Model { Name "ServoInterface" Version 7.9 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.197" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "windows-1250" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" FPTRunName "Run 1" MaxMDLFileLineLength 120 Created "Fri Nov 02 17:33:02 2007" Creator "kha" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "TomZ" ModifiedDateFormat "%" LastModifiedDate "Tue Oct 07 09:25:50 2014" RTWModifiedTimeStamp 334574748 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "none" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowDesignRanges off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off SimulationMode "external" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on CovForceBlockReductionOff on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on CovModelRefEnable "Off" CovExternalEMLEnable off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 10000 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 on BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.12.0" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.12.0" StartTime "0.0" StopTime "999999" AbsTol "auto" FixedStep "0.005" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" EnableConcurrentExecution off ConcurrentTasks off Solver "ode1" SolverName "ode1" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" } Simulink.DataIOCC { $ObjectID 3 Version "1.12.0" Decimation "10" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "10000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveCompleteFinalSimState off SaveFormat "Array" SignalLoggingSaveFormat "ModelDataLogs" SaveOutput on SaveState off SignalLogging on DSMLogging on InspectSignalLogs off SaveTime on ReturnWorkspaceOutputs off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" DSMLoggingName "dsmout" OutputOption "RefineOutputTimes" OutputTimes "[]" ReturnWorkspaceOutputsName "out" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Version "1.12.0" Array { Type "Cell" Dimension 8 Cell "BooleansAsBitfields" Cell "PassReuseOutputArgsAs" Cell "PassReuseOutputArgsThreshold" Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" Cell "UseSpecifiedMinMax" PropName "DisabledProps" } BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off UseIntDivNetSlope off UseFloatMulNetSlope off UseSpecifiedMinMax off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnhancedBackFolding off StrengthReduction off ExpressionFolding on BooleansAsBitfields off BitfieldContainerType "uint_T" EnableMemcpy on MemcpyThreshold 64 PassReuseOutputArgsAs "Structure reference" ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off EfficientMapNaN2IntZero on OptimizeModelRefInitCode off LifeSpan "inf" MaxStackSize "Inherit from target" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off ParallelExecutionInRapidAccelerator on } Simulink.DebuggingCC { $ObjectID 5 Version "1.12.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "none" CheckSSInitialOutputMsg on UnderspecifiedInitializationDetection "Classic" MergeDetectMultiDrivingBlocksExec "none" CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" MaskedZcDiagnostic "warning" IgnoredZcDiagnostic "warning" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "error" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" FixptConstUnderflowMsg "none" FixptConstOverflowMsg "none" FixptConstPrecisionLossMsg "none" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" FrameProcessingCompatibilityMsg "warning" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" SimStateInterfaceChecksumMismatchMsg "warning" SimStateOlderReleaseMsg "error" InitInArrayFormatMsg "warning" StrictBusMsg "Warning" BusNameAdapt "WarnAndRepair" NonBusSignalsTreatedAsBus "none" LoggingUnavailableSignals "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" SFInvalidInputDataAccessInChartInitDiag "warning" SFNoUnconditionalDefaultTransitionDiag "warning" SFTransitionOutsideNaturalParentDiag "warning" SFUnconditionalTransitionShadowingDiag "warning" } Simulink.HardwareCC { $ObjectID 6 Version "1.12.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdBitPerFloat 32 ProdBitPerDouble 64 ProdBitPerPointer 32 ProdLargestAtomicInteger "Char" ProdLargestAtomicFloat "None" ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetBitPerFloat 32 TargetBitPerDouble 64 TargetBitPerPointer 32 TargetLargestAtomicInteger "Char" TargetLargestAtomicFloat "None" TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.12.