# MODELS

MODELNAME: rlQubeServo
PATH: examples/rl/main/rlQubeServo.slx
ANNOTATION: Qube Servo Swing Up with Reinforcement Learning Copyright 2021, The MathWorks Inc.
BLOCKTYPE_FREQUENCY: 6;2;55;1;4;1;1;15;2;1;20;1;55;1;2;10;2;1;13;51;17;4;7;1;1;2;5;21;2;9;1;7;1;8;1;1;1;25;22;10;8;3;1;1
CHECKSUM: BDA6004BBE26DBE469A1323277C3B083
PRODUCT: MATLAB;Reinforcement Learning Toolbox;Simscape;Simscape Electrical;Simscape Multibody;Simulink
PRODUCT_BASECODE: RL
BLOCK:
 Demux ; SFunction ; Terminator ;AND;Abs;Add;Base;C;Conn;Constant;Controlled Voltage Source;Cylindrical Solid;DC Motor;DC Motor model;Data Type Conversion;Demux;Dot Product;ERef;Encoder;Gain;Ideal Rotational Motion Sensor;In;In_angle;Inner Loop Control;Load trq;MATLAB Function;MRRef Motor;Manual Variant Source;Math Function;Mechanical Rotational Reference;Mechanism Configuration;Mux;Out;Out_angle;Outer Loop Control;PS Gain;PS-Simulink Converter;PS-Simulink Converter ;Pendulum;Pendulum Physical Model;Qube servo;R;RL_Mode_Select;RL_Swing_Up;RL_agent_select_mode;RL_agent_swing_up;Rate Transition;Reference;Relational Operator;Revolute Joint;Rigid Transform;Rod;Rotational Multibody Interface;Rotator;SCF;Saturation;Selector;Sensing;Simulink-PS Converter;Solver Configuration;Spatial Contact Force;Stopper;SubSystem;Sum;Switch;Switch_Action;Terminator;Trigonometric Function;Unit Delay;Variant Source;World Frame;action;angle;angular velocity;bumper;change_angle;change_angle_range;controller_action;cost_function;failure_cost;isdone;isdone_flag;isdone_flag_delay;last_action;mod_2pi;observation;observation ;omega_m;out_action;ref;reward;select_mode;sensor;sensor_dif;stopper;stopper_off;stopper_on;success_reward;swing_up;theta_m;u;velocity;volt;y

BLOCKTYPE:
Abs;Brick Solid;Constant;Controlled Voltage Source;Cylindrical Solid;DC Motor;DataTypeConversion;Demux;DotProduct;Electrical Reference;Gain;Ideal Rotational Motion Sensor;Inport;Logic;ManualVariantSource;Math;Mechanical Rotational Reference;Mechanism Configuration;Mux;Outport;PMIOPort;PS Gain;PS-Simulink Converter;Point Cloud;Qube servo 2 model by Simscape;RL Agent;RateTransition;RelationalOperator;Revolute Joint;Rigid Transform;Rotational Multibody Interface;S-Function;Saturate;Selector;Simulink-PS Converter;Solver Configuration;Spatial Contact Force;Sum;Switch;Terminator;Trigonometry;UnitDelay;VariantSource;World Frame


MODELNAME: rlQubeServoModel
PATH: examples/rl/main/rlQubeServoModel.slx
BLOCKTYPE_FREQUENCY: 2;2;2;1;7;11;5;2;2;6;2;4;1;1;3;1;1;2;5;4;3
CHECKSUM: 50FAA7C49CD7DAF198B7E828F57BC497
PRODUCT: MATLAB;Reinforcement Learning Toolbox;Reinforcement Learning Toolbox Documentation;Simulink
PRODUCT_BASECODE: RL
ANNOTATION:
Oberservation Signal Error Signal isDone Signal Angle Wrapping F  Qube Servo Swing Up with Reinforcement Learning  Copyright 2022, The MathWorks Inc.

