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1390 lines
37 KiB
1390 lines
37 KiB
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SrcBlock "Demux"
|
|
SrcPort 3
|
|
Points [170, 0; 0, 30]
|
|
DstBlock "beta"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "q"
|
|
SrcPort 1
|
|
DstBlock "Level-2 M-file\nS-Function"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Level-2 M-file\nS-Function"
|
|
SrcPort 1
|
|
DstBlock "Demux"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Demux"
|
|
SrcPort 1
|
|
Points [120, 0; 0, -30]
|
|
DstBlock "rho"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Demux"
|
|
SrcPort 2
|
|
DstBlock "alpha"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Demux"
|
|
SrcPort 4
|
|
Points [120, 0; 0, 70]
|
|
DstBlock "direction"
|
|
DstPort 1
|
|
}
|
|
}
|
|
}
|
|
Block {
|
|
BlockType Outport
|
|
Name "Out1"
|
|
SID "37"
|
|
Position [510, 158, 540, 172]
|
|
IconDisplay "Port number"
|
|
}
|
|
Line {
|
|
SrcBlock "Mux3"
|
|
SrcPort 1
|
|
Points [20, 0]
|
|
Branch {
|
|
DstBlock "Out1"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
DstBlock "Sum1"
|
|
DstPort 2
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "Bicycle"
|
|
SrcPort 1
|
|
Points [40, 0]
|
|
Branch {
|
|
DstBlock "Mux3"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
Points [0, 95]
|
|
DstBlock "XY"
|
|
DstPort 1
|
|
}
|
|
}
|
|
Line {
|
|
Labels [0, 0]
|
|
SrcBlock "Bicycle"
|
|
SrcPort 2
|
|
Points [50, 0]
|
|
Branch {
|
|
DstBlock "Mux3"
|
|
DstPort 2
|
|
}
|
|
Branch {
|
|
Points [0, 85]
|
|
DstBlock "XY"
|
|
DstPort 2
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "Bicycle"
|
|
SrcPort 3
|
|
DstBlock "Mux3"
|
|
DstPort 3
|
|
}
|
|
Line {
|
|
SrcBlock "to polar"
|
|
SrcPort 2
|
|
Points [25, 0; 0, 50]
|
|
Branch {
|
|
Points [0, 95; -595, 0; 0, -105]
|
|
DstBlock "kalpha"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
DstBlock "alpha"
|
|
DstPort 1
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "kalpha"
|
|
SrcPort 1
|
|
DstBlock "Sum"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "kbeta"
|
|
SrcPort 1
|
|
Points [35, 0]
|
|
DstBlock "Sum"
|
|
DstPort 2
|
|
}
|
|
Line {
|
|
SrcBlock "Product"
|
|
SrcPort 1
|
|
Points [25, 0]
|
|
Branch {
|
|
DstBlock "Bicycle"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
Points [0, 115]
|
|
DstBlock "Abs"
|
|
DstPort 1
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "krho"
|
|
SrcPort 1
|
|
DstBlock "Product"
|
|
DstPort 2
|
|
}
|
|
Line {
|
|
SrcBlock "to polar"
|
|
SrcPort 1
|
|
Points [20, 0]
|
|
Branch {
|
|
DstBlock "there yet?"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
Labels [2, 0]
|
|
Points [0, -45; -510, 0]
|
|
DstBlock "krho"
|
|
DstPort 1
|
|
}
|
|
}
|
|
Line {
|
|
Name "direction of motion: +1 or -1"
|
|
Labels [3, 0]
|
|
SrcBlock "to polar"
|
|
SrcPort 4
|
|
Points [10, 0; 0, -111; -440, 0; 0, 51]
|
|
Branch {
|
|
DstBlock "Product"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
Points [0, 65]
|
|
DstBlock "Divide"
|
|
DstPort 2
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "desired pose"
|
|
SrcPort 1
|
|
Points [5, 0]
|
|
DstBlock "Sum1"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Sum1"
|
|
SrcPort 1
|
|
DstBlock "to polar"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Sum"
|
|
SrcPort 1
|
|
DstBlock "Divide"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "there yet?"
|
|
SrcPort 1
|
|
DstBlock "Stop \nSimulation"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "to polar"
|
|
SrcPort 3
|
|
DstBlock "Sum2"
|
|
DstPort 1
|
|
}
|
|
Line {
|
|
SrcBlock "Sum2"
|
|
SrcPort 1
|
|
Points [20, 0; 0, 130; -120, 0]
|
|
Branch {
|
|
Points [-640, 0; 0, -65]
|
|
DstBlock "kbeta"
|
|
DstPort 1
|
|
}
|
|
Branch {
|
|
Points [0, -40]
|
|
DstBlock "beta"
|
|
DstPort 1
|
|
}
|
|
}
|
|
Line {
|
|
SrcBlock "desired heading"
|
|
SrcPort 1
|
|
Points [5, 0]
|
|
DstBlock "Sum2"
|
|
DstPort 2
|
|
}
|
|
Line {
|
|
SrcBlock "Divide"
|
|
SrcPort 1
|
|
Points [10, 0; 0, -20]
|
|
DstBlock "Bicycle"
|
|
DstPort 2
|
|
}
|
|
Line {
|
|
SrcBlock "Abs"
|
|
SrcPort 1
|
|
Points [-20, 0; 0, -45]
|
|
DstBlock "Divide"
|
|
DstPort 3
|
|
}
|
|
}
|
|
}
|