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" EnableParallelModelReferenceBuilds off ParallelModelReferenceErrorOnInvalidPool on ParallelModelReferenceMATLABWorkerInit "None" ModelReferenceNumInstancesAllowed "Multi" PropagateVarSize "Infer from blocks in model" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off PropagateSignalLabelsOutOfModel off SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { $ObjectID 8 Version "1.12.0" SFSimEnableDebug on SFSimOverflowDetection on SFSimEcho on SimBlas on SimCtrlC on SimExtrinsic on SimIntegrity on SimUseLocalCustomCode off SimParseCustomCode on SimBuildMode "sf_incremental_build" } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 9 Version "1.12.0" Array { Type "Cell" Dimension 8 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" Cell "GenerateTraceReport" Cell "GenerateTraceReportSl" Cell "GenerateTraceReportSf" Cell "GenerateTraceReportEml" Cell "GenerateSLWebview" Cell "GenerateCodeMetricsReport" PropName "DisabledProps" } SystemTargetFile "rtcon.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on TemplateMakefile "rtcon_vc.tmf" Description "RT-CON (Visual C/C++)" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ProcessScript "rtcon_make_rtw_hook" ConfigAtBuild off RTWUseLocalCustomCode off RTWUseSimCustomCode off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateWebview off GenerateCodeMetricsReport off GenerateCodeReplacementReport off RTWCompilerOptimization "Off" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 10 Version "1.12.0" Array { Type "Cell" Dimension 21 Cell "IgnoreCustomStorageClasses" Cell "IgnoreTestpoints" Cell "InsertBlockDesc" Cell "InsertPolySpaceComments" Cell "SFDataObjDesc" Cell "MATLABFcnDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrFcnArg" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" Cell "ReqsInCode" PropName "DisabledProps" } ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off MATLABFcnDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrFcnArg "rt$I$N$M" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off InsertPolySpaceComments off SimulinkBlockComments on MATLABSourceComments off EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.STFCustomTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Version "1.12.0" Array { Type "Cell" Dimension 16 Cell "GeneratePreprocessorConditionals" Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "CPPClassGenCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "PortableWordSizes" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" CodeReplacementLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" CodeExecutionProfiling off ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant off ParMdlRefBuildCompliant off CompOptLevelCompliant off ConcurrentExecutionCompliant off IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Disable all" CombineOutputUpdateFcns off CombineSignalStateStructs off SuppressErrorStatus off ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on SupportVariableSizeSignals off EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off GRTInterface on SystemTargetFile "rtcon.tlc" DialogCategory 0 Array { Type "Handle" Dimension 1 Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 12 Version "1.12.0" Array { Type "Cell" Dimension 16 Cell "GeneratePreprocessorConditionals" Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "CPPClassGenCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "PortableWordSizes" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" CodeReplacementLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" CodeExecutionProfiling off ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant off ParMdlRefBuildCompliant off CompOptLevelCompliant off ConcurrentExecutionCompliant off IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Disable all" CombineOutputUpdateFcns off CombineSignalStateStructs off SuppressErrorStatus off ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on SupportVariableSizeSignals off EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off GRTInterface on UseMalloc off ExtMode on ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "rtcon_ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off RTWCAPIRootIO off GenerateASAP2 off } PropName "Components" } CustomProperty { DataType "slbool" Name "StartupMessage" Value on } CustomProperty { DataType "slbool" Name "LinkRTDACUSB" Value on } CustomProperty { DataType "slbool" Name "LinkRTDACPCI" Value off } } PropName "Components" } } PropName "Components" } Name "Configuration" ExtraOptions "-aGenerateTraceInfo=0 -aIgnoreTestpoints=0 " CurrentDlgPage "Data Import//Export" ConfigPrmDlgPosition [ 231, -7, 1136, 645 ] } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } ExplicitPartitioning off BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Arial" FontSize 9 FontWeight "normal" FontAngle "normal" } BlockParameterDefaults { Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit from 'Constant value'" LockScale off SampleTime "inf" FramePeriod "inf" PreserveConstantTs off } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType Display Format "short" Decimation "10" Floating off SampleTime "-1" } Block { BlockType From IconDisplay "Tag" TagVisibility "local" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParamDataTypeStr "Inherit: Same as input" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Goto IconDisplay "Tag" TagVisibility "local" } Block { BlockType Inport Port "1" OutputFunctionCall off OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchInputForFeedbackSignals off Interpolate on } Block { BlockType Memory X0 "0" InheritSampleTime off LinearizeMemory off LinearizeAsDelay off StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" SourceOfInitialOutputValue "Dialog" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType S-Function FunctionName "system" SFunctionModules "''" PortCounts "[]" SFunctionDeploymentMode off } Block { BlockType Saturate UpperLimitSource "Dialog" UpperLimit "0.5" LowerLimitSource "Dialog" LowerLimit "-0.5" LinearizeAsGain on ZeroCross on SampleTime "-1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off CheckFcnCallInpInsideContextMsg off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" SFBlockType "NONE" Variant off GeneratePreprocessorConditionals off } Block { BlockType Sum IconShape "rectangular" Inputs "++" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on AccumDataTypeStr "Inherit: Inherit via internal rule" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Terminator } } System { Name "ServoInterface" Location [172, 119, 1115, 645] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" SIDHighWatermark "613" Block { BlockType SubSystem Name "serwo" SID "217" Ports [5, 6] Position [405, 76, 545, 289] MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskPromptString "Sample time" MaskStyleString "edit" MaskVariables "dt=&1;" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "0.005" System { Name "serwo" Location [110, 87, 914, 608] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "Reset enkoder (1)" SID "221" Position [55, 68, 85, 82] ZOrder -1 IconDisplay "Port number" } Block { BlockType Inport Name "Reset enkoder (2)" SID "223" Position [55, 103, 85, 117] ZOrder -1 Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "Reset enkoder (3)" SID "225" Position [55, 143, 85, 157] ZOrder -1 Port "3" IconDisplay "Port number" } Block { BlockType Inport Name "Reset enkoder (4)" SID "226" Position [55, 178, 85, 192] ZOrder -1 Port "4" IconDisplay "Port number" } Block { BlockType Inport Name "u" SID "227" Position [25, 228, 55, 242] ZOrder -1 Port "5" IconDisplay "Port number" } Block { BlockType Constant Name "Constant" SID "206" Position [60, 315, 90, 345] ZOrder -5 NamePlacement "alternate" ShowName off Value "0" } Block { BlockType SubSystem Name "Customized \nfor Digital I/O" SID "29" Ports [2, 3] Position [335, 127, 430, 263] BackgroundColor "red" ShowName off FontSize 12 FontWeight "bold" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskDisplay "disp('RT-DAC/USB\\n\\nVersion 1.11\\nDevice Driver\\n\\n(Termination)')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" Port { PortNumber 1 Name "Encoder counter" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "Output A/D" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } System { Name "Customized \nfor Digital I/O" Location [0, 74, 1268, 936] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "Reset encoder" SID "177" Position [375, 438, 405, 452] ZOrder -1 IconDisplay "Port number" } Block { BlockType Inport Name "Input_D/A" SID "178" Position [485, 98, 515, 112] ZOrder -1 Port "2" IconDisplay "Port number" } Block { BlockType Constant Name "Constant" SID "172" Position [25, 455, 130, 475] ShowName off Value "hex2dec('00')" } Block { BlockType Constant Name "Constant1" SID "33" Position [615, 315, 720, 335] ShowName off Value "[1 1 1 1]" } Block { BlockType Constant Name "Constant10" SID "174" Position [25, 575, 130, 595] ShowName off Value "0" } Block { BlockType Constant Name "Constant13" SID "36" Position [25, 605, 130, 625] ShowName off Value "0" } Block { BlockType Constant Name "Constant14" SID "37" Position [615, 460, 720, 480] ShowName off Value "[ 0 0 0 0 ]" } Block { BlockType Constant Name "Constant15" SID "38" Position [540, 146, 620, 164] ShowName off Value "[0 0 0 0]" } Block { BlockType Constant Name "Constant2" SID "39" Position [615, 365, 720, 385] ShowName off Value "[1 1 1 1]" } Block { BlockType Constant Name "Constant3" SID "173" Position [25, 510, 130, 530] ShowName off Value "hex2dec('3FFFFFF')" } Block { BlockType Constant Name "Constant4" SID "40" Position [615, 520, 720, 540] ShowName off Value "[ 0 0 ]" } Block { BlockType Constant Name "Constant5" SID "41" Position [330, 505, 435, 525] ShowName off Value "0*[1 1 1 1]" } Block { BlockType Constant Name "Constant6" SID "42" Position [330, 560, 435, 580] ShowName off Value "[0 0 0 0]" } Block { BlockType Constant Name "Constant7" SID "43" Position [615, 580, 720, 600] ShowName off Value "[ 1 1 ]" } Block { BlockType