BLOCK:
Abs;Compare To Constant;Constant;Demux;From;Gain;Goto;Mux;NOT;OR;Qube servo;RL Agent;Rate Transition;Reference;Relational Operator;Saturation;Scope;Square;SubSystem;Sum;Trigonometric Function;Unit Delay;count;counter;generate RL signals;isdone;last_action;observations;reward;x

BLOCKTYPE:
Abs;Compare To Constant;Constant;Demux;From;Gain;Goto;Inport;Logic;Math;Mux;Outport;Qube servo 2 model by Simscape;RL Agent;RateTransition;RelationalOperator;Saturate;Scope;Sum;Trigonometry;UnitDelay


MODELNAME: rlQubeServo_SIL_PIL
PATH: examples/rl/main/rlQubeServo_SIL_PIL.slx
ANNOTATION: Copyright 2021, The MathWorks Inc. RL Qube Servo SIL PIL
BLOCKTYPE_FREQUENCY: 2;1;4;1;1;1;2;2;1;1;3;7;17;4;7;1;1;2;2;9;1;1;1;1;3;1
CHECKSUM: 911ECFD1CC41B7DA8ED401B07EE9FB0D
PRODUCT: Embedded Coder;MATLAB;Simscape;Simscape Electrical;Simscape Multibody;Simulink
PRODUCT_BASECODE: RL
EXTERNALFILE_REFERENCE: Controller___Model_Block___
BLOCK:
Base;C;Conn;Controlled Voltage Source;Controller;Cylindrical Solid;DC Motor;DC Motor model;ERef;Encoder;Ideal Rotational Motion Sensor;Load trq;MRRef Motor;Mechanical Rotational Reference;Mechanism Configuration;Mux;PS Gain;PS-Simulink Converter;PS-Simulink Converter ;Pendulum;Pendulum Physical Model;Qube servo;R;Rate Transition;Reference;Revolute Joint;Rigid Transform;Rod;Rotational Multibody Interface;Rotator;SCF;Sensing;Simulink-PS Converter;Solver Configuration;Spatial Contact Force;Stopper;SubSystem;Terminator;World Frame;angle;angular velocity;bumper;omega_m;stopper;stopper_off;stopper_on;theta_m;velocity;volt

BLOCKTYPE:
Brick Solid;Controlled Voltage Source;Cylindrical Solid;DC Motor;Electrical Reference;Ideal Rotational Motion Sensor;Inport;Mechanical Rotational Reference;Mechanism Configuration;ModelReference;Mux;Outport;PMIOPort;PS Gain;PS-Simulink Converter;Point Cloud;Qube servo 2 model by Simscape;RateTransition;Revolute Joint;Rigid Transform;Rotational Multibody Interface;Simulink-PS Converter;Solver Configuration;Spatial Contact Force;Terminator;World Frame


MODELNAME: rlWatertankOpenloop
PATH: examples/rl/main/rlWatertankOpenloop.slx
ANNOTATION: Copyright 2019 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 2;2;1;2;2;6;8;2;3;2;8;2;2;4
CHECKSUM: 802EB18A91671C9A51339AC0D9F16A2B
PRODUCT: MATLAB;Simulink
PRODUCT_BASECODE: RL
BLOCK:
Abs;Compare To Constant;Compare To Zero;Desired Water Level;Discrete-Time Integrator;Gain;H;Input;Mux;NOT;OR;Output;Reference;Scope;Sqrt;SubSystem;Sum;Water-Tank System;a/A;b/A;calculate reward;error;exceeds bounds;generate observations;height;observations;reward;stop;stop simulation;u;y

BLOCKTYPE:
Abs;Compare To Constant;Compare To Zero;Constant;DiscreteIntegrator;Gain;Inport;Integrator;Logic;Mux;Outport;Scope;Sqrt;Sum


MODELNAME: rlWatertankStepInput
PATH: examples/rl/main/rlWatertankStepInput.slx
ANNOTATION: RL Watertank Step Input Copyright 2021 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;2;1;3;8;1;1;1;5;1;1;3;1;1;1;3;1;5
CHECKSUM: 9F81E47981F278FD9F4C02FC1177CAB6
PRODUCT: MATLAB;Reinforcement Learning Toolbox;Simulink;Simulink Design Optimization
PRODUCT_BASECODE: RL
BLOCK:
 Demux ; SFunction ; Terminator ;Add;Clock;Compare To Constant;Gain;H;Input;Integrator;Mux;OR;Observation;RL Agent;Reference;Reward;Reward Function;Scope;Signal Specification;Sqrt;Step;SubSystem;Sum;Termination;Unit Delay;Water-Tank System;WaterLevelStepResponse;a/A;b/A;done;err;obs;r;ref;t;x

