [420, 185, 440, 205] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Trigonometry Name "Trigonometric\nFunction" Ports [1, 1] Position [150, 35, 180, 65] Operator "cos" } Block { BlockType Trigonometry Name "Trigonometric\nFunction1" Ports [1, 1] Position [150, 165, 180, 195] } Block { BlockType Trigonometry Name "Trigonometric\nFunction2" Ports [1, 1] Position [285, 35, 315, 65] } Block { BlockType Trigonometry Name "Trigonometric\nFunction3" Ports [1, 1] Position [310, 170, 340, 200] Operator "cos" } Block { BlockType Outport Name "xy rotated" Position [510, 98, 540, 112] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Gain1" SrcPort 1 DstBlock "Product3" DstPort 1 } Line { SrcBlock "xy" SrcPort 1 Points [0, 0] DstBlock "Demux" DstPort 1 } Line { SrcBlock "Mux2" SrcPort 1 Points [0, 0] DstBlock "xy rotated" DstPort 1 } Line { SrcBlock "Sum2" SrcPort 1 Points [0, -80] DstBlock "Mux2" DstPort 2 } Line { SrcBlock "Product3" SrcPort 1 Points [10, 0; 0, 45; 150, 0] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Product1" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 Points [10, 0] DstBlock "Mux2" DstPort 1 } Line { SrcBlock "Product4" SrcPort 1 Points [15, 0; 0, -30; 205, 0; 0, 55] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Product" SrcPort 1 DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 Points [0, 0; 240, 0] Branch { Points [0, 70] DstBlock "Product1" DstPort 2 } Branch { Points [35, 0] DstBlock "Product" DstPort 2 } } Line { SrcBlock "Demux" SrcPort 1 Points [0, 0; 50, 0] Branch { Points [0, 85] DstBlock "Product3" DstPort 2 } Branch { Points [0, -45] DstBlock "Product4" DstPort 2 } } Line { SrcBlock "Trigonometric\nFunction3" SrcPort 1 DstBlock "Product1" DstPort 1 } Line { SrcBlock "Trigonometric\nFunction" SrcPort 1 DstBlock "Product4" DstPort 1 } Line { SrcBlock "Trigonometric\nFunction1" SrcPort 1 DstBlock "Gain1" DstPort 1 } Line { SrcBlock "phi" SrcPort 1 Points [0, 0; 15, 0] Branch { Points [0, -25] Branch { Points [150, 0] Branch { Points [0, -105] DstBlock "Trigonometric\nFunction2" DstPort 1 } Branch { Points [0, 30] DstBlock "Trigonometric\nFunction3" DstPort 1 } } Branch { Points [0, -105] DstBlock "Trigonometric\nFunction" DstPort 1 } } Branch { DstBlock "Trigonometric\nFunction1" DstPort 1 } } Line { SrcBlock "Trigonometric\nFunction2" SrcPort 1 DstBlock "Product" DstPort 1 } } } Block { BlockType Outport Name "local" Position [350, 38, 380, 52] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "inverse rotation matrix" SrcPort 1 DstBlock "local" DstPort 1 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "inverse rotation matrix" DstPort 1 } Line { SrcBlock "global" SrcPort 1 Points [10, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "Demux1" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "Demux1" SrcPort 2 Points [10, 0; 0, -5] DstBlock "inverse rotation matrix" DstPort 2 } Line { SrcBlock "global position" SrcPort 1 Points [0, 0] DstBlock "Demux1" DstPort 1 } } } Block { BlockType SubSystem Name "local2global1" Ports [2, 1] Position [575, 149, 660, 216] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "local2global1" Location [410, 156, 835, 303] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "local" Position [155, 53, 185, 67] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "global position" Position [40, 38, 70, 52] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Demux Name "Demux1" Ports [1, 2] Position [105, 13, 110, 77] BackgroundColor "black" ShowName off Outputs "[2 1]" DisplayOption "bar" } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [310, 20, 330, 40] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "rotation matrix" Ports [2, 1] Position [215, 48, 300, 97] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "rotation matrix" Location [450, 441, 1019, 716] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "xy" Position [25, 113, 55, 127] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "phi" Position [75, 173, 105, 187] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Demux Name "Demux" Ports [1, 2] Position [80, 101, 85, 139] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Gain Name "Gain" Position [330, 35, 360, 65] Gain "-1" ParameterDataTypeMode "Inherit via internal rule" OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Mux Name "Mux2" Ports [2, 1] Position [480, 86, 485, 124] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Product Name "Product" Ports [2, 1] Position [380, 42, 410, 73] InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product1" Ports [2, 1] Position [345, 177, 375, 208] InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product3" Ports [2, 1] Position [210, 172, 240, 203] InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Product Name "Product4" Ports [2, 1] Position [205, 42, 235, 73] InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum1" Ports [2, 1] Position [430, 50, 450, 70] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Sum Name "Sum2" Ports [2, 1] Position [395, 185, 415, 205] ShowName off IconShape "round" Inputs "|++" InputSameDT off OutDataTypeMode "Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Trigonometry Name "Trigonometric\nFunction" Ports [1, 1] Position [150, 35, 180, 65] Operator "cos" } Block { BlockType Trigonometry Name "Trigonometric\nFunction1" Ports [1, 1] Position [150, 165, 180, 195] } Block { BlockType Trigonometry Name "Trigonometric\nFunction2" Ports [1, 1] Position [285, 35, 315, 65] } Block { BlockType Trigonometry Name "Trigonometric\nFunction3" Ports [1, 1] Position [285, 170, 315, 200] Operator "cos" } Block { BlockType Outport Name "xy rotated" Position [510, 98, 540, 112] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "xy" SrcPort 1 Points [0, 0] DstBlock "Demux" DstPort 1 } Line { SrcBlock "Mux2" SrcPort 1 Points [0, 0] DstBlock "xy rotated" DstPort 1 } Line { SrcBlock "Sum2" SrcPort 1 Points [20, 0; 0, -80] DstBlock "Mux2" DstPort 2 } Line { SrcBlock "Product3" SrcPort 1 Points [10, 0; 0, 45; 150, 0] DstBlock "Sum2" DstPort 2 } Line { SrcBlock "Product1" SrcPort 1 DstBlock "Sum2" DstPort 1 } Line { SrcBlock "Sum1" SrcPort 1 Points [10, 0] DstBlock "Mux2" DstPort 1 } Line { SrcBlock "Product4" SrcPort 1 Points [15, 0; 0, -30; 205, 0; 0, 55] DstBlock "Sum1" DstPort 2 } Line { SrcBlock "Product" SrcPort 1 DstBlock "Sum1" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 Points [0, 0; 240, 0] Branch { DstBlock "Product1" DstPort 2 } Branch { Points [35, 0] DstBlock "Product" DstPort 2 } } Line { SrcBlock "Demux" SrcPort 1 Points [0, 0; 50, 0] Branch { Points [0, 85] DstBlock "Product3" DstPort 2 } Branch { Points [0, -45] DstBlock "Product4" DstPort 2 } } Line { SrcBlock "Trigonometric\nFunction3" SrcPort 1 DstBlock "Product1" DstPort 1 } Line { SrcBlock "Trigonometric\nFunction" SrcPort 1 DstBlock "Product4" DstPort 1 } Line { SrcBlock "Trigonometric\nFunction1" SrcPort 1 DstBlock "Product3" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 DstBlock "Product" DstPort 1 } Line { SrcBlock "phi" SrcPort 1 Points [0, 0; 15, 0] Branch { Points [0, -25] Branch { Points [140, 0] Branch { Points [0, -105] DstBlock "Trigonometric\nFunction2" DstPort 1 } Branch { Points [0, 30] DstBlock "Trigonometric\nFunction3" DstPort 1 } } Branch { Points [0, -105] DstBlock "Trigonometric\nFunction" DstPort 1 } } Branch { DstBlock "Trigonometric\nFunction1" DstPort 1 } } Line { SrcBlock "Trigonometric\nFunction2" SrcPort 1 DstBlock "Gain" DstPort 1 } } } Block { BlockType Outport Name "global" Position [350, 23, 380, 37] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Demux1" SrcPort 1 DstBlock "Sum" DstPort 1 } Line { SrcBlock "local" SrcPort 1 Points [0, 0] DstBlock "rotation matrix" DstPort 1 } Line { SrcBlock "Demux1" SrcPort 2 Points [10, 0; 0, 25] DstBlock "rotation matrix" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "global" DstPort 1 } Line { SrcBlock "rotation matrix" SrcPort 1 Points [15, 0] DstBlock "Sum" DstPort 2 } Line { SrcBlock "global position" SrcPort 1 Points [0, 0] DstBlock "Demux1" DstPort 1 } } } Block { BlockType "S-Function" Name "subtarget" Ports [2, 1] Position [340, 29, 440, 151] FunctionName "determinesubtarget" Parameters "safetydistance" } Block { BlockType Outport Name "target global x,y" Position [685, 178, 715, 192] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "global position" SrcPort 1 Points [30, 0] Branch { Points [0, 125] DstBlock "local2global1" DstPort 2 } Branch { DstBlock "global2local1" DstPort 2 } } Line { SrcBlock "local2global1" SrcPort 1 Points [0, 0] DstBlock "target global x,y" DstPort 1 } Line { SrcBlock "avoidables plus" SrcPort 1 DstBlock "subtarget" DstPort 2 } Line { SrcBlock "TE global x, y" SrcPort 1 DstBlock "global2local1" DstPort 1 } Line { SrcBlock "global2local1" SrcPort 1 DstBlock "Signal Specification1" DstPort 1 } Line { SrcBlock "subtarget" SrcPort 1 Points [115, 0] DstBlock "local2global1" DstPort 1 } Line { SrcBlock "Signal Specification1" SrcPort 1 DstBlock "subtarget" DstPort 1 } } } Block { BlockType Switch Name "Switch" Position [810, 275, 840, 305] Criteria "u2 > Threshold" Threshold ".5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "saterate subtarget logic" Ports [1, 1] Position [680, 269, 785, 311] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "saterate subtarget logic" Location [645, 173, 1143, 445] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "taskID" Position [15, 33, 45, 47] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Reference Name "10s delay" Ports [1, 1] Position [220, 108, 255, 142] SourceBlock "simulink/Discrete/Integer Delay" SourceType "Integer Delay" vinit "1" samptime "-1" NumDelays "160" } Block { BlockType Reference Name "Compare\nTo Constant" Ports [1, 1] Position [80, 25, 110, 55] ShowName off SourceBlock "simulink/Logic and Bit\nOperations/Comp" "are\nTo Constant" SourceType "Compare To Constant" ShowPortLabels on relop "==" const "31" LogicOutDataTypeMode "boolean" ZeroCross off } Block { BlockType Reference Name "Compare\nTo Constant1" Ports [1, 1] Position [80, 65, 110, 95] ShowName off SourceBlock "simulink/Logic and Bit\nOperations/Comp" "are\nTo Constant" SourceType "Compare To Constant" ShowPortLabels on relop "==" const "33" LogicOutDataTypeMode "boolean" ZeroCross off } Block { BlockType Reference Name "Compare\nTo Constant2" Ports [1, 1] Position [80, 105, 110, 135] ShowName off SourceBlock "simulink/Logic and Bit\nOperations/Comp" "are\nTo Constant" SourceType "Compare To Constant" ShowPortLabels on relop "==" const "34" LogicOutDataTypeMode "boolean" ZeroCross off } Block { BlockType Reference Name "Compare\nTo Constant3" Ports [1, 1] Position [80, 145, 110, 175] ShowName off SourceBlock "simulink/Logic and Bit\nOperations/Comp" "are\nTo Constant" SourceType "Compare To Constant" ShowPortLabels on relop "==" const "36" LogicOutDataTypeMode "boolean" ZeroCross off } Block { BlockType Logic Name "Logical\nOperator" Ports [4, 1] Position [130, 19, 160, 181] ShowName off Operator "OR" Inputs "4" AllPortsSameDT off OutDataTypeMode "Boolean" } Block { BlockType Switch Name "Switch1" Position [300, 85, 330, 115] Criteria "u2 > Threshold" Threshold ".5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Outport Name "saturate subtarget" Position [375, 93, 405, 107] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Switch1" SrcPort 1 DstBlock "saturate subtarget" DstPort 1 } Line { SrcBlock "10s delay" SrcPort 1 Points [25, 0] DstBlock "Switch1" DstPort 3 } Line { SrcBlock "Logical\nOperator" SrcPort 1 Points [20, 0] Branch { Points [0, -10] DstBlock "Switch1" DstPort 1 } Branch { Points [0, 25] DstBlock "10s delay" DstPort 1 } Branch { DstBlock "Switch1" DstPort 2 } } Line { SrcBlock "Compare\nTo Constant" SrcPort 1 DstBlock "Logical\nOperator" DstPort 1 } Line { SrcBlock "Compare\nTo Constant3" SrcPort 1 DstBlock "Logical\nOperator" DstPort 4 } Line { SrcBlock "Compare\nTo Constant2" SrcPort 1 DstBlock "Logical\nOperator" DstPort 3 } Line { SrcBlock "Compare\nTo Constant1" SrcPort 1 DstBlock "Logical\nOperator" DstPort 2 } Line { SrcBlock "taskID" SrcPort 1 Points [0, 0; 5, 0] Branch { Points [0, 40] Branch { Points [0, 40] Branch { Points [0, 40] DstBlock "Compare\nTo Constant3" DstPort 1 } Branch { DstBlock "Compare\nTo Constant2" DstPort 1 } } Branch { DstBlock "Compare\nTo Constant1" DstPort 1 } } Branch { DstBlock "Compare\nTo Constant" DstPort 1 } } } } Block { BlockType Outport Name "target global_xy" Position [880, 283, 910, 297] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "cur_xyo" SrcPort 1 Points [0, 0; 10, 0] Branch { DstBlock "Subsystem" DstPort 1 } Branch { Points [0, 105] DstBlock "S-Function" DstPort 2 } } Line { SrcBlock "TE out_xy" SrcPort 1 Points [0, 0; 15, 0] Branch { DstBlock "Subsystem" DstPort 2 } Branch { Points [0, -110] DstBlock "Goto2" DstPort 1 } } Line { SrcBlock "Subsystem" SrcPort 1 Points [20, 0] Branch { DstBlock "Saturation" DstPort 1 } Branch { Points [0, -90; 205, 0] DstBlock "Switch" DstPort 1 } } Line { SrcBlock "opp_xyo (global)" SrcPort 1 Points [0, 0] DstBlock "S-Function" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 1 Points [10, 0; 0, -35] DstBlock "Subsystem" DstPort 3 } Line { SrcBlock "saterate subtarget logic" SrcPort 1 DstBlock "Switch" DstPort 2 } Line { SrcBlock "Switch" SrcPort 1 Points [10, 0] Branch { DstBlock "target global_xy" DstPort 1 } Branch { Points [0, -50] DstBlock "Goto1" DstPort 1 } } Line { SrcBlock "Saturation" SrcPort 1 Points [135, 0] DstBlock "Switch" DstPort 3 } Line { SrcBlock "From" SrcPort 1 Points [60, 0] DstBlock "saterate subtarget logic" DstPort 1 } } } Block { BlockType Selector Name "Selector1" Ports [1, 1] Position [640, 510, 695, 530] ShowName off Elements "1:2" InputPortWidth "3" } Block { BlockType SubSystem Name "Task executer" Ports [12, 3] Position [475, 235, 625, 575] BackgroundColor "yellow" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Task executer" Location [3, 54, 1396, 999] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "task_ID" Position [335, 353, 365, 367] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "subtask_ID" Position [335, 383, 365, 397] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "des_xyo" Position [335, 413, 365, 427] Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "turtle_id" Position [335, 473, 365, 487] Port "4" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "emergency button" Position [335, 323, 365, 337] Port "5" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "cur_xyo_in" Position [335, 233, 365, 247] Port "6" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "ball_xy" Position [335, 263, 365, 277] Port "7" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "ball_vision_found" Position [335, 563, 365, 577] Port "8" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "opp_xyo_in" Position [335, 293, 365, 307] Port "9" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "CPB_wheels" Position [335, 533, 365, 547] Port "10" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "tunable parameters" Position [335, 443, 365, 457] Port "11" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "subtarget_xy" Position [335, 503, 365, 517] Port "12" IconDisplay "Port number" LatchInput off } Block { BlockType Goto Name "Goto" Position [750, 594, 830, 626] ShowName off GotoTag "opponent_xyo" TagVisibility "global" } Block { BlockType Goto Name "Goto1" Position [750, 309, 830, 341] ShowName off GotoTag "skill_ID" TagVisibility "global" } Block { BlockType Goto Name "Goto2" Position [750, 634, 830, 666] ShowName off GotoTag "out_xyo" TagVisibility "global" } Block { BlockType Goto Name "Goto3" Position [750, 389, 830, 421] ShowName off GotoTag "kick_effort" TagVisibility "global" } Block { BlockType Goto Name "Goto4" Position [750, 429, 830, 461] ShowName off GotoTag "power_amps" TagVisibility "global" } Block { BlockType Goto Name "Goto5" Position [750, 509, 830, 541] ShowName off GotoTag "terminal_vel" TagVisibility "global" } Block { BlockType Goto Name "Goto6" Position [750, 549, 830, 581] ShowName off GotoTag "ball_xy_TE" TagVisibility "global" } Block { BlockType Goto Name "Goto7" Position [750, 469, 830, 501] ShowName off GotoTag "desired_vel" TagVisibility "global" } Block { BlockType Goto Name "Goto8" Position [750, 349, 830, 381] ShowName off GotoTag "phi_prescribed" TagVisibility "global" } Block { BlockType "S-Function" Name "task_executer" Ports [12, 9] Position [455, 227, 655, 583] BackgroundColor "orange" FunctionName "task_executer " MaskDisplay "port_label('input',1,'cur_xyo')\nport_label" "('input',2,'ball_xy')\nport_label('input',3,'opp_xyo')\nport_label('input',4," "'Emergency Button')\nport_label('input',5,'task_ID')\nport_label('input',6,'s" "ubtask_ID')\nport_label('input',7,'des_xyo')\nport_label('input',8,'tunable p" "arameters')\nport_label('input',9,'turtle_id')\nport_label('input',10,'subtar" "get_xy')\nport_label('input',11,'cpb_wheels')\nport_label('input',12,'ball_vi" "sion_found')\n\nport_label('output',1,'opp_xyo')\nport_label('output',2,'out_" "xyo')\nport_label('output',3,'skill_ID')\nport_label('output',4,'phi_prescrib" "ed')\nport_label('output',5,'kick effort')\nport_label('output',6,'power_amps" "')\nport_label('output',7,'desired_vel')\nport_label('output',8,'terminal_vel" "')\nport_label('output',9,'ball_xy_TE')\n\n" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Outport Name "cur_xyo" Position [715, 188, 745, 202] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "opp_xyo" Position [715, 238, 745, 252] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "out_xyo" Position [715, 278, 745, 292] Port "3" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "cur_xyo_in" SrcPort 1 Points [55, 0] Branch { DstBlock "task_executer" DstPort 1 } Branch { Points [0, -45] DstBlock "cur_xyo" DstPort 1 } } Line { SrcBlock "ball_xy" SrcPort 1 DstBlock "task_executer" DstPort 2 } Line { SrcBlock "opp_xyo_in" SrcPort 1 DstBlock "task_executer" DstPort 3 } Line { SrcBlock "emergency button" SrcPort 1 DstBlock "task_executer" DstPort 4 } Line { SrcBlock "task_ID" SrcPort 1 DstBlock "task_executer" DstPort 5 } Line { SrcBlock "subtask_ID" SrcPort 1 DstBlock "task_executer" DstPort 6 } Line { SrcBlock "des_xyo" SrcPort 1 DstBlock "task_executer" DstPort 7 } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "task_executer" DstPort 8 } Line { SrcBlock "turtle_id" SrcPort 1 DstBlock "task_executer" DstPort 9 } Line { SrcBlock "subtarget_xy" SrcPort 1 DstBlock "task_executer" DstPort 10 } Line { SrcBlock "task_executer" SrcPort 1 Points [30, 0] Branch { DstBlock "opp_xyo" DstPort 1 } Branch { Points [0, 365] DstBlock "Goto" DstPort 1 } } Line { SrcBlock "task_executer" SrcPort 2 Points [20, 0] Branch { DstBlock "out_xyo" DstPort 1 } Branch { Points [0, 365] DstBlock "Goto2" DstPort 1 } } Line { SrcBlock "task_executer" SrcPort 3 DstBlock "Goto1" DstPort 1 } Line { SrcBlock "CPB_wheels" SrcPort 1 DstBlock "task_executer" DstPort 11 } Line { SrcBlock "task_executer" SrcPort 9 DstBlock "Goto6" DstPort 1 } Line { SrcBlock "task_executer" SrcPort 8 DstBlock "Goto5" DstPort 1 } Line { SrcBlock "task_executer" SrcPort 7 DstBlock "Goto7" DstPort 1 } Line { SrcBlock "task_executer" SrcPort 6 DstBlock "Goto4" DstPort 1 } Line { SrcBlock "task_executer" SrcPort 5 DstBlock "Goto3" DstPort 1 } Line { SrcBlock "task_executer" SrcPort 4 DstBlock "Goto8" DstPort 1 } Line { SrcBlock "ball_vision_found" SrcPort 1 DstBlock "task_executer" DstPort 12 } } } Block { BlockType ToWorkspace Name "To Workspace4" Position [330, 624, 425, 656] BackgroundColor "red" ShowName off VariableName "ball_xy" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType UnitDelay Name "Unit Delay" Position [40, 373, 75, 407] ShowName off SampleTime "-1" } Block { BlockType UnitDelay Name "Unit Delay1" Position [635, 587, 670, 623] Orientation "left" NamePlacement "alternate" ShowName off SampleTime "-1" } Block { BlockType UnitDelay Name "Unit Delay2" Position [40, 463, 75, 