Constant Name "Constant8" SID "44" Position [540, 195, 645, 215] ShowName off Value "ones(1,16)" } Block { BlockType Constant Name "Constant9" SID "45" Position [615, 420, 720, 440] ShowName off Value "[ 0 0 0 0 ]" } Block { BlockType From Name "From" SID "46" Position [25, 73, 140, 87] BackgroundColor "green" ShowName off GotoTag "I_PinMode" TagVisibility "global" } Block { BlockType From Name "From1" SID "47" Position [535, 38, 650, 52] BackgroundColor "green" ShowName off GotoTag "O_Status" TagVisibility "global" } Block { BlockType From Name "From10" SID "48" Position [25, 193, 140, 207] BackgroundColor "yellow" ShowName off GotoTag "I_EncoderReset" TagVisibility "global" } Block { BlockType From Name "From11" SID "49" Position [330, 623, 445, 637] BackgroundColor "yellow" ShowName off GotoTag "O_EncoderCounter" TagVisibility "global" } Block { BlockType From Name "From12" SID "50" Position [330, 478, 445, 492] BackgroundColor "yellow" ShowName off GotoTag "O_EncoderReset" TagVisibility "global" } Block { BlockType From Name "From13" SID "51" Position [25, 213, 140, 227] BackgroundColor "yellow" ShowName off GotoTag "I_EncoderIdxActive" TagVisibility "global" } Block { BlockType From Name "From14" SID "52" Position [25, 233, 140, 247] BackgroundColor "yellow" ShowName off GotoTag "I_EncoderIdxInvert" TagVisibility "global" } Block { BlockType From Name "From15" SID "53" Position [330, 533, 445, 547] BackgroundColor "yellow" ShowName off GotoTag "O_EncoderIdxActive" TagVisibility "global" } Block { BlockType From Name "From16" SID "54" Position [330, 588, 445, 602] BackgroundColor "yellow" ShowName off GotoTag "O_EncoderIdxInvert" TagVisibility "global" } Block { BlockType From Name "From17" SID "55" Position [25, 483, 140, 497] BackgroundColor "green" ShowName off GotoTag "O_PinMode" TagVisibility "global" } Block { BlockType From Name "From18" SID "56" Position [25, 113, 140, 127] BackgroundColor "cyan" ShowName off GotoTag "I_DIOOutput" TagVisibility "global" } Block { BlockType From Name "From19" SID "57" Position [25, 643, 140, 657] BackgroundColor "cyan" ShowName off GotoTag "O_DIOOutput" TagVisibility "global" } Block { BlockType From Name "From2" SID "58" Position [740, 338, 855, 352] BackgroundColor "magenta" ShowName off GotoTag "O_PWMMode" TagVisibility "global" } Block { BlockType From Name "From20" SID "59" Position [25, 673, 140, 687] BackgroundColor "cyan" ShowName off GotoTag "O_DIOInput" TagVisibility "global" } Block { BlockType From Name "From21" SID "60" Position [25, 253, 140, 267] BackgroundColor "gray" ShowName off GotoTag "I_TmrCntReset" TagVisibility "global" } Block { BlockType From Name "From22" SID "61" Position [25, 273, 140, 287] BackgroundColor "gray" ShowName off GotoTag "I_TmrCntMode" TagVisibility "global" } Block { BlockType From Name "From23" SID "62" Position [25, 293, 140, 307] BackgroundColor "lightBlue" ShowName off GotoTag "I_ADGain" TagVisibility "global" } Block { BlockType From Name "From24" SID "63" Position [25, 313, 140, 327] BackgroundColor "orange" ShowName off GotoTag "I_DA" TagVisibility "global" } Block { BlockType From Name "From25" SID "64" Position [615, 553, 730, 567] BackgroundColor "gray" ShowName off GotoTag "O_TmrCntReset" TagVisibility "global" } Block { BlockType From Name "From26" SID "65" Position [615, 613, 730, 627] BackgroundColor "gray" ShowName off GotoTag "O_TmrCntMode" TagVisibility "global" } Block { BlockType From Name "From27" SID "66" Position [615, 643, 730, 657] BackgroundColor "gray" ShowName off GotoTag "O_TmrCntCounter" TagVisibility "global" } Block { BlockType From Name "From28" SID "67" Position [540, 223, 655, 237] BackgroundColor "lightBlue" ShowName off GotoTag "O_ADGain" TagVisibility "global" } Block { BlockType From Name "From29" SID "68" Position [540, 253, 655, 267] BackgroundColor "lightBlue" ShowName off GotoTag "O_ADResult" TagVisibility "global" } Block { BlockType From Name "From3" SID "69" Position [740, 388, 855, 402] BackgroundColor "magenta" ShowName off GotoTag "O_PWMPrescaler" TagVisibility "global" } Block { BlockType From Name "From30" SID "70" Position [540, 123, 655, 137] BackgroundColor "orange" ShowName off GotoTag "O_DA" TagVisibility "global" } Block { BlockType From Name "From31" SID "71" Position [25, 333, 140, 347] BackgroundColor "cyan" ShowName off GotoTag "Term_DIOOutput" TagVisibility "global" } Block { BlockType From Name "From32" SID "72" Position [25, 353, 140, 367] BackgroundColor "magenta" ShowName off GotoTag "Term_PWMWidth" TagVisibility "global" } Block { BlockType From Name "From33" SID "73" Position [25, 373, 140, 387] BackgroundColor "orange" ShowName off GotoTag "Term_DA" TagVisibility "global" } Block { BlockType From Name "From4" SID "74" Position [740, 443, 855, 457] BackgroundColor "magenta" ShowName off GotoTag "O_PWMWidth" TagVisibility "global" } Block { BlockType From Name "From5" SID "75" Position [25, 133, 140, 147] BackgroundColor "magenta" ShowName off GotoTag "I_PWMMode" TagVisibility "global" } Block { BlockType From Name "From6" SID "76" Position [25, 153, 140, 167] BackgroundColor "magenta" ShowName off GotoTag "I_PWMPrescaler" TagVisibility "global" } Block { BlockType From Name "From7" SID "77" Position [25, 173, 140, 187] BackgroundColor "magenta" ShowName off GotoTag "I_PWMWidth" TagVisibility "global" } Block { BlockType From Name "From8" SID "78" Position [25, 93, 140, 107] BackgroundColor "cyan" ShowName off GotoTag "I_DIODirection" TagVisibility "global" } Block { BlockType From Name "From9" SID "79" Position [25, 543, 140, 557] BackgroundColor "cyan" ShowName off GotoTag "O_DIODirection" TagVisibility "global" } Block { BlockType Goto Name "Goto" SID "80" Position [155, 457, 270, 473] BackgroundColor "green" ShowName off GotoTag "I_PinMode" TagVisibility "global" } Block { BlockType Goto Name "Goto1" SID "81" Position [740, 317, 855, 333] BackgroundColor "magenta" ShowName off GotoTag "I_PWMMode" TagVisibility "global" } Block { BlockType Goto Name "Goto10" SID "82" Position [455, 437, 570, 453] BackgroundColor "yellow" ShowName off GotoTag "I_EncoderReset" TagVisibility "global" } Block { BlockType Goto Name "Goto11" SID "83" Position [325, 212, 440, 228] BackgroundColor "yellow" ShowName off GotoTag "O_EncoderCounter" TagVisibility "global" } Block { BlockType Goto Name "Goto12" SID "84" Position [325, 72, 440, 88] BackgroundColor "green" ShowName off GotoTag "O_PinMode" TagVisibility "global" } Block { BlockType Goto Name "Goto13" SID "85" Position [455, 507, 570, 523] BackgroundColor "yellow" ShowName off GotoTag "I_EncoderIdxActive" TagVisibility "global" } Block { BlockType Goto Name "Goto14" SID "86" Position [455, 562, 570, 578] BackgroundColor "yellow" ShowName off GotoTag "I_EncoderIdxInvert" TagVisibility "global" } Block { BlockType Goto Name "Goto15" SID "87" Position [325, 232, 440, 248] BackgroundColor "yellow" ShowName off GotoTag "O_EncoderReset" TagVisibility "global" } Block { BlockType Goto Name "Goto16" SID "88" Position [325, 252, 440, 268] BackgroundColor "yellow" ShowName off GotoTag "O_EncoderIdxActive" TagVisibility "global" } Block { BlockType Goto Name "Goto17" SID "89" Position [325, 272, 440, 288] BackgroundColor "yellow" ShowName off GotoTag "O_EncoderIdxInvert" TagVisibility "global" } Block { BlockType Goto Name "Goto18" SID "90" Position [160, 577, 275, 593] BackgroundColor "cyan" ShowName off GotoTag "I_DIOOutput" TagVisibility "global" } Block { BlockType Goto Name "Goto19" SID "91" Position [325, 112, 440, 128] BackgroundColor "cyan" ShowName off GotoTag "O_DIOOutput" TagVisibility "global" } Block { BlockType Goto Name "Goto2" SID "92" Position [740, 367, 855, 383] BackgroundColor "magenta" ShowName off GotoTag "I_PWMPrescaler" TagVisibility "global" } Block { BlockType Goto Name "Goto20" SID "93" Position [325, 132, 440, 148] BackgroundColor "cyan" ShowName off GotoTag "O_DIOInput" TagVisibility "global" } Block { BlockType Goto Name "Goto21" SID "94" Position [740, 522, 855, 538] BackgroundColor "gray" ShowName off GotoTag "I_TmrCntReset" TagVisibility "global" } Block { BlockType Goto Name "Goto22" SID "95" Position [325, 292, 440, 308] BackgroundColor "gray" ShowName off GotoTag "O_TmrCntReset" TagVisibility "global" } Block { BlockType Goto Name "Goto23" SID "96" Position [740, 582, 855, 598] BackgroundColor "gray" ShowName off GotoTag "I_TmrCntMode" TagVisibility "global" } Block { BlockType Goto Name "Goto24" SID "97" Position [325, 312, 440, 328] BackgroundColor "gray" ShowName off GotoTag "O_TmrCntMode" TagVisibility "global" } Block { BlockType Goto Name "Goto25" SID "98" Position [325, 332, 440, 348] BackgroundColor "gray" ShowName off GotoTag "O_TmrCntCounter" TagVisibility "global" } Block { BlockType Goto Name "Goto26" SID "99" Position [665, 197, 780, 213] BackgroundColor "lightBlue" ShowName off GotoTag "I_ADGain" TagVisibility "global" } Block { BlockType Goto Name "Goto27" SID "100" Position [325, 352, 440, 368] BackgroundColor "lightBlue" ShowName off GotoTag "O_ADGain" TagVisibility "global" } Block { BlockType Goto Name "Goto28" SID "101" Position [325, 372, 440, 388] BackgroundColor "lightBlue" ShowName off GotoTag "O_ADResult" TagVisibility "global" } Block { BlockType Goto Name "Goto29" SID "102" Position [570, 97, 685, 113] BackgroundColor "orange" ShowName off GotoTag "I_DA" TagVisibility "global" } Block { BlockType Goto Name "Goto3" SID "103" Position [740, 422, 855, 438] BackgroundColor "magenta" ShowName off GotoTag "I_PWMWidth" TagVisibility "global" } Block { BlockType Goto Name "Goto30" SID "104" Position [325, 392, 440, 408] BackgroundColor "orange" ShowName off GotoTag "O_DA" TagVisibility "global" } Block { BlockType Goto Name "Goto31" SID "105" Position [160, 607, 275, 623] BackgroundColor "cyan" ShowName off GotoTag "Term_DIOOutput" TagVisibility "global" } Block { BlockType Goto Name "Goto32" SID "106" Position [740, 462, 855, 478] BackgroundColor "magenta" ShowName off GotoTag "Term_PWMWidth" TagVisibility "global" } Block { BlockType Goto Name "Goto33" SID "107" Position [665, 147, 780, 163] BackgroundColor "orange" ShowName off GotoTag "Term_DA" TagVisibility "global" } Block { BlockType Goto Name "Goto4" SID "108" Position [325, 52, 440, 68] BackgroundColor "green" ShowName off GotoTag "O_Status" TagVisibility "global" } Block { BlockType Goto Name "Goto5" SID "109" Position [325, 152, 440, 168] BackgroundColor "magenta" ShowName off GotoTag "O_PWMMode" TagVisibility "global" } Block { BlockType Goto Name "Goto6" SID "110" Position [325, 172, 440, 188] BackgroundColor "magenta" ShowName off GotoTag "O_PWMPrescaler" TagVisibility "global" } Block { BlockType Goto Name "Goto7" SID "111" Position [325, 192, 440, 208] BackgroundColor "magenta" ShowName off GotoTag "O_PWMWidth" TagVisibility "global" } Block { BlockType Goto Name "Goto8" SID "112" Position [155, 512, 270, 528] BackgroundColor "cyan" ShowName off GotoTag "I_DIODirection" TagVisibility "global" } Block { BlockType Goto Name "Goto9" SID "113" Position [325, 92, 440, 108] BackgroundColor "cyan" ShowName off GotoTag "O_DIODirection" TagVisibility "global" } Block { BlockType S-Function Name "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SID "114" Ports [16, 18] Position [160, 60, 300, 400] BackgroundColor "red" FontSize 12 FontWeight "bold" FunctionName "rtdacusb_dd" Parameters "0.005" EnableBusSupport off } Block { BlockType Display Name "Status" SID "115" Ports [1] Position [675, 31, 765, 59] ShowName off Decimation "1" Lockdown off } Block { BlockType Terminator Name "Terminator" SID "116" Position [475, 475, 495, 495] ShowName off } Block { BlockType Terminator Name "Terminator1" SID "117" Position [475, 530, 495, 550] ShowName off } Block { BlockType Terminator Name "Terminator10" SID "118" Position [755, 610, 775, 630] ShowName off } Block { BlockType Terminator Name "Terminator12" SID "120" Position [685, 220, 705, 240] ShowName off } Block { BlockType Terminator Name "Terminator13" SID "121" Position [870, 440, 890, 460] ShowName off } Block { BlockType Terminator Name "Terminator14" SID "122" Position [870, 385, 890, 405] ShowName off } Block { BlockType Terminator Name "Terminator15" SID "123" Position [870, 335, 890, 355] ShowName off } Block { BlockType Terminator Name "Terminator2" SID "125" Position [470, 585, 490, 605] ShowName off } Block { BlockType Terminator Name "Terminator4" SID "170" Position [165, 480, 185, 500] ShowName off } Block { BlockType Terminator Name "Terminator5" SID "171" Position [160, 540, 180, 560] ShowName off } Block { BlockType Terminator Name "Terminator6" SID "175" Position [160, 640, 180, 660] ShowName off } Block { BlockType Terminator Name "Terminator7" SID "127" Position [685, 120, 705, 140] ShowName off } Block { BlockType Terminator Name "Terminator8" SID "176" Position [160, 670, 180, 690] ShowName off } Block { BlockType Terminator Name "Terminator9" SID "128" Position [755, 550, 775, 570] ShowName off } Block { BlockType Outport Name "Encoder Counter" SID "179" Position [470, 623, 500, 637] ZOrder -9 IconDisplay "Port number" } Block { BlockType Outport Name "Output A/D" SID "180" Position [690, 253, 720, 267] ZOrder -9 Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "Timer counter" SID "210" Position [770, 643, 800, 657] ZOrder -9 Port "3" IconDisplay "Port number" } Line { SrcBlock "From20" SrcPort 1 DstBlock "Terminator8" DstPort 1 } Line { SrcBlock "From19" SrcPort 1 DstBlock "Terminator6" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 5 DstBlock "Goto20" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 4 DstBlock "Goto19" DstPort 1 } Line { SrcBlock "From18" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 3 } Line { SrcBlock "Constant10" SrcPort 1 DstBlock "Goto18" DstPort 1 } Line { SrcBlock "From17" SrcPort 1 DstBlock "Terminator4" DstPort 1 } Line { SrcBlock "From16" SrcPort 1 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "From15" SrcPort 1 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 12 DstBlock "Goto17" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 11 DstBlock "Goto16" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 10 DstBlock "Goto15" DstPort 1 } Line { SrcBlock "Constant6" SrcPort 1 DstBlock "Goto14" DstPort 1 } Line { SrcBlock "Constant5" SrcPort 1 DstBlock "Goto13" DstPort 1 } Line { SrcBlock "From14" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 9 } Line { SrcBlock "From13" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 8 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 2 DstBlock "Goto12" DstPort 1 } Line { SrcBlock "From12" SrcPort 1 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 3 DstBlock "Goto9" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 9 DstBlock "Goto11" DstPort 1 } Line { SrcBlock "From11" SrcPort 1 DstBlock "Encoder Counter" DstPort 1 } Line { SrcBlock "From10" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 7 } Line { SrcBlock "Reset encoder" SrcPort 1 DstBlock "Goto10" DstPort 1 } Line { SrcBlock "From9" SrcPort 1 DstBlock "Terminator5" DstPort 1 } Line { SrcBlock "From8" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 2 } Line { SrcBlock "Constant3" SrcPort 1 DstBlock "Goto8" DstPort 1 } Line { SrcBlock "From7" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 6 } Line { SrcBlock "From6" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 5 } Line { SrcBlock "From5" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 4 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 8 DstBlock "Goto7" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 7 DstBlock "Goto6" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 6 DstBlock "Goto5" DstPort 1 } Line { SrcBlock "From4" SrcPort 1 DstBlock "Terminator13" DstPort 1 } Line { SrcBlock "From3" SrcPort 1 DstBlock "Terminator14" DstPort 1 } Line { SrcBlock "From2" SrcPort 1 DstBlock "Terminator15" DstPort 1 } Line { SrcBlock "From1" SrcPort 1 DstBlock "Status" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 1 DstBlock "Goto4" DstPort 1 } Line { SrcBlock "Constant9" SrcPort 1 DstBlock "Goto3" DstPort 1 } Line { SrcBlock "Constant2" SrcPort 1 DstBlock "Goto2" DstPort 1 } Line { SrcBlock "Constant1" SrcPort 1 DstBlock "Goto1" DstPort 1 } Line { SrcBlock "From" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Goto" DstPort 1 } Line { SrcBlock "From21" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 10 } Line { SrcBlock "From23" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 12 } Line { SrcBlock "From22" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 11 } Line { SrcBlock "From24" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 13 } Line { SrcBlock "Constant4" SrcPort 1 DstBlock "Goto21" DstPort 1 } Line { SrcBlock "From25" SrcPort 1 DstBlock "Terminator9" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 13 DstBlock "Goto22" DstPort 1 } Line { SrcBlock "Constant7" SrcPort 1 DstBlock "Goto23" DstPort 1 } Line { SrcBlock "From26" SrcPort 1 DstBlock "Terminator10" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 14 DstBlock "Goto24" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 15 DstBlock "Goto25" DstPort 1 } Line { SrcBlock "Constant8" SrcPort 1 DstBlock "Goto26" DstPort 1 } Line { SrcBlock "From28" SrcPort 1 DstBlock "Terminator12" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 16 DstBlock "Goto27" DstPort 1 } Line { SrcBlock "From29" SrcPort 1 DstBlock "Output A/D" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 17 DstBlock "Goto28" DstPort 1 } Line { SrcBlock "From30" SrcPort 1 Points [0, 0] DstBlock "Terminator7" DstPort 1 } Line { SrcBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" SrcPort 18 DstBlock "Goto30" DstPort 1 } Line { SrcBlock "Constant13" SrcPort 1 Points [0, 0] DstBlock "Goto31" DstPort 1 } Line { SrcBlock "From31" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 14 } Line { SrcBlock "Constant14" SrcPort 1 DstBlock "Goto32" DstPort 1 } Line { SrcBlock "From32" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 15 } Line { SrcBlock "Constant15" SrcPort 1 Points [0, 0] DstBlock "Goto33" DstPort 1 } Line { SrcBlock "From33" SrcPort 1 DstBlock "RTDAC_USB Device Driver\nVersion 1.11\n(Termination)" DstPort 16 } Line { SrcBlock "Input_D/A" SrcPort 1 DstBlock "Goto29" DstPort 1 } Line { SrcBlock "From27" SrcPort 1 DstBlock "Timer counter" DstPort 1 } Annotation { SID "612" Name "RT-CON/RTDAC-USB Device Driver\nVersion 1.11" Position [238, 28] FontSize 18 FontWeight "bold" } } } Block { BlockType Demux Name "Demux" SID "181" Ports [1, 4] Position [540, 56, 545, 94] ZOrder -7 ShowName off DisplayOption "bar" } Block { BlockType Demux Name "Demux1" SID "184" Ports [1, 16] Position [645, 169, 650, 381] ZOrder -7 ShowName off Outputs "16" DisplayOption "bar" } Block { BlockType Demux Name "Demux2" SID "214" Ports [1, 2] Position [615, 386, 620, 424] ZOrder -7 ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Gain Name "Gain" SID "232" Position [680, 420, 710, 450] ZOrder -11 Gain "0.000000025" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Memory Name "Memory" SID "213" Position [500, 415, 530, 445] ZOrder -13 } Block { BlockType Mux Name "Mux" SID "182" Ports [4, 1] Position [225, 102, 230, 178] ZOrder -16 ShowName off DisplayOption "bar" Port { PortNumber 1 Name "Reset\nencoder" PropagatedSignals ", , , " RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Mux Name "Mux1" SID "183" Ports [4, 1] Position [225, 227, 230, 