BLOCKTYPE:
Checks_StepResponse;Clock;Compare To Constant;Demux;Gain;Inport;Integrator;Logic;Mux;Outport;RL Agent;S-Function;Scope;SignalSpecification;Sqrt;Step;Sum;Terminator;UnitDelay


MODELNAME: rl_motor
PATH: examples/rl/main/rl_motor.slx
ANNOTATION: RL DC Servomotor Copyright 2021-2023 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 7;2;2;8;2;1;6;3;1;1;1;4;1;1;4
CHECKSUM: 3C00EF95A0D56420E1124F91880E1CAB
PRODUCT: Control System Toolbox;MATLAB;Reinforcement Learning Toolbox;Simulink
PRODUCT_BASECODE: RL
BLOCK:
 Demux ; SFunction ; Terminator ;Angle (radians);Angle reference;Constant;Demux;Gain;In;Integrator;Mux;Obs;Observations;RL Agent;Reference;Reshape;Reward Function;Servomechanism;Stack Observations;SubSystem;Tmax;Tmin;Torque (Nm);Torque reference;Unit Delay;Vmax;Vmin;Voltage (V);lastmv;mv;obs;r;refmv;refy;y

BLOCKTYPE:
Constant;Demux;Gain;Inport;Integrator;LTI Block;Mux;Outport;RL Agent;Reshape;S-Function;Scope;Sin;Terminator;UnitDelay


MODELNAME: rlwatertankPIDTune
PATH: examples/rl/main/rlwatertankPIDTune.slx
ANNOTATION: Copyright 2020 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 2;1;4;4;1;2;1;3;1;3;1;3;1
CHECKSUM: 3E098AA99741807C6C99EC7A4A94F923
PRODUCT: MATLAB;Reinforcement Learning Toolbox;Simulink
PRODUCT_BASECODE: RL
BLOCK:
Desired Water Level;Discrete-Time Integrator;H;Mux;RL Agent;Reference;Scope;Sqrt;Square;SubSystem;Sum;TerminateEarly;Unit Delay;Water-Tank System;a/A;actionPenalty;b/A;calculate reward;error;errorPenalty;generate observations;height;observations;reward;u

BLOCKTYPE:
Constant;DiscreteIntegrator;Gain;Inport;Integrator;Math;Mux;Outport;RL Agent;Scope;Sqrt;Sum;UnitDelay


MODELNAME: watertankLQG
PATH: examples/rl/main/watertankLQG.slx
ANNOTATION: Copyright 2020 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;4;3;1;2;2;1;2;1;1;4;2
CHECKSUM: F15EB714090FB4106A0F1914A94D88CE
PRODUCT: MATLAB;Simulink
PRODUCT_BASECODE: RL
BLOCK:
Band-Limited White Noise;Desired Water Level;H;Input;Output;PID Controller;Rate Transition;Reference;Scope;Sqrt;Square;SubSystem;Sum;To Workspace;Water-Tank System;a/A;actionPenalty;b/A;calculate cost;cost;error;errorPenalty;u

BLOCKTYPE:
Band-Limited White Noise.;Constant;Gain;Inport;Integrator;Math;Outport;PID 1dof;RateTransition;Scope;Sqrt;Sum;ToWorkspace


MODELNAME: watertankscheduling
PATH: examples/rl/main/watertankscheduling.slx
ANNOTATION: Copyright 2020 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 2;4;2;2;6;2;2;6;1;4;5;2;4;2
CHECKSUM: 10F2D7D2A61FCC3B0B9AA29D5392BF8A
PRODUCT: MATLAB;Reinforcement Learning Toolbox;Simulink
PRODUCT_BASECODE: RL
BLOCK:
 ; Demux ; SFunction ; Terminator ;Control law ;Find Reward;From Workspace;Initial Water Height;Integrator;Manual Switch;Q(a);RL Agent;Reference;Reward;Scope;SubSystem;Sum;Unit Delay;Water Tank System;a;h;isdone;r;y