497] ShowName off SampleTime "-1" } Block { BlockType SubSystem Name "Vision" Ports [2, 6] Position [155, 346, 280, 524] BackgroundColor "red" NamePlacement "alternate" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Vision" Location [4, 54, 1397, 999] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "blue home" Position [390, 118, 420, 132] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "task_ID" Position [390, 313, 420, 327] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType DataTypeConversion Name "Data Type Conversion" Position [635, 68, 670, 92] ShowName off OutDataTypeMode "double" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion1" Position [630, 188, 665, 212] ShowName off OutDataTypeMode "double" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType DataTypeConversion Name "Data Type Conversion2" Position [630, 228, 665, 252] ShowName off OutDataTypeMode "double" RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Goto Name "Goto1" Position [730, 137, 810, 153] GotoTag "ball_xy" TagVisibility "global" } Block { BlockType Goto Name "Goto2" Position [685, 231, 785, 249] GotoTag "line_pose_recog" TagVisibility "global" } Block { BlockType Goto Name "Goto3" Position [635, 32, 735, 48] GotoTag "pose_vision" TagVisibility "global" } Block { BlockType Goto Name "Goto4" Position [685, 71, 785, 89] GotoTag "pose_vision_found" TagVisibility "global" } Block { BlockType Goto Name "Goto5" Position [240, 92, 340, 128] Orientation "left" GotoTag "cur_xyo" TagVisibility "global" } Block { BlockType Goto Name "Goto6" Position [750, 191, 830, 209] GotoTag "ballfound" TagVisibility "global" } Block { BlockType Mux Name "Mux1" Ports [3, 1] Position [175, 31, 180, 89] ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" Ports [3, 1] Position [355, 161, 360, 219] NamePlacement "alternate" ShowName off Inputs "3" DisplayOption "bar" } Block { BlockType SubSystem Name "Network Receive From Motion" Ports [0, 5] Position [175, 155, 340, 265] BackgroundColor "[0.800000, 1.000000, 0.800000]" NamePlacement "alternate" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskType "Network Receive block" MaskPromptString "Port" MaskStyleString "edit" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskVariables "Port=@1;" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "port_network_sendreceive_2" System { Name "Network Receive From Motion" Location [3, 54, 1396, 999] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Demux Name "Demux" Ports [1, 5] Position [550, 262, 555, 438] BackgroundColor "black" ShowName off Outputs "5" DisplayOption "bar" } Block { BlockType SubSystem Name "Network Receive (dynamically sized outp" "ut)1" Ports [0, 1] Position [330, 264, 420, 436] BackgroundColor "[0.800000, 1.000000, 0.800000]" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskType "Network Video Receive" MaskPromptString "Port" MaskStyleString "edit" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskVariables "Port=@1;" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "Port" System { Name "Network Receive (dynamically sized ou" "tput)1" Location [491, 185, 905, 606] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType "S-Function" Name "S-Function" Ports [0, 2] Position [35, 66, 135, 119] FunctionName "sf_dyn_ipcomm_server" Parameters "Port" } Block { BlockType Outport Name "ch 1" Position [195, 73, 225, 87] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "ch 1" DstPort 1 } } } Block { BlockType SignalSpecification Name "Signal Specification" Position [455, 337, 520, 363] Dimensions "[5 1]" } Block { BlockType Outport Name "WM global x" Position [590, 273, 620, 287] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "WM global y" Position [590, 308, 620, 322] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name " WM global phi" Position [590, 343, 620, 357] Port "3" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "Emergency Button" Position [590, 378, 620, 392] Port "4" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "CPB_wheels" Position [590, 413, 620, 427] Port "5" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Signal Specification" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Demux" SrcPort 1 DstBlock "WM global x" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "WM global y" DstPort 1 } Line { SrcBlock "Demux" SrcPort 3 DstBlock " WM global phi" DstPort 1 } Line { SrcBlock "Demux" SrcPort 4 DstBlock "Emergency Button" DstPort 1 } Line { SrcBlock "Network Receive (dynamically sized outp" "ut)1" SrcPort 1 Points [0, 0] DstBlock "Signal Specification" DstPort 1 } Line { SrcBlock "Demux" SrcPort 5 DstBlock "CPB_wheels" DstPort 1 } } } Block { BlockType "S-Function" Name "S-Function2" Ports [0, 3] Position [25, 27, 135, 93] BackgroundColor "red" ShowName off FunctionName "grab_dma_YUV" Parameters "opt_cam_param" } Block { BlockType SubSystem Name "Show Video" Ports [4] Position [25, 96, 135, 159] Orientation "left" BackgroundColor "[0.361411, 0.358684, 1.000000]" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Show Video" Location [152, 169, 923, 928] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [210, 133, 240, 147] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "In2" Position [210, 153, 240, 167] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "In3" Position [210, 173, 240, 187] Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "label image" Position [80, 323, 110, 337] Port "4" IconDisplay "Port number" LatchInput off } Block { BlockType SubSystem Name "Network Video Send1" Ports [3] Position [380, 76, 470, 244] BackgroundColor "[0.800000, 1.000000, 0.800000]" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskType "Network Video Send block" MaskPromptString "IP address (example: 127.0.0.1)|Port|Se" "nd frequency in Hz|Down scale factor|Compression quality" MaskStyleString "edit,edit,edit,popup(1|4|16|64),popup(L" "owest|Lower|Low|Medium|High|Higher|Highest)" MaskTunableValueString "on,on,on,on,on" MaskCallbackString "||||" MaskEnableString "on,on,on,on,on" MaskVisibilityString "on,on,on,on,on" MaskToolTipString "on,on,on,on,on" MaskVarAliasString ",,,," MaskVariables "Ipaddr=@1;Port=@2;Freq=@3;Downfactor=@4" ";Quality=@5;" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "coach_bot|network_video_sendreceive_1|v" "ideo_send_frequency|4|High" MaskTabNameString ",,,," System { Name "Network Video Send1" Location [236, 257, 866, 588] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "Ch1" Position [40, 43, 70, 57] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "Ch2" Position [40, 78, 70, 92] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "Ch3" Position [40, 113, 70, 127] Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType "S-Function" Name "S-Function" Ports [3, 1] Position [130, 59, 230, 111] FunctionName "sf_vid_ipcomm_client_jpeg2" Parameters "Ipaddr, Port, Freq, Downfactor, Qua" "lity" } Block { BlockType Terminator Name "Terminator" Position [255, 75, 275, 95] } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "Ch1" SrcPort 1 Points [0, 20] DstBlock "S-Function" DstPort 1 } Line { SrcBlock "Ch2" SrcPort 1 DstBlock "S-Function" DstPort 2 } Line { SrcBlock "Ch3" SrcPort 1 Points [0, -20] DstBlock "S-Function" DstPort 3 } } } Block { BlockType SubSystem Name "Network Video Send2" Ports [3] Position [520, 266, 610, 434] BackgroundColor "[0.800000, 1.000000, 0.800000]" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskType "Network Video Send block" MaskPromptString "IP address (example: 127.0.0.1)|Port|Se" "nd frequency in Hz|Down scale factor|Compression quality" MaskStyleString "edit,edit,edit,popup(1|4|16|64),popup(L" "owest|Lower|Low|Medium|High|Higher|Highest)" MaskTunableValueString "on,on,on,on,on" MaskCallbackString "||||" MaskEnableString "on,on,on,on,on" MaskVisibilityString "on,on,on,on,on" MaskToolTipString "on,on,on,on,on" MaskVarAliasString ",,,," MaskVariables "Ipaddr=@1;Port=@2;Freq=@3;Downfactor=@4" ";Quality=@5;" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "coach_bot|network_video_sendreceive_2|v" "ideo_send_frequency|4|High" MaskTabNameString ",,,," System { Name "Network Video Send2" Location [236, 257, 866, 588] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "Ch1" Position [40, 43, 70, 57] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "Ch2" Position [40, 78, 70, 92] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "Ch3" Position [40, 113, 70, 127] Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType "S-Function" Name "S-Function" Ports [3, 1] Position [130, 59, 230, 111] FunctionName "sf_vid_ipcomm_client_jpeg2" Parameters "Ipaddr, Port, Freq, Downfactor, Qua" "lity" } Block { BlockType Terminator Name "Terminator" Position [255, 75, 275, 95] } Line { SrcBlock "Ch3" SrcPort 1 Points [0, -20] DstBlock "S-Function" DstPort 3 } Line { SrcBlock "Ch2" SrcPort 1 DstBlock "S-Function" DstPort 2 } Line { SrcBlock "Ch1" SrcPort 1 Points [0, 20] DstBlock "S-Function" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "Terminator" DstPort 1 } } } Block { BlockType SignalSpecification Name "Signal Specification" Position [185, 318, 265, 342] Dimensions "[640 480]" DataType "uint8" } Line { SrcBlock "In2" SrcPort 1 DstBlock "Network Video Send1" DstPort 2 } Line { SrcBlock "In1" SrcPort 1 Points [120, 0] DstBlock "Network Video Send1" DstPort 1 } Line { SrcBlock "Signal Specification" SrcPort 1 Points [0, 0; 45, 0] Branch { Points [10, 0] Branch { Points [0, 20] DstBlock "Network Video Send2" DstPort 2 } Branch { Points [175, 0; 0, -35] DstBlock "Network Video Send2" DstPort 1 } } Branch { Points [0, 40; 185, 0; 0, 35] DstBlock "Network Video Send2" DstPort 3 } } Line { SrcBlock "label image" SrcPort 1 DstBlock "Signal Specification" DstPort 1 } Line { SrcBlock "In3" SrcPort 1 Points [100, 0; 0, 35] DstBlock "Network Video Send1" DstPort 3 } } } Block { BlockType Terminator Name "Terminator1" Position [635, 310, 655, 330] ShowName off } Block { BlockType Terminator Name "Terminator2" Position [635, 350, 655, 370] ShowName off } Block { BlockType Terminator Name "Terminator3" Position [635, 390, 655, 410] ShowName off } Block { BlockType ToWorkspace Name "To Workspace4" Position [340, 394, 435, 426] BackgroundColor "red" ShowName off VariableName "compassheading" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType SubSystem Name "compass heading" Ports [0, 1] Position [205, 352, 310, 418] BackgroundColor "orange" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "compass heading" Location [575, 415, 910, 559] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" ZoomFactor "100" Block { BlockType Constant Name "Range [43 mm]" Position [25, 67, 75, 83] BackgroundColor "red" Value "[1 1]*25" OutDataTypeMode "int32" } Block { BlockType Selector Name "Selector1" Ports [1, 1] Position [240, 55, 255, 95] Elements "3" InputPortWidth "3" } Block { BlockType Constant Name "dead time [ms]" Position [25, 37, 55, 53] BackgroundColor "red" Value "0" OutDataTypeMode "int32" } Block { BlockType "S-Function" Name "get sonar and bearing reading" Ports [3, 1] Position [95, 29, 210, 121] FunctionName "collect_sonar_pthread" } Block { BlockType Constant Name "max gain [2.5%]" Position [25, 97, 75, 113] BackgroundColor "red" Value "[1 1]*2" OutDataTypeMode "int32" } Block { BlockType Outport Name "heading" Position [280, 68, 310, 82] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Selector1" SrcPort 1 Points [0, 0] DstBlock "heading" DstPort 1 } Line { SrcBlock "max gain [2.5%]" SrcPort 1 DstBlock "get sonar and bearing reading" DstPort 3 } Line { SrcBlock "Range [43 mm]" SrcPort 1 DstBlock "get sonar and bearing reading" DstPort 2 } Line { SrcBlock "dead time [ms]" SrcPort 1 DstBlock "get sonar and bearing reading" DstPort 1 } Line { SrcBlock "get sonar and bearing reading" SrcPort 1 DstBlock "Selector1" DstPort 1 } } } Block { BlockType SubSystem Name "image processing" Ports [6, 10] Position [450, 30, 615, 410] BackgroundColor "lightBlue" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "image processing" Location [4, 293, 1397, 813] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "YUV" Position [15, 148, 45, 162] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "blue is home goal" Position [390, 193, 420, 207] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "pose_worldmodel" Position [685, 173, 715, 187] Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "emergencybutton" Position [390, 313, 420, 327] Port "4" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "task_ID" Position [390, 223, 420, 237] Port "5" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "compass_heading" Position [390, 253, 420, 267] Port "6" IconDisplay "Port number" LatchInput off } Block { BlockType Demux Name "Demux" Ports [1, 3] Position [160, 105, 165, 205] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" BusSelectionMode on } Block { BlockType Terminator Name "Terminator" Position [340, 190, 360, 210] ShowName off } Block { BlockType SubSystem Name "findpose + flip" Ports [7, 3] Position [450, 130, 650, 330] BackgroundColor "green" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "findpose + flip" Location [209, 247, 1147, 847] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "linepoints" Position [170, 198, 200, 212] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "amount_of_linepoints" Position [125, 218, 155, 232] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "blue is home goal" Position [295, 433, 325, 447] Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "task ID" Position [545, 303, 575, 317] Port "4" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "compass heading" Position [370, 403, 400, 417] Port "5" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "masked_labels" Position [375, 243, 405, 257] Port "6" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "emergencybutton" Position [545, 348, 575, 362] Port "7" IconDisplay "Port number" LatchInput off } Block { BlockType Reference Name "Compare\nTo Constant" Ports [1, 1] Position [425, 140, 455, 170] ShowName off SourceBlock "simulink/Logic and Bit\nOperations/" "Compare\nTo Constant" SourceType "Compare To Constant" ShowPortLabels on relop "==" const "0" LogicOutDataTypeMode "uint8" ZeroCross off } Block { BlockType Reference Name "Compare\nTo Constant1" Ports [1, 1] Position [425, 110, 455, 140] ShowName off SourceBlock "simulink/Logic and Bit\nOperations/" "Compare\nTo Constant" SourceType "Compare To Constant" ShowPortLabels on relop "==" const "1" LogicOutDataTypeMode "uint8" ZeroCross off } Block { BlockType Demux Name "Demux" Ports [1, 2] Position [575, 195, 580, 290] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" BusSelectionMode on } Block { BlockType Memory Name "Memory" Position [230, 75, 260, 105] Orientation "left" } Block { BlockType Mux Name "Mux" Ports [2, 1] Position [600, 96, 605, 134] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Switch Name "Switch" Position [530, 230, 560, 260] Criteria "u2 ~= 0" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType SubSystem Name "compass" Ports [4, 1, 1] Position [425, 331, 505, 459] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "compass" Location [504, 635, 789, 841] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [25, 38, 55, 52] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "In2" Position [25, 68, 55, 82] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "In3" Position [35, 98, 65, 112] Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "In4" Position [25, 158, 55, 172] Port "4" IconDisplay "Port number" LatchInput off } Block { BlockType EnablePort Name "Enable" Ports [] Position [235, 25, 255, 45] } Block { BlockType BusCreator Name "Bus\nCreator1" Ports [2, 1] Position [200, 91, 205, 129] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType "S-Function" Name "S-Function" Ports [5, 2] Position [90, 28, 180, 182] BackgroundColor "[0.482000, 0.363235, 0.036632]" FunctionName "compasscheck" } Block { BlockType Constant Name "compassanglefound" Position [45, 126, 75, 144] ShowName off OutDataTypeMode "int32" } Block { BlockType Outport Name "Out1" Position [230, 103, 260, 117] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "S-Function" SrcPort 2 DstBlock "Bus\nCreator1" DstPort 2 } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "Bus\nCreator1" DstPort 1 } Line { SrcBlock "compassanglefound" SrcPort 1 DstBlock "S-Function" DstPort 4 } Line { SrcBlock "In1" SrcPort 1 Points [0, 0] DstBlock "S-Function" DstPort 1 } Line { SrcBlock "In2" SrcPort 1 Points [0, 0] DstBlock "S-Function" DstPort 2 } Line { SrcBlock "In4" SrcPort 1 Points [0, 0] DstBlock "S-Function" DstPort 5 } Line { SrcBlock "In3" SrcPort 1 Points [0, 0] DstBlock "S-Function" DstPort 3 } Line { SrcBlock "Bus\nCreator1" SrcPort 1 Points [0, 0] DstBlock "Out1" DstPort 1 } } } Block { BlockType "S-Function" Name "findpose" Ports [3, 2] Position [215, 175, 335, 235] BackgroundColor "green" FunctionName "findpose" Parameters "par_findpose" } Block { BlockType SubSystem Name "flipperkast" Ports [4, 1, 1] Position [425, 172, 505, 298] TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "flipperkast" Location [214, 281, 789, 665] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "In1" Position [315, 53, 345, 67] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "In2" Position [315, 98, 345, 112] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "In3" Position [25, 153, 55, 167] Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "In4" Position [315, 323, 345, 337] Port "4" IconDisplay "Port number" LatchInput off } Block { BlockType EnablePort Name "Enable" Ports [] Position [165, 65, 185, 85] } Block { BlockType Reference Name "Blob Analysis" Ports [1, 2] Position [220, 125, 340, 220] BackgroundColor "green" DialogController "vipDDGCreate" DialogControllerArgs "DataTag0" SourceBlock "vipstatistics/Blob Analysis" SourceType "Blob Analysis" area on centroid on bBox off majorAxis off minorAxis off angle off eccentricity off equivDiameterSq off extent off maxBlobs "500" isCount off outDT "double" isFill on fillValues "-1" conn "8" isLabel off outputMode "Binary point scaling" outputWordLength "32" outputFracLength "16" memoryMode "Same as product output" memoryWordLength "32" memoryFracLength "16" firstCoeffMode "Binary point scaling" firstCoeffWordLength "16" firstCoeffFracLength "14" accumMode "Binary point scaling" accumWordLength "32" accumFracLength "0" prodOutputMode "Binary point scaling" prodOutputWordLength "32" prodOutputFracLength "16" roundingMode "Floor" overflowMode off LockScale off } Block { BlockType Reference Name "Blob Analysis1" Ports [1, 2] Position [220, 216, 340, 309] BackgroundColor "green" DialogController "vipDDGCreate" DialogControllerArgs "DataTag1" SourceBlock "vipstatistics/Blob Analysis" SourceType "Blob Analysis" area on centroid on bBox off majorAxis off minorAxis off angle off eccentricity off equivDiameterSq off extent off maxBlobs "500" isCount off outDT "double" isFill on fillValues "-1" conn "8" isLabel off outputMode "Binary point scaling" outputWordLength "32" outputFracLength "16" memoryMode "Same as product output" memoryWordLength "32" memoryFracLength "16" firstCoeffMode "Binary point scaling" firstCoeffWordLength "16" firstCoeffFracLength "14" accumMode "Binary point scaling" accumWordLength "32" accumFracLength "0" prodOutputMode "Binary point scaling" prodOutputWordLength "32" prodOutputFracLength "16" roundingMode "Floor" overflowMode off LockScale off } Block { BlockType BusCreator Name "Bus\nCreator" Ports [2, 1] Position [490, 186, 495, 224] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType "S-Function" Name "blue" Ports [2, 1] Position [145, 149, 200, 196] BackgroundColor "cyan" FunctionName "selectcolor" } Block { BlockType Constant Name "blue_value" Position [90, 170, 120, 200] BackgroundColor "cyan" Value "16" OutDataTypeMode "uint8" } Block { BlockType "S-Function" Name "flipperkast" Ports [7, 2] Position [380, 29, 