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1306 lines
37 KiB
1306 lines
37 KiB
Model {
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Name "sl_rrmc2"
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Version 7.6
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Created "Sat Jan 26 02:15:13 2002"
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Creator "pic"
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LastModifiedBy "n6334687"
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RTWModifiedTimeStamp 250447782
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RTWMemSecDataConstants "Inherit from model"
|
|
RTWMemSecDataInternal "Inherit from model"
|
|
RTWMemSecDataParameters "Inherit from model"
|
|
GeneratePreprocessorConditionals off
|
|
}
|
|
Line {
|
|
Name "q"
|
|
Labels [0, 0]
|
|
SrcBlock "joint\nservo"
|
|
SrcPort 1
|
|
Points [30, 0]
|
|
Branch {
|
|
Labels [2, 0]
|
|
Points [0, -75; -450, 0; 0, 60]
|
|
DstBlock "jacob0\n"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
Points [0, 0]
|
|
Branch {
|
|
Points [0, 210]
|
|
DstBlock "fkine"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
DstBlock "To Workspace2"
|
|
DstPort 1
|
|
}
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "T2xyz"
|
|
SrcPort 1
|
|
DstBlock "XY Graph"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "T2xyz"
|
|
SrcPort 2
|
|
DstBlock "XY Graph"
|
|
DstPort 2
|
|
}
|
|
Line {
|
|
Name "v*"
|
|
Labels [0, 0]
|
|
SrcBlock "tr2diff"
|
|
SrcPort 1
|
|
Points [10, 0; 0, -85]
|
|
Branch {
|
|
Points [0, -50]
|
|
DstBlock "Product"
|
|
DstPort 2
|
|
}
|
|
Branch {
|
|
DstBlock "To Workspace1"
|
|
DstPort 1
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "Demux"
|
|
SrcPort 1
|
|
DstBlock "xyz2T"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
Name "J"
|
|
Labels [0, 0]
|
|
SrcBlock "jacob0\n"
|
|
SrcPort 1
|
|
DstBlock "inv"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Product"
|
|
SrcPort 1
|
|
DstBlock "Gain"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
Name "invJ"
|
|
Labels [1, 0]
|
|
SrcBlock "inv"
|
|
SrcPort 1
|
|
DstBlock "Product"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Gain"
|
|
SrcPort 1
|
|
DstBlock "joint\nservo"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Demux"
|
|
SrcPort 2
|
|
DstBlock "xyz2T"
|
|
DstPort 2
|
|
}
|
|
Line {
|
|
SrcBlock "Circle"
|
|
SrcPort 1
|
|
DstBlock "Demux"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Constant"
|
|
SrcPort 1
|
|
Points [10, 0]
|
|
DstBlock "xyz2T"
|
|
DstPort 3
|
|
}
|
|
Line {
|
|
SrcBlock "fkine"
|
|
SrcPort 1
|
|
Points [-70, 0]
|
|
Branch {
|
|
Points [0, -90]
|
|
DstBlock "T2xyz"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
Points [-90, 0]
|
|
Branch {
|
|
Points [0, 35]
|
|
DstBlock "To Workspace"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
Points [-35, 0; 0, -75]
|
|
DstBlock "tr2diff"
|
|
DstPort 1
|
|
}
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "xyz2T"
|
|
SrcPort 1
|
|
DstBlock "Product1"
|
|
DstPort 2
|
|
}
|
|
Line {
|
|
SrcBlock "circle centre"
|
|
SrcPort 1
|
|
Points [20, 0; 0, 50]
|
|
DstBlock "Product1"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Product1"
|
|
SrcPort 1
|
|
DstBlock "tr2diff"
|
|
DstPort 2
|
|
}
|
|
Annotation {
|
|
Name "Cartesian circle"
|
|
Position [161, 353]
|
|
ForegroundColor "blue"
|
|
}
|
|
}
|
|
}
|