BLOCKTYPE:
Constant;Demux;FromWorkspace;Gain;Inport;Integrator;ManualSwitch;Outport;RL Agent;S-Function;Scope;Sum;Terminator;UnitDelay


MODELNAME: FruitPickingGazeboManipulator
PATH: examples/robotics/main/FruitPickingGazeboManipulator.slx
BLOCKTYPE_FREQUENCY: 1;12;14;44;1;3;10;3;1;1;12;12;1;14;12;1;54;1;2;1;29;2;9;1;2;1;24;2;1
CHECKSUM: BA9607759B2BF8B7900C25B3A745E879
PRODUCT: Computer Vision Toolbox;MATLAB;Robotics System Toolbox;Simulink;Stateflow
PRODUCT_BASECODE: RO
ANNOTATION:
Finger3Joint3 Finger2Joint3 Finger1Joint3 Finger1Joint2 Finger2Joint2 Finger3Joint2 Joint Controller Gripper Controller Gripper Control Set Joint Position Read Joint Position Perception System Retrieve Depth Image Retrieve RGB Image  Gazebo Pacer  Copyright 2023 The MathWorks, Inc.

BLOCK:
 Demux ; Ground ; Read RGB Image; SFunction ; Terminator ;Abs;Bus Assignment;Bus Selector;Calculate Target Pose;Camera Pose;Camera Pose Initial Guess;Close;Constant;Deep Learning Object Detector;Delay;Demux;Display;Effort_J;Enable;End Effector Offset;Gain;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Select Entity;Get Target Pose;Gripper and Joint Control System;Image to World Coordinates;Inverse Kinematics;Manipulator Base Pose;Manipulator Current Configuration;Matrix Sum;Motion Planning;Motion Planning & Waypoint Generator ;Mux;Open;Perception System;Perception Trigger Delay;Perception and Target Generator System;Planning Trigger Delay;Plot Image;Polynomial Trajectory;Position;Process Depth Image;Process RGB Image;Rate Transition;Read Depth Image;Read Elbow_Joint;Read Shoulder_Lift_Joint;Read Shoulder_Pan_Joint;Read_Finger1Joint;Read_Finger2Joint;Read_Finger3Joint;Read_Wrist1_Joint;Read_Wrist2_Joint;Read_Wrist3_Joint;Reference;Release Pose;Release Pose Initial Guess;Set Elbow;Set Shoulder Lift;Set Shoulder Pan;Set Wrist;Stop Simulation;SubSystem;Sum;Switch;Target Configuration Generator;Target Generator;Target Generator System;Task Scheduler;Terminator;Trigger;Trigger Gripper Subsystem;boxes;control;currentConfig;currentConfiguration;data;depthImage;endEffectorOffset;gripperControl;gripperInput;imageGrabPositionInitGuess;imageGrabPositionTform;imgHeight;imgWidth;initialGuess;initialGuess ;isPlanningStart;jointAcceleration;jointDifference;jointInput;jointPosition;jointVelocity;labeledImg;labels;manipBasePose;perceptionReady;perceptionTrigger;plannerCurrentTime;planningTrigger;planningWeights;pointCloud;releasePositionInitGuess;releasePositionTform;rgbImage;robotBasePose;startConfig;stateControl;target pose;targetConfiguration;targetImageCoordinate;targetPose;targetPose ;targetPosition;weights;y

BLOCKTYPE:
Abs;BusAssignment;BusSelector;Constant;Deep Learning Object Detector;Delay;Demux;Display;EnablePort;Gain;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Read;Gazebo Select Entity;Ground;Inport;Inverse Kinematics;MATLABSystem;Mux;Outport;RateTransition;S-Function;Stop;Sum;Switch;Terminator;TriggerPort;robotics.slcore.internal.block.PolyTrajSys