470, 361] BackgroundColor "green" FunctionName "flipperkast" } Block { BlockType "S-Function" Name "yellow" Ports [2, 1] Position [145, 239, 200, 286] BackgroundColor "yellow" FunctionName "selectcolor" } Block { BlockType Constant Name "yellow_value" Position [90, 260, 120, 290] BackgroundColor "yellow" Value "32" OutDataTypeMode "uint8" } Block { BlockType Outport Name "Out1" Position [520, 198, 550, 212] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "flipperkast" SrcPort 1 DstBlock "Bus\nCreator" DstPort 1 } Line { SrcBlock "flipperkast" SrcPort 2 DstBlock "Bus\nCreator" DstPort 2 } Line { SrcBlock "Blob Analysis" SrcPort 1 Points [0, 0] DstBlock "flipperkast" DstPort 3 } Line { SrcBlock "Blob Analysis" SrcPort 2 Points [0, 0] DstBlock "flipperkast" DstPort 4 } Line { SrcBlock "Blob Analysis1" SrcPort 1 Points [0, 0] DstBlock "flipperkast" DstPort 5 } Line { SrcBlock "Blob Analysis1" SrcPort 2 Points [0, 0] DstBlock "flipperkast" DstPort 6 } Line { SrcBlock "blue" SrcPort 1 DstBlock "Blob Analysis" DstPort 1 } Line { SrcBlock "yellow" SrcPort 1 DstBlock "Blob Analysis1" DstPort 1 } Line { SrcBlock "In3" SrcPort 1 Points [0, 0; 15, 0] Branch { DstBlock "blue" DstPort 1 } Branch { Points [0, 90] DstBlock "yellow" DstPort 1 } } Line { SrcBlock "blue_value" SrcPort 1 DstBlock "blue" DstPort 2 } Line { SrcBlock "yellow_value" SrcPort 1 DstBlock "yellow" DstPort 2 } Line { SrcBlock "In1" SrcPort 1 Points [0, 0] DstBlock "flipperkast" DstPort 1 } Line { SrcBlock "In2" SrcPort 1 Points [0, 0] DstBlock "flipperkast" DstPort 2 } Line { SrcBlock "In4" SrcPort 1 Points [0, 0] DstBlock "flipperkast" DstPort 7 } Line { SrcBlock "Bus\nCreator" SrcPort 1 Points [0, 0] DstBlock "Out1" DstPort 1 } } } Block { BlockType "S-Function" Name "keepercheck" Ports [4, 2] Position [600, 201, 665, 374] BackgroundColor "green" FunctionName "localisationaid" } Block { BlockType Constant Name "usecompass" Position [360, 110, 390, 140] OutDataTypeMode "int32" } Block { BlockType Outport Name "pose_vision" Position [700, 238, 730, 252] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "pose_vision_found" Position [700, 323, 730, 337] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "line_pose_recog" Position [630, 108, 660, 122] Port "3" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "compass" SrcPort 1 Points [5, 0] DstBlock "Switch" DstPort 3 } Line { SrcBlock "Demux" SrcPort 2 Points [0, 0] Branch { DstBlock "keepercheck" DstPort 2 } Branch { DstBlock "Mux" DstPort 2 } } Line { SrcBlock "Demux" SrcPort 1 DstBlock "keepercheck" DstPort 1 } Line { SrcBlock "Switch" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "flipperkast" SrcPort 1 DstBlock "Switch" DstPort 1 } Line { SrcBlock "compass heading" SrcPort 1 Points [0, 0] DstBlock "compass" DstPort 3 } Line { SrcBlock "task ID" SrcPort 1 DstBlock "keepercheck" DstPort 3 } Line { SrcBlock "keepercheck" SrcPort 2 Points [0, 0] DstBlock "pose_vision_found" DstPort 1 } Line { SrcBlock "keepercheck" SrcPort 1 Points [15, 0] Branch { DstBlock "pose_vision" DstPort 1 } Branch { Points [0, -155] DstBlock "Memory" DstPort 1 } } Line { SrcBlock "findpose" SrcPort 1 Points [0, 0; 5, 0] Branch { DstBlock "flipperkast" DstPort 1 } Branch { Points [0, 160] DstBlock "compass" DstPort 1 } } Line { SrcBlock "findpose" SrcPort 2 Points [0, 0] Branch { Points [0, 0] Branch { DstBlock "flipperkast" DstPort 2 } Branch { Points [0, -115] DstBlock "Mux" DstPort 1 } } Branch { Points [0, 160] DstBlock "compass" DstPort 2 } } Line { SrcBlock "linepoints" SrcPort 1 DstBlock "findpose" DstPort 2 } Line { SrcBlock "amount_of_linepoints" SrcPort 1 DstBlock "findpose" DstPort 3 } Line { SrcBlock "blue is home goal" SrcPort 1 Points [0, 0; 5, 0] Branch { Points [0, -160] DstBlock "flipperkast" DstPort 4 } Branch { DstBlock "compass" DstPort 4 } } Line { SrcBlock "Memory" SrcPort 1 Points [-25, 0] DstBlock "findpose" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "line_pose_recog" DstPort 1 } Line { SrcBlock "masked_labels" SrcPort 1 DstBlock "flipperkast" DstPort 3 } Line { SrcBlock "usecompass" SrcPort 1 Points [0, 0; 15, 0] Branch { DstBlock "Compare\nTo Constant" DstPort 1 } Branch { DstBlock "Compare\nTo Constant1" DstPort 1 } } Line { SrcBlock "Compare\nTo Constant" SrcPort 1 Points [0, 0; 5, 0] Branch { DstBlock "flipperkast" DstPort enable } Branch { Points [50, 0] DstBlock "Switch" DstPort 2 } } Line { SrcBlock "Compare\nTo Constant1" SrcPort 1 Points [50, 0; 0, 191] DstBlock "compass" DstPort enable } Line { SrcBlock "emergencybutton" SrcPort 1 Points [0, 0] DstBlock "keepercheck" DstPort 4 } } } Block { BlockType "S-Function" Name "flipperkast" Ports [4, 2] Position [1010, 191, 1085, 389] BackgroundColor "green" FunctionName "ballcheck" } Block { BlockType SubSystem Name "get ball" Ports [1, 2] Position [785, 196, 885, 289] BackgroundColor "green" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "get ball" Location [277, 603, 794, 716] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "masked_labels" Position [25, 28, 55, 42] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Reference Name "Blob Analysis" Ports [1, 3] Position [200, 14, 360, 86] BackgroundColor "green" DialogController "vipDDGCreate" DialogControllerArgs "DataTag2" SourceBlock "vipstatistics/Blob Analysis" SourceType "Blob Analysis" area on centroid on bBox on majorAxis off minorAxis off angle off eccentricity off equivDiameterSq off extent off maxBlobs "200" isCount off outDT "double" isFill on fillValues "-1" conn "8" isLabel off outputMode "Binary point scaling" outputWordLength "32" outputFracLength "16" memoryMode "Same as product output" memoryWordLength "32" memoryFracLength "16" firstCoeffMode "Binary point scaling" firstCoeffWordLength "16" firstCoeffFracLength "14" accumMode "Binary point scaling" accumWordLength "32" accumFracLength "0" prodOutputMode "Binary point scaling" prodOutputWordLength "32" prodOutputFracLength "16" roundingMode "Floor" overflowMode off LockScale off } Block { BlockType "S-Function" Name "get ball" Ports [3, 2] Position [390, 14, 445, 86] BackgroundColor "green" FunctionName "findball" Parameters "par_findball" } Block { BlockType "S-Function" Name "orange" Ports [2, 1] Position [125, 22, 180, 73] BackgroundColor "orange" FunctionName "selectcolor" } Block { BlockType Constant Name "orange1" Position [75, 45, 105, 75] BackgroundColor "orange" OutDataTypeMode "uint8" } Block { BlockType Outport Name "ball" Position [465, 28, 495, 42] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "ball found" Position [465, 63, 495, 77] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "get ball" SrcPort 2 DstBlock "ball found" DstPort 1 } Line { SrcBlock "get ball" SrcPort 1 DstBlock "ball" DstPort 1 } Line { SrcBlock "masked_labels" SrcPort 1 DstBlock "orange" DstPort 1 } Line { SrcBlock "Blob Analysis" SrcPort 3 DstBlock "get ball" DstPort 3 } Line { SrcBlock "Blob Analysis" SrcPort 2 DstBlock "get ball" DstPort 2 } Line { SrcBlock "Blob Analysis" SrcPort 1 DstBlock "get ball" DstPort 1 } Line { SrcBlock "orange" SrcPort 1 DstBlock "Blob Analysis" DstPort 1 } Line { SrcBlock "orange1" SrcPort 1 DstBlock "orange" DstPort 2 } } } Block { BlockType "S-Function" Name "get linepoints" Ports [4, 5] Position [180, 98, 325, 242] BackgroundColor "yellow" FunctionName "findlinepoints_and_obstacles" Parameters "par_findlinepoints" } Block { BlockType SubSystem Name "label and mask" Ports [1, 1] Position [65, 193, 155, 257] BackgroundColor "magenta" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "label and mask" Location [198, 296, 588, 416] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "YUV" Position [25, 53, 55, 67] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Demux Name "Demux1" Ports [1, 3] Position [80, 26, 85, 94] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" BusSelectionMode on } Block { BlockType "S-Function" Name "labeller" Ports [3, 1] Position [100, 28, 210, 92] BackgroundColor "magenta" FunctionName "labellerconvhull" } Block { BlockType "S-Function" Name "mask" Ports [1, 1] Position [225, 29, 310, 91] BackgroundColor "magenta" FunctionName "maskimage" } Block { BlockType Outport Name "masked_labels" Position [335, 53, 365, 67] IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "Demux1" SrcPort 3 DstBlock "labeller" DstPort 3 } Line { SrcBlock "Demux1" SrcPort 2 DstBlock "labeller" DstPort 2 } Line { SrcBlock "Demux1" SrcPort 1 DstBlock "labeller" DstPort 1 } Line { SrcBlock "labeller" SrcPort 1 Points [0, 0] DstBlock "mask" DstPort 1 } Line { SrcBlock "YUV" SrcPort 1 Points [0, 0] DstBlock "Demux1" DstPort 1 } Line { SrcBlock "mask" SrcPort 1 Points [0, 0] DstBlock "masked_labels" DstPort 1 } } } Block { BlockType "S-Function" Name "local2global" Ports [4, 3] Position [900, 28, 995, 247] BackgroundColor "magenta" FunctionName "local2global" } Block { BlockType Outport Name "pose_vision" Position [1020, 133, 1050, 147] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "pose_vision_found" Position [685, 238, 715, 252] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "pos_obstacles" Position [1020, 58, 1050, 72] Port "3" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "pos_ball_global" Position [1110, 233, 1140, 247] Port "4" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "pos_ball_found" Position [1110, 333, 1140, 347] Port "5" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "line_pose_recog" Position [685, 288, 715, 302] Port "6" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "labels" Position [185, 258, 215, 272] Port "7" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "linepoints" Position [390, 113, 420, 127] Port "8" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "nlinepoints" Position [390, 143, 420, 157] Port "9" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "greencolor" Position [340, 223, 370, 237] Port "10" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "get linepoints" SrcPort 4 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "compass_heading" SrcPort 