303] ZOrder -16 ShowName off DisplayOption "bar" Port { PortNumber 1 Name "Input D/A" PropagatedSignals ", , , " RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Mux Name "Mux2" SID "208" Ports [15, 1] Position [705, 179, 710, 361] ZOrder -16 ShowName off Inputs "15" DisplayOption "bar" } Block { BlockType Saturate Name "Saturation" SID "212" Ports [1, 1] Position [95, 220, 125, 250] ZOrder -15 InputPortMap "u0" UpperLimit "10" LowerLimit "-10" } Block { BlockType Sum Name "Sum" SID "211" Ports [2, 1] Position [565, 395, 585, 415] ZOrder -32 ShowName off IconShape "round" Inputs "|+-" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Terminator Name "Terminator" SID "209" Position [745, 265, 765, 285] ZOrder -5 ShowName off } Block { BlockType Terminator Name "Terminator1" SID "215" Position [660, 395, 680, 415] ZOrder -5 ShowName off } Block { BlockType Outport Name "Prad" SID "218" Position [745, 368, 775, 382] ZOrder -9 IconDisplay "Port number" } Block { BlockType Outport Name "Enkoder (1)" SID "219" Position [655, 28, 685, 42] ZOrder -9 Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "Enkoder (2)" SID "220" Position [655, 63, 685, 77] ZOrder -9 Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "Enkoder (3)" SID "222" Position [655, 98, 685, 112] ZOrder -9 Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "Encoder (4)" SID "224" Position [655, 128, 685, 142] ZOrder -9 Port "5" IconDisplay "Port number" } Block { BlockType Outport Name "delta time" SID "228" Position [745, 428, 775, 442] ZOrder -9 Port "6" IconDisplay "Port number" } Line { Name "Reset\nencoder" Labels [3, 0] SrcBlock "Mux" SrcPort 1 Points [40, 0; 0, 20] DstBlock "Customized \nfor Digital I/O" DstPort 1 } Line { Name "Input D/A" Labels [3, 0] SrcBlock "Mux1" SrcPort 1 Points [40, 0; 0, -35] DstBlock "Customized \nfor Digital I/O" DstPort 2 } Line { Name "Encoder counter" Labels [0, 0] SrcBlock "Customized \nfor Digital I/O" SrcPort 1 Points [90, 0] DstBlock "Demux" DstPort 1 } Line { Name "Output A/D" Labels [0, 0] SrcBlock "Customized \nfor Digital I/O" SrcPort 2 Points [95, 0; 0, 80] DstBlock "Demux1" DstPort 1 } Line { SrcBlock "Reset enkoder (1)" SrcPort 1 Points [65, 0; 0, 35] DstBlock "Mux" DstPort 1 } Line { SrcBlock "Reset enkoder (2)" SrcPort 1 Points [55, 0; 0, 20] DstBlock "Mux" DstPort 2 } Line { SrcBlock "Reset enkoder (3)" SrcPort 1 DstBlock "Mux" DstPort 3 } Line { SrcBlock "Reset enkoder (4)" SrcPort 1 Points [60, 0; 0, -15] DstBlock "Mux" DstPort 4 } Line { SrcBlock "Demux" SrcPort 1 Points [75, 0; 0, -25] DstBlock "Enkoder (1)" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "Enkoder (2)" DstPort 1 } Line { SrcBlock "Demux" SrcPort 3 Points [75, 0; 0, 25] DstBlock "Enkoder (3)" DstPort 1 } Line { SrcBlock "Demux" SrcPort 4 Points [30, 0; 0, 45] DstBlock "Encoder (4)" DstPort 1 } Line { SrcBlock "u" SrcPort 1 DstBlock "Saturation" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 Points [55, 0; 0, -35] Branch { Points [0, -20] Branch { Points [0, -20] DstBlock "Mux1" DstPort 2 } Branch { DstBlock "Mux1" DstPort 3 } } Branch { DstBlock "Mux1" DstPort 4 } } Line { SrcBlock "Mux2" SrcPort 1 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "Demux1" SrcPort 1 DstBlock "Mux2" DstPort 1 } Line { SrcBlock "Demux1" SrcPort 2 DstBlock "Mux2" DstPort 2 } Line { SrcBlock "Demux1" SrcPort 3 DstBlock "Mux2" DstPort 3 } Line { SrcBlock "Demux1" SrcPort 4 DstBlock "Mux2" DstPort 4 } Line { SrcBlock "Demux1" SrcPort 5 DstBlock "Mux2" DstPort 5 } Line { SrcBlock "Demux1" SrcPort 6 DstBlock "Mux2" DstPort 6 } Line { SrcBlock "Demux1" SrcPort 7 DstBlock "Mux2" DstPort 7 } Line { SrcBlock "Demux1" SrcPort 8 DstBlock "Mux2" DstPort 8 } Line { SrcBlock "Demux1" SrcPort 9 DstBlock "Mux2" DstPort 9 } Line { SrcBlock "Demux1" SrcPort 10 DstBlock "Mux2" DstPort 10 } Line { SrcBlock "Demux1" SrcPort 11 DstBlock "Mux2" DstPort 11 } Line { SrcBlock "Demux1" SrcPort 12 DstBlock "Mux2" DstPort 12 } Line { SrcBlock "Demux1" SrcPort 13 DstBlock "Mux2" DstPort 13 } Line { SrcBlock "Demux1" SrcPort 14 DstBlock "Mux2" DstPort 14 } Line { SrcBlock "Demux1" SrcPort 15 DstBlock "Mux2" DstPort 15 } Line { SrcBlock "Demux1" SrcPort 16 Points [35, 0; 0, 25] DstBlock "Prad" DstPort 1 } Line { SrcBlock "Customized \nfor Digital I/O" SrcPort 3 Points [25, 0; 0, 165] Branch { Points [0, 25] DstBlock "Memory" DstPort 1 } Branch { DstBlock "Sum" DstPort 1 } } Line { SrcBlock "Saturation" SrcPort 1 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "Memory" SrcPort 1 DstBlock "Sum" DstPort 2 } Line { SrcBlock "Sum" SrcPort 1 DstBlock "Demux2" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 1 Points [10, 0; 0, 10] DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "Demux2" SrcPort 2 Points [10, 0; 0, 20] DstBlock "Gain" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 DstBlock "delta time" DstPort 1 } } } } }