MODELNAME: GazeboDifferentialDriveControl
PATH: examples/robotics/main/GazeboDifferentialDriveControl.slx
BLOCKTYPE_FREQUENCY: 2;1;1;7;4;3;1;1;2;2;1;3;2;13;3;9;2;1;2;3;2;2;1;1
CHECKSUM: 26303B07BB239A56F7AA9137AEEC9394
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
Generate a pose vector (x, y, theta) from X, Y, and quaternion data Robot Pose Data Wheel Speed Data Gazebo Pacer Actuator Torque Commands  Control a Differential-Drive Robot in Gazebo using Simulink &amp; Gazebo Co-Simulation This example controls a mobile robot in Gazebo via Gazebo co simulation. A MATLAB Function block is used together with Pure Pursuit to control the robot velocity and angular heading. These outputs are converted to wheel speed commands. Proportional controllers ensure that wheel speeds are maintained on the model in Gazebo. Copyright 2019 The MathWorks, Inc. Gazebo Sensor Outputs Mobile Robot Control

BLOCK:
 Demux ; SFunction ; Terminator ;Bus Assignment;Bus Selector;Constant;Coordinate Transformation Conversion;Demux;Display;Enable;Extract Robot Pose;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Read;Gazebo Select Entity;In;Left Torque;Left Wheel Gazebo Torque Command;MATLAB Function;Mux;Pioneer Wheel Control;Pose;Proportional Gain;Pure Pursuit;Rate Transition;Read Gazebo Sensors;Read Robot Pose;Reference;Right Torque;Right Wheel Gazebo Torque Command;Robot Pose;Selector;Set Wheel Speed;SubSystem;Sum;Target Left Wheel Speed;Target Right Wheel Speed;Torque;Vector Concatenate;Wheel Speeds;XY Graph;left;omega;omegas;phiDotL;phiDotR;pose;right;robotpose;v;waypoints

BLOCKTYPE:
BusAssignment;BusSelector;Concatenate;Constant;Demux;Display;EnablePort;Gain;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Read;Gazebo Select Entity;Inport;Mux;Outport;RateTransition;Record;S-Function;Selector;Sum;Terminator;nav.slalgs.internal.PurePursuit;robotics.slcore.internal.block.CoordinateTransformationConversion


MODELNAME: IKTrajectoryControlExample
PATH: examples/robotics/main/IKTrajectoryControlExample.slx
BLOCKTYPE_FREQUENCY: 3;3;1;3;2;1;1;6;2;1;4;1;9;2;1;1;5;1;1;1;1;2;1;1;1;6;2;2;1
CHECKSUM: 0AFDF3B8420B410E100B4D2024904814
PRODUCT: Image Processing Toolbox;MATLAB;Robotics System Toolbox;Simulink;Stateflow
PRODUCT_BASECODE: RO
ANNOTATION:
Computed Torque Controller  MassMatrix(ddqd - Kd*dqe - Kp*qe)  Velocity Product Torque + Gravity Torque  dqe  qe Visualization & Outputs  Trajectory Control Modeling With Inverse Kinematics This example demonstrates how the Inverse Kinematics Block can be used to model and simulate torque controllers for a robot manipulator. The objective is to trace out the boundaries of coins gathered from the image, &quot;coins.png.&quot; These boundaries define a series of desired poses for the manipulator as a robot trajectory. To see the image before and after processing, use the &quot;Show Image Processing Used for Waypoint Generation&quot; button. The model parameters are set up in the associated Live Script. To directly load default parameters and run the model, click the &quot;Load Default Parameters&quot; button and simulate. Please be aware that this will overwrite any existing variables in the MATLAB workspace. The trajectory is specified in the wayPoints matrix, where each waypoint is a six-element vector specifing [X Y Z] coordinates and [Z Y X] euler angles for the end effector of the manipulator. These waypoints are converted into a vector of desired joint configurations using inverse kinematics. The desired joint configurations are fed to a controller that generates the torques necessary to drive the arm along the trajectory. To visualize the motion of the entire manipulator, use the &quot;Visualize Model Output with Manipulator Mesh&quot; button after simulation. © Copyright 2018-2019 The MathWorks, Inc. Measured Pose Inverse Kinematics Solver Manipulator System Dynamics Target Pose Generation  For more sophisticated controllers and dynamics models, consider utilizing blocks from the Controls System Toolbox and the &quot;smimport&quot; tool from Simscape Multibody. 