1 Points [0, 0] DstBlock "findpose + flip" DstPort 5 } Line { SrcBlock "local2global" SrcPort 3 DstBlock "flipperkast" DstPort 1 } Line { SrcBlock "flipperkast" SrcPort 1 DstBlock "pos_ball_global" DstPort 1 } Line { SrcBlock "task_ID" SrcPort 1 Points [0, 0] DstBlock "findpose + flip" DstPort 4 } Line { SrcBlock "YUV" SrcPort 1 Points [0, 0] Branch { DstBlock "label and mask" DstPort 1 } Branch { DstBlock "Demux" DstPort 1 } } Line { SrcBlock "Demux" SrcPort 1 DstBlock "get linepoints" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "get linepoints" DstPort 2 } Line { SrcBlock "pose_worldmodel" SrcPort 1 Points [0, 0; 45, 0] Branch { Points [0, 135] DstBlock "flipperkast" DstPort 3 } Branch { Points [0, -125] DstBlock "local2global" DstPort 1 } } Line { SrcBlock "findpose + flip" SrcPort 2 Points [0, 0; 15, 0] Branch { DstBlock "pose_vision_found" DstPort 1 } Branch { Points [80, 0; 0, 135] DstBlock "flipperkast" DstPort 4 } } Line { SrcBlock "label and mask" SrcPort 1 Points [0, 0] Branch { Points [0, 40] Branch { Points [0, 25; 175, 0] Branch { Labels [2, 0] Points [0, 60; 435, 0] DstBlock "get ball" DstPort 1 } Branch { DstBlock "findpose + flip" DstPort 6 } } Branch { DstBlock "labels" DstPort 1 } } Branch { DstBlock "get linepoints" DstPort 4 } } Line { SrcBlock "blue is home goal" SrcPort 1 Points [0, 0] DstBlock "findpose + flip" DstPort 3 } Line { SrcBlock "get ball" SrcPort 2 DstBlock "flipperkast" DstPort 2 } Line { SrcBlock "get ball" SrcPort 1 DstBlock "local2global" DstPort 4 } Line { SrcBlock "get linepoints" SrcPort 2 Points [0, 0; 45, 0] Branch { DstBlock "linepoints" DstPort 1 } Branch { DstBlock "findpose + flip" DstPort 1 } } Line { SrcBlock "get linepoints" SrcPort 3 Points [0, 0; 45, 0] Branch { DstBlock "nlinepoints" DstPort 1 } Branch { DstBlock "findpose + flip" DstPort 2 } } Line { SrcBlock "Demux" SrcPort 3 DstBlock "get linepoints" DstPort 3 } Line { SrcBlock "findpose + flip" SrcPort 3 Points [0, 0] DstBlock "line_pose_recog" DstPort 1 } Line { SrcBlock "get linepoints" SrcPort 1 DstBlock "local2global" DstPort 2 } Line { SrcBlock "findpose + flip" SrcPort 1 DstBlock "local2global" DstPort 3 } Line { SrcBlock "local2global" SrcPort 1 DstBlock "pos_obstacles" DstPort 1 } Line { SrcBlock "local2global" SrcPort 2 DstBlock "pose_vision" DstPort 1 } Line { SrcBlock "flipperkast" SrcPort 2 DstBlock "pos_ball_found" DstPort 1 } Line { SrcBlock "get linepoints" SrcPort 5 Points [0, 0] DstBlock "greencolor" DstPort 1 } Line { SrcBlock "emergencybutton" SrcPort 1 DstBlock "findpose + flip" DstPort 7 } Annotation { Position [698, 190] } } } Block { BlockType Outport Name "emergency button" Position [390, 223, 420, 237] NamePlacement "alternate" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "cur_xyo" Position [390, 168, 420, 182] NamePlacement "alternate" Port "2" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "pos_ball" Position [635, 153, 665, 167] Port "3" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "pos_ball_found" Position [700, 168, 730, 182] Port "4" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "opp_xyo" Position [635, 113, 665, 127] Port "5" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "CPB_wheels" Position [390, 268, 420, 282] Port "6" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "S-Function2" SrcPort 1 Points [0, 0; 10, 0] Branch { DstBlock "Show Video" DstPort 1 } Branch { DstBlock "Mux1" DstPort 1 } } Line { SrcBlock "S-Function2" SrcPort 2 Points [0, 0; 15, 0] Branch { Points [0, 60] DstBlock "Show Video" DstPort 2 } Branch { DstBlock "Mux1" DstPort 2 } } Line { SrcBlock "image processing" SrcPort 1 DstBlock "Goto3" DstPort 1 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "image processing" DstPort 1 } Line { SrcBlock "Network Receive From Motion" SrcPort 1 DstBlock "Mux2" DstPort 1 } Line { SrcBlock "Network Receive From Motion" SrcPort 2 DstBlock "Mux2" DstPort 2 } Line { SrcBlock "Network Receive From Motion" SrcPort 3 DstBlock "Mux2" DstPort 3 } Line { SrcBlock "Mux2" SrcPort 1 Points [0, 0; 5, 0] Branch { Points [0, 0] Branch { Points [0, -15] DstBlock "cur_xyo" DstPort 1 } Branch { Points [0, -80] DstBlock "Goto5" DstPort 1 } } Branch { DstBlock "image processing" DstPort 3 } } Line { SrcBlock "blue home" SrcPort 1 DstBlock "image processing" DstPort 2 } Line { SrcBlock "image processing" SrcPort 2 DstBlock "Data Type Conversion" DstPort 1 } Line { SrcBlock "Network Receive From Motion" SrcPort 4 Points [25, 0] Branch { DstBlock "emergency button" DstPort 1 } Branch { Points [0, 25] DstBlock "image processing" DstPort 4 } } Line { SrcBlock "image processing" SrcPort 7 Points [40, 0; 0, 180; -495, 0; 0, -310] DstBlock "Show Video" DstPort 4 } Line { SrcBlock "image processing" SrcPort 5 DstBlock "Data Type Conversion1" DstPort 1 } Line { SrcBlock "image processing" SrcPort 3 DstBlock "opp_xyo" DstPort 1 } Line { SrcBlock "S-Function2" SrcPort 3 Points [0, 0; 20, 0] Branch { Points [0, 55] DstBlock "Show Video" DstPort 3 } Branch { DstBlock "Mux1" DstPort 3 } } Line { SrcBlock "image processing" SrcPort 4 Points [0, 0] Branch { Points [0, -15] DstBlock "Goto1" DstPort 1 } Branch { DstBlock "pos_ball" DstPort 1 } } Line { SrcBlock "image processing" SrcPort 6 DstBlock "Data Type Conversion2" DstPort 1 } Line { SrcBlock "task_ID" SrcPort 1 DstBlock "image processing" DstPort 5 } Line { SrcBlock "Data Type Conversion" SrcPort 1 DstBlock "Goto4" DstPort 1 } Line { SrcBlock "Data Type Conversion1" SrcPort 1 Points [5, 0] Branch { DstBlock "Goto6" DstPort 1 } Branch { Points [0, -25] DstBlock "pos_ball_found" DstPort 1 } } Line { SrcBlock "Data Type Conversion2" SrcPort 1 DstBlock "Goto2" DstPort 1 } Line { SrcBlock "compass heading" SrcPort 1 Points [0, 0; 5, 0] Branch { Points [0, 25] DstBlock "To Workspace4" DstPort 1 } Branch { DstBlock "image processing" DstPort 6 } } Line { SrcBlock "image processing" SrcPort 8 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "image processing" SrcPort 9 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "Network Receive From Motion" SrcPort 5 Points [0, 25] DstBlock "CPB_wheels" DstPort 1 } Line { SrcBlock "image processing" SrcPort 10 DstBlock "Terminator3" DstPort 1 } } } Block { BlockType "S-Function" Name "Vision tuning" Ports [0, 1] Position [330, 523, 420, 557] BackgroundColor "blue" FunctionName "sf_tuning_server" Parameters "Port, char(Names_vision), Defaults_vision" MaskPromptString "Port" MaskStyleString "edit" MaskTunableValueString "on" MaskCallbackString "global Names Defaults Names_vision Defaults_vis" "ion;\ntuning_init();\nlocal_vision_tuning(1);\nNames_vision=Names;\nDefaults_" "vision=Defaults;\n" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskVariables "Port=@1;" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "port_vision_tuning" } Block { BlockType SubSystem Name "send to greenfield" Ports [] Position [320, 19, 448, 78] BackgroundColor "green" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "send to greenfield" Location [4, 54, 1397, 999] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType From Name "From" Position [245, 53, 325, 77] CloseFcn "tagdialog Close" GotoTag "home_goal" } Block { BlockType From Name "From1" Position [245, 93, 325, 117] CloseFcn "tagdialog Close" GotoTag "cur_xyo" } Block { BlockType From Name "From10" Position [105, 113, 185, 137] CloseFcn "tagdialog Close" GotoTag "ball_xy" } Block { BlockType From Name "From2" Position [105, 153, 185, 177] CloseFcn "tagdialog Close" GotoTag "ball_xy_TE" } Block { BlockType From Name "From3" Position [245, 173, 325, 197] CloseFcn "tagdialog Close" GotoTag "opponent_xyo" } Block { BlockType From Name "From4" Position [245, 213, 325, 237] CloseFcn "tagdialog Close" GotoTag "task_id" } Block { BlockType From Name "From5" Position [245, 252, 345, 278] CloseFcn "tagdialog Close" GotoTag "line_pose_recog" } Block { BlockType From Name "From6" Position [245, 293, 325, 317] CloseFcn "tagdialog Close" GotoTag "TE_out_xy" } Block { BlockType From Name "From7" Position [245, 331, 340, 359] CloseFcn "tagdialog Close" GotoTag "target_global_xy" } Block { BlockType From Name "From8" Position [245, 373, 325, 397] CloseFcn "tagdialog Close" GotoTag "skill_ID" } Block { BlockType From Name "From9" Position [245, 413, 325, 437] CloseFcn "tagdialog Close" GotoTag "bot_color" } Block { BlockType Mux Name "Mux1" Ports [2, 1] Position [210, 104, 215, 186] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Mux Name "Mux2" Ports [10, 1] Position [465, 37, 475, 453] ShowName off Inputs "10" DisplayOption "bar" } Block { BlockType SubSystem Name "Network Send To Greenfield" Ports [1] Position [820, 207, 880, 283] BackgroundColor "[0.800000, 1.000000, 0.800000]" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskType "Network Video Send block" MaskPromptString "IP address (example: 127.0.0.1)|Port|Send f" "requency in Hz" MaskStyleString "edit,edit,edit" MaskTunableValueString "on,on,on" MaskCallbackString "||" MaskEnableString "on,on,on" MaskVisibilityString "on,on,on" MaskToolTipString "on,on,on" MaskVarAliasString ",," MaskVariables "Ipaddr=@1;Port=@2;Freq=@3;" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "greenfield_monitor|port_greenfield_sendrece" "ive|greenfield_send_frequency" MaskTabNameString ",," System { Name "Network Send To Greenfield" Location [236, 257, 866, 588] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "Ch1" Position [50, 78, 80, 92] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType "S-Function" Name "S-Function" Ports [1, 1] Position [115, 59, 215, 111] FunctionName "sf_dyn_ipcomm_client" Parameters "Ipaddr, Port, Freq" } Block { BlockType Terminator Name "Terminator" Position [255, 75, 275, 95] } Line { SrcBlock "Ch1" SrcPort 1 DstBlock "S-Function" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "Terminator" DstPort 1 } } } Block { BlockType SignalSpecification Name "Signal Specification" Position [575, 226, 725, 264] Dimensions "[1+3+4+150+1+2+2+2+1+1 1]" } Line { SrcBlock "Mux2" SrcPort 1 Points [0, 0] DstBlock "Signal Specification" DstPort 1 } Line { SrcBlock "Signal Specification" SrcPort 1 DstBlock "Network Send To Greenfield" DstPort 1 } Line { SrcBlock "From1" SrcPort 1 Points [0, 0] DstBlock "Mux2" DstPort 2 } Line { SrcBlock "From3" SrcPort 1 Points [0, 0] DstBlock "Mux2" DstPort 4 } Line { SrcBlock "From5" SrcPort 1 Points [0, 0] DstBlock "Mux2" DstPort 6 } Line { SrcBlock "From6" SrcPort 1 Points [0, 0] DstBlock "Mux2" DstPort 7 } Line { SrcBlock "From7" SrcPort 1 Points [0, 0] DstBlock "Mux2" DstPort 8 } Line { SrcBlock "From9" SrcPort 1 Points [0, 0] DstBlock "Mux2" DstPort 10 } Line { SrcBlock "From10" SrcPort 1 Points [0, 0] DstBlock "Mux1" DstPort 1 } Line { SrcBlock "From2" SrcPort 1 Points [0, 0] DstBlock "Mux1" DstPort 2 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "Mux2" DstPort 3 } Line { SrcBlock "From" SrcPort 1 DstBlock "Mux2" DstPort 1 } Line { SrcBlock "From4" SrcPort 1 DstBlock "Mux2" DstPort 5 } Line { SrcBlock "From8" SrcPort 1 DstBlock "Mux2" DstPort 9 } } } Block { BlockType SubSystem Name "send to motion" Ports [] Position [320, 94, 448, 153] BackgroundColor "gray" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "send to motion" Location [4, 54, 1397, 999] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Demux Name "Demux1" Ports [1, 3] Position [675, 43, 680, 167] BackgroundColor "black" ShowName off Outputs "3" DisplayOption "bar" } Block { BlockType Demux Name "Demux6" Ports [1, 2] Position [670, 206, 675, 284] BackgroundColor "black" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType From Name "From" Position [115, 93, 195, 117] CloseFcn "tagdialog Close" GotoTag "pose_vision" } Block { BlockType From Name "From1" Position [115, 170, 235, 200] CloseFcn "tagdialog Close" GotoTag "pose_vision_found" } Block { BlockType From Name "From2" Position [115, 293, 195, 317] CloseFcn "tagdialog Close" GotoTag "out_xyo" } Block { BlockType From Name "From3" Position [115, 373, 195, 397] CloseFcn "tagdialog Close" GotoTag "kick_effort" } Block { BlockType From Name "From4" Position [115, 413, 195, 437] CloseFcn "tagdialog Close" GotoTag "power_amps" } Block { BlockType From Name "From5" Position [115, 452, 215, 478] CloseFcn "tagdialog Close" GotoTag "terminal_vel" } Block { BlockType From Name "From6" Position [115, 492, 215, 518] CloseFcn "tagdialog Close" GotoTag "desired_vel" } Block { BlockType From Name "From7" Position [115, 229, 230, 261] CloseFcn "tagdialog Close" GotoTag "target_global_xy" } Block { BlockType From Name "From8" Position [115, 333, 195, 357] CloseFcn "tagdialog Close" GotoTag "skill_ID" } Block { BlockType From Name "From9" Position [115, 532, 215, 558] CloseFcn "tagdialog Close" GotoTag "phi_prescribed" } Block { BlockType SubSystem Name "Network Send To Motion" Ports [13] Position [765, 32, 865, 578] BackgroundColor "[0.831000, 1.000000, 0.800000]" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskType "Network Send block" MaskPromptString "IP address (example: 127.0.0.1)|Port|Send f" "requency in Hz" MaskStyleString "edit,edit,edit" MaskTunableValueString "on,on,on" MaskCallbackString "||" MaskEnableString "on,on,on" MaskVisibilityString "on,on,on" MaskToolTipString "on,on,on" MaskVarAliasString ",," MaskVariables "Ipaddr=&1;Port=@2;Freq=@3;" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "localhost|port_network_sendreceive|32" MaskTabNameString ",," System { Name "Network Send To Motion" Location [4, 54, 1397, 999] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "vision global x" Position [40, 118, 70, 132] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "vision global y" Position [40, 148, 70, 162] Port "2" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "vision global phi" Position [40, 178, 70, 192] Port "3" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "vision confidence" Position [40, 208, 70, 222] Port "4" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "target global x" Position [40, 28, 70, 42] Port "5" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "target global y" Position [40, 58, 70, 72] Port "6" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "target global phi" Position [40, 88, 70, 102] Port "7" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "skill ID" Position [40, 238, 70, 252] Port "8" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "kic keffort" Position [40, 358, 70, 372] Port "9" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "power amps" Position [40, 328, 70, 342] Port "10" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "terminal_vel" Position [40, 298, 70, 312] Port "11" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "desired_vel" Position [40, 268, 70, 282] Port "12" IconDisplay "Port number" LatchInput off } Block { BlockType Inport Name "phi_prescribed" Position [40, 388, 70, 402] Port "13" IconDisplay "Port number" LatchInput off } Block { BlockType Mux Name "Mux1" Ports [13, 1] Position [95, 32, 100, 398] ShowName off Inputs "13" DisplayOption "bar" } Block { BlockType SubSystem Name "Network Send (dynamically sized input)" Ports [1] Position [495, 167, 555, 243] BackgroundColor "[0.800000, 1.000000, 0.800000]" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" MaskType "Network Video Send block" MaskPromptString "IP address (example: 127.0.0.1)|Port|Se" "nd frequency in Hz" MaskStyleString "edit,edit,edit" MaskTunableValueString "on,on,on" MaskCallbackString "||" MaskEnableString "on,on,on" MaskVisibilityString "on,on,on" MaskToolTipString "on,on,on" MaskVarAliasString ",," MaskVariables "Ipaddr=@1;Port=@2;Freq=@3;" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "Ipaddr|Port|Freq" MaskTabNameString ",," System { Name "Network Send (dynamically sized input" ")" Location [236, 257, 866, 588] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "Ch1" Position [50, 78, 80, 92] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType "S-Function" Name "S-Function" Ports [1, 1] Position [115, 59, 215, 111] FunctionName "sf_dyn_ipcomm_client" Parameters "Ipaddr, Port, Freq" } Block { BlockType Terminator Name "Terminator" Position [255, 75, 275, 95] } Line { SrcBlock "Ch1" SrcPort 1 DstBlock "S-Function" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "Terminator" DstPort 1 } } } Block { BlockType "S-Function" Name "S-Function" Ports [1, 2] Position [230, 193, 315, 237] FunctionName "checkvaluevalidity" } Block { BlockType "S-Function" Name "S-Function1" Ports [1, 1] Position [330, 210, 390, 240] ShowName off FunctionName "sf_alarm" } Block { BlockType SignalSpecification Name "Signal Specification" Position [135, 198, 180, 232] Dimensions "[13 1]" } Block { BlockType Terminator Name "Terminator" Position [405, 215, 425, 235] ShowName off } Block { BlockType ToWorkspace Name "To Workspace4" Position [500, 99, 595, 131] BackgroundColor "red" ShowName off VariableName "naarmotion" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Line { SrcBlock "skill ID" SrcPort 1 DstBlock "Mux1" DstPort 8 } Line { SrcBlock "vision confidence" SrcPort 1 DstBlock "Mux1" DstPort 7 } Line { SrcBlock "vision global phi" SrcPort 1 DstBlock "Mux1" DstPort 6 } Line { SrcBlock "vision global y" SrcPort 1 DstBlock "Mux1" DstPort 5 } Line { SrcBlock "vision global x" SrcPort 1 DstBlock "Mux1" DstPort 4 } Line { SrcBlock "target global phi" SrcPort 1 DstBlock "Mux1" DstPort 3 } Line { SrcBlock "target global y" SrcPort 1 DstBlock "Mux1" DstPort 2 } Line { SrcBlock "target global x" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "Signal Specification" DstPort 1 } Line { SrcBlock "Signal Specification" SrcPort 1 DstBlock "S-Function" DstPort 1 } Line { SrcBlock "desired_vel" SrcPort 1 DstBlock "Mux1" DstPort 9 } Line { SrcBlock "terminal_vel" SrcPort 1 DstBlock "Mux1" DstPort 10 } Line { SrcBlock "power amps" SrcPort 1 DstBlock "Mux1" DstPort 11 } Line { SrcBlock "kic keffort" SrcPort 1 DstBlock "Mux1" DstPort 12 } Line { SrcBlock "phi_prescribed" SrcPort 1 DstBlock "Mux1" DstPort 13 } Line { SrcBlock "S-Function" SrcPort 1 Points [140, 0] Branch { DstBlock "Network Send (dynamically sized input" ")" DstPort 1 } Branch { Points [0, -90] DstBlock "To Workspace4" DstPort 1 } } Line { SrcBlock "S-Function" SrcPort 2 DstBlock "S-Function1" DstPort 1 } Line { SrcBlock "S-Function1" SrcPort 1 DstBlock "Terminator" DstPort 1 } } } Block { BlockType Selector Name "Selector2" Ports [1, 1] Position [365, 295, 420, 315] ShowName off Elements "3" InputPortWidth "3" } Line { SrcBlock "Demux1" SrcPort 1 DstBlock "Network Send To Motion" DstPort 1 } Line { SrcBlock "Demux1" SrcPort 2 DstBlock "Network Send To Motion" DstPort 2 } Line { SrcBlock "Demux1" SrcPort 3 DstBlock "Network Send To Motion" DstPort 3 } Line { SrcBlock "From" SrcPort 1 DstBlock "Demux1" DstPort 1 } Line { SrcBlock "From1" SrcPort 1 DstBlock "Network Send To Motion" DstPort 4 } Line { SrcBlock "Demux6" SrcPort 1 DstBlock "Network Send To Motion" DstPort 5 } Line { SrcBlock "Demux6" SrcPort 2 DstBlock "Network Send To Motion" DstPort 6 } Line { SrcBlock "From7" SrcPort 1 DstBlock "Demux6" DstPort 1 } Line { SrcBlock "From2" SrcPort 1 Points [0, 0] DstBlock "Selector2" DstPort 1 } Line { SrcBlock "Selector2" SrcPort 1 DstBlock "Network Send To Motion" DstPort 7 } Line { SrcBlock "From8" SrcPort 1 DstBlock "Network Send To Motion" DstPort 8 } Line { SrcBlock "From3" SrcPort 1 DstBlock "Network Send To Motion" DstPort 9 } Line { SrcBlock "From4" SrcPort 1 DstBlock "Network Send To Motion" DstPort 10 } Line { SrcBlock "From5" SrcPort 1 DstBlock "Network Send To Motion" DstPort 11 } Line { SrcBlock "From6" SrcPort 1 DstBlock "Network Send To Motion" DstPort 12 } Line { SrcBlock "From9" SrcPort 1 DstBlock "Network Send To Motion" DstPort 13 } Annotation { Position [515, 297] } } } Block { BlockType SubSystem Name "strategy" Ports [1, 5] Position [305, 190, 445, 350] BackgroundColor "lightBlue" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "strategy" Location [4, 