BLOCK:
 Demux ; SFunction ; Terminator ;2D Plot;Add;Applied Joint Torques;Applied Torque;Callback Button;Constant;Delay;Demux;Desired Configuration;Discrete Derivative;Discrete Filter;From;Get Current Pose;Goto;Gravity Torque;Integrator;Inverse Kinematics Solver;Joint Space Mass Matrix;Kd;Kp;MATLAB Function;Manipulator Dynamics Model;Manipulator Dynamics Subsystem;Measured Configuration;Measured Velocities;Measured Velocity;Product;Rate Transition;Reference;Reshape;Saturation;Selector;Stop Simulation;SubSystem;To Workspace;Torque Controller Subsystem;Velocity Product Torque;Waypoint Selection/Conversion Logic;Zero;currentEEPose;currentPose;finished;targetPose;wayPoints

BLOCKTYPE:
Constant;CustomCallbackButton;Delay;Demux;Discrete Derivative;DiscreteFilter;Forward Dynamics;From;Gain;Get Transform;Goto;Gravity Torque;Inport;Integrator;Inverse Kinematics;Joint Space Mass Matrix;Outport;Product;RateTransition;Record;Reshape;S-Function;Saturate;Selector;Stop;Sum;Terminator;ToWorkspace;Velocity Product Torque


MODELNAME: ManipulatorPositionControl
PATH: examples/robotics/main/ManipulatorPositionControl.slx
BLOCKTYPE_FREQUENCY: 2;1;1;2;1;8;28;2;28;1;8;4;1;1;1;3;4;17;21;1;9;7;38;1;1;7;1;6;1;1;1;1;1
CHECKSUM: 63754E370FFC0F79433B0CBF19DF4E1B
PRODUCT: MATLAB;Robotics System Toolbox;Simscape;Simscape Multibody;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
Computed Torque Controller  MassMatrix(ddqd - Kd*dqe - Kp*qe)  Velocity Product Torque + Gravity Torque  dqe  qe  Copyright 2021 The MathWorks, Inc.

BLOCK:
Actuator;Actuator1_AxisInvTransform;Actuator1_AxisTransform;Actuator1_OriginTransform;Actuator2_AxisInvTransform;Actuator2_AxisTransform;Actuator2_OriginTransform;Actuator3_AxisInvTransform;Actuator3_AxisTransform;Actuator3_OriginTransform;Actuator4_AxisInvTransform;Actuator4_AxisTransform;Actuator4_OriginTransform;Actuator5_AxisInvTransform;Actuator5_AxisTransform;Actuator5_OriginTransform;Actuator6_AxisInvTransform;Actuator6_AxisTransform;Actuator6_OriginTransform;Actuator7_AxisInvTransform;Actuator7_AxisTransform;Actuator7_OriginTransform;Add;Applied Torque;Bracelet_Link;Computed Torque Controller;Constant;Coordinate Transformation Conversion;Delay;Desired Configuration;Discrete Derivative;Discrete Filter;EndEffector_Link;Endeffector;Endeffector_OriginTransform;F;ForeArm_Link;From_tau_Actuator;Goto_Q_Actuator;Goto_Qddot_Actuator;Goto_Qdot_Actuator;Gravity Torque;HalfArm1_Link;HalfArm2_Link;Inertia;InertiaOriginTransform;Inverse Kinematics;Joint Space Mass Matrix;Kd;Kp;Measured Configuration;Measured Velocities;MechanismConfiguration;PSS Q_Actuator;PSS Qddot_Actuator;PSS Qdot_Actuator;Product;Q_Actuator;Q_State Mux;Q_out;Qddot_Actuator;Qddot_State Mux;Qddot_out;Qdot_Actuator;Qdot