54, 1397, 999] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "emergency button" Position [270, 333, 300, 347] Port "1" IconDisplay "Port number" PortDimensions "1" LatchInput off } Block { BlockType Goto Name "Goto" Position [765, 149, 845, 181] GotoTag "home_goal" TagVisibility "global" } Block { BlockType Goto Name "Goto1" Position [765, 74, 845, 106] GotoTag "task_ID" TagVisibility "global" } Block { BlockType SubSystem Name "Subsystem" Ports [1, 4] Position [570, 248, 685, 427] BackgroundColor "yellow" TreatAsAtomicUnit off MinAlgLoopOccurrences off RTWSystemCode "Auto" System { Name "Subsystem" Location [4, 54, 1397, 999] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" Block { BlockType Inport Name "emergency button" Position [190, 348, 220, 362] Port "1" IconDisplay "Port number" LatchInput off } Block { BlockType Constant Name "Constant" Position [675, 470, 705, 500] Value "38" } Block { BlockType Constant Name "Constant1" Position [675, 555, 705, 585] Value "0" } Block { BlockType Demux Name "Demux" Ports [1, 6] Position [495, 244, 500, 376] BackgroundColor "black" ShowName off Outputs "[1 1 1 1 1 3]" DisplayOption "bar" } Block { BlockType Display Name "Display1" Ports [1] Position [415, 375, 505, 415] Decimation "1" } Block { BlockType Goto Name "Goto1" Position [655, 154, 735, 186] GotoTag "bot_color" TagVisibility "global" } Block { BlockType Goto Name "Goto2" Position [860, 119, 940, 151] GotoTag "taskID_block" TagVisibility "global" } Block { BlockType Logic Name "Logical\nOperator" Ports [2, 1] Position [890, 433, 915, 602] Operator "OR" AllPortsSameDT off OutDataTypeMode "Boolean" } Block { BlockType Memory Name "Memory" Position [785, 300, 815, 330] } Block { BlockType Reference Name "Network Receive (dynamically sized outp" "ut)" Ports [1, 2] Position [260, 266, 350, 439] BackgroundColor "[0.800000, 1.000000, 0.800000]" SourceBlock "strat_lib/Manual\nStrategy/strategy_rec" "eive1/Network Receive (dynamically sized output)" SourceType "Network Video Receive" ShowPortLabels on Port "port_refboxsim_sendreceive" } Block { BlockType RelationalOperator Name "Relational\nOperator" Position [835, 270, 870, 330] Operator "~=" InputSameDT off LogicOutDataTypeMode "Boolean" } Block { BlockType RelationalOperator Name "Relational\nOperator1" Position [820, 445, 855, 500] Operator "==" InputSameDT off LogicOutDataTypeMode "Boolean" } Block { BlockType RelationalOperator Name "Relational\nOperator2" Position [820, 530, 855, 585] Operator "==" InputSameDT off LogicOutDataTypeMode "Boolean" } Block { BlockType Reference Name "S-Function" Ports [3, 2] Position [615, 309, 695, 351] ShowName off SourceBlock "strat_lib/Manual\nStrategy/strategy_rec" "eive1/S-Function" SourceType "" } Block { BlockType SignalSpecification Name "Signal Specification1" Position [385, 298, 465, 322] Dimensions "[8 1]" } Block { BlockType Switch Name "Switch" Position [1100, 216, 1125, 384] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Switch Name "Switch1" Position [1185, 436, 1210, 604] Threshold "0.5" InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Outport Name "Blue is Home" Position [520, 313, 550, 327] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "task_ID" Position [1280, 513, 1310, 527] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "subtask_ID" Position [720, 313, 750, 327] Port "3" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "desXYO" Position [530, 353, 560, 367] Port "4" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "emergency button" SrcPort 1 Points [0, 0] DstBlock "Network Receive (dynamically sized outp" "ut)" DstPort 1 } Line { SrcBlock "S-Function" SrcPort 2 Points [0, 0; 70, 0] Branch { Points [0, -25] Branch { Points [0, -30] Branch { DstBlock "Relational\nOperator" DstPort 1 } Branch { Points [0, -40] Branch { DstBlock "Switch" DstPort 1 } Branch { Points [0, -110] DstBlock "Goto2" DstPort 1 } } } Branch { DstBlock "Memory" DstPort 1 } } Branch { Points [0, 120] DstBlock "Relational\nOperator1" DstPort 1 } } Line { SrcBlock "Demux" SrcPort 1 Points [495, 0; 0, 95] DstBlock "Switch" DstPort 3 } Line { SrcBlock "Demux" SrcPort 3 Points [55, 0; 0, 45] DstBlock "S-Function" DstPort 3 } Line { SrcBlock "Demux" SrcPort 5 Points [70, 0; 0, -25; 20, 0] Branch { DstBlock "S-Function" DstPort 1 } Branch { Points [0, -145] DstBlock "Goto1" DstPort 1 } } Line { SrcBlock "S-Function" SrcPort 1 DstBlock "subtask_ID" DstPort 1 } Line { SrcBlock "Switch1" SrcPort 1 DstBlock "task_ID" DstPort 1 } Line { SrcBlock "Logical\nOperator" SrcPort 1 DstBlock "Switch1" DstPort 2 } Line { SrcBlock "Relational\nOperator2" SrcPort 1 DstBlock "Logical\nOperator" DstPort 2 } Line { SrcBlock "Relational\nOperator1" SrcPort 1 DstBlock "Logical\nOperator" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Relational\nOperator2" DstPort 2 } Line { SrcBlock "Constant" SrcPort 1 Points [0, 0; 5, 0] Branch { Points [0, -75; 250, 0; 0, 55] DstBlock "Switch1" DstPort 1 } Branch { DstBlock "Relational\nOperator1" DstPort 2 } } Line { SrcBlock "Demux" SrcPort 4 DstBlock "Blue is Home" DstPort 1 } Line { SrcBlock "Switch" SrcPort 1 Points [40, 0] DstBlock "Switch1" DstPort 3 } Line { SrcBlock "Relational\nOperator" SrcPort 1 DstBlock "Switch" DstPort 2 } Line { SrcBlock "Memory" SrcPort 1 DstBlock "Relational\nOperator" DstPort 2 } Line { SrcBlock "Demux" SrcPort 2 Points [75, 0; 0, 50] DstBlock "S-Function" DstPort 2 } Line { SrcBlock "Signal Specification1" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Network Receive (dynamically sized outp" "ut)" SrcPort 2 Points [0, 0; 30, 0] Branch { Points [0, 150] DstBlock "Relational\nOperator2" DstPort 1 } Branch { DstBlock "Display1" DstPort 1 } } Line { SrcBlock "Network Receive (dynamically sized outp" "ut)" SrcPort 1 Points [0, 0] DstBlock "Signal Specification1" DstPort 1 } Line { SrcBlock "Demux" SrcPort 6 DstBlock "desXYO" DstPort 1 } Annotation { Name "OVERRULE FOR STOP COMMAND: IF STOP COMM" "AND 38 THEN PASS THIS THROUGH TILL THE NEXT CHANGE" Position [696, 703] } } } Block { BlockType ToWorkspace Name "To Workspace1" Position [770, 215, 830, 245] BackgroundColor "red" ShowName off VariableName "subtask" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Constant Name "turtle_id1" Position [635, 474, 705, 506] Value "host_bot_idnr" } Block { BlockType Outport Name "Blue is Home" Position [845, 263, 875, 277] IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "task" Position [845, 308, 875, 322] Port "2" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "subtask" Position [845, 353, 875, 367] Port "3" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "destination" Position [845, 398, 875, 412] Port "4" IconDisplay "Port number" BusOutputAsStruct off } Block { BlockType Outport Name "turtle_id" Position [840, 483, 870, 497] Port "5" IconDisplay "Port number" BusOutputAsStruct off } Line { SrcBlock "emergency button" SrcPort 1 DstBlock "Subsystem" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 1 Points [30, 0] Branch { DstBlock "Blue is Home" DstPort 1 } Branch { Points [0, -105] DstBlock "Goto" DstPort 1 } } Line { SrcBlock "Subsystem" SrcPort 2 Points [40, 0] Branch { DstBlock "task" DstPort 1 } Branch { Points [0, -225] DstBlock "Goto1" DstPort 1 } } Line { SrcBlock "Subsystem" SrcPort 3 Points [65, 0] Branch { DstBlock "subtask" DstPort 1 } Branch { DstBlock "To Workspace1" DstPort 1 } } Line { SrcBlock "turtle_id1" SrcPort 1 DstBlock "turtle_id" DstPort 1 } Line { SrcBlock "Subsystem" SrcPort 4 DstBlock "destination" DstPort 1 } } } Line { SrcBlock "Unit Delay" SrcPort 1 DstBlock "Data Type Conversion4" DstPort 1 } Line { SrcBlock "Vision tuning" SrcPort 1 DstBlock "Task executer" DstPort 11 } Line { SrcBlock "Data Type Conversion4" SrcPort 1 DstBlock "Vision" DstPort 1 } Line { SrcBlock "Clock" SrcPort 1 DstBlock "Actual time in s" DstPort 1 } Line { SrcBlock "Data Type Conversion5" SrcPort 1 DstBlock "Vision" DstPort 2 } Line { SrcBlock "Unit Delay2" SrcPort 1 DstBlock "Data Type Conversion5" DstPort 1 } Line { SrcBlock "strategy" SrcPort 2 Points [0, 0; 5, 0] Branch { DstBlock "Task executer" DstPort 1 } Branch { Points [0, -60; -435, 0; 0, 300] DstBlock "Unit Delay2" DstPort 1 } } Line { SrcBlock "strategy" SrcPort 3 DstBlock "Task executer" DstPort 2 } Line { SrcBlock "strategy" SrcPort 4 DstBlock "Task executer" DstPort 3 } Line { SrcBlock "strategy" SrcPort 5 DstBlock "Task executer" DstPort 4 } Line { SrcBlock "Vision" SrcPort 1 Points [5, 0] Branch { DstBlock "strategy" DstPort 1 } Branch { DstBlock "Task executer" DstPort 5 } } Line { SrcBlock "Task executer" SrcPort 1 Points [70, 0] DstBlock "Path_Planning" DstPort 1 } Line { SrcBlock "Task executer" SrcPort 2 Points [70, 0] DstBlock "Path_Planning" DstPort 2 } Line { SrcBlock "Task executer" SrcPort 3 DstBlock "Selector1" DstPort 1 } Line { SrcBlock "Unit Delay1" SrcPort 1 Points [-170, 0] DstBlock "Task executer" DstPort 12 } Line { SrcBlock "Path_Planning" SrcPort 1 Points [20, 0; 0, 190] DstBlock "Unit Delay1" DstPort 1 } Line { SrcBlock "Selector1" SrcPort 1 DstBlock "Path_Planning" DstPort 3 } Line { SrcBlock "strategy" SrcPort 1 Points [0, -25; -425, 0] DstBlock "Unit Delay" DstPort 1 } Line { SrcBlock "Vision" SrcPort 2 DstBlock "Task executer" DstPort 6 } Line { SrcBlock "Vision" SrcPort 3 Points [15, 0] Branch { DstBlock "Task executer" DstPort 7 } Branch { Points [0, 220] DstBlock "To Workspace4" DstPort 1 } } Line { SrcBlock "Vision" SrcPort 5 DstBlock "Task executer" DstPort 9 } Line { SrcBlock "Vision" SrcPort 6 DstBlock "Task executer" DstPort 10 } Line { SrcBlock "Vision" SrcPort 4 DstBlock "Task executer" DstPort 8 } Annotation { Position [756, 678] } } } MatData { NumRecords 3 DataRecord { Tag DataTag2 Data " %)30 . 8 8 ( 0 % " "\" $ ! 0 . , 8 ( ! % \" $ " "$ 0 0 0 0FQO8@" } DataRecord { Tag DataTag1 Data " %)30 . 8 8 ( 0 % " "\" $ ! 0 . , 8 ( ! % \" $ " "$ 0 0 0 0FQO8@" } DataRecord { Tag DataTag0 Data " %)30 . 8 8 ( 0 % " "\" $ ! 0 . , 8 ( ! % \" $ " "$ 0 0 0 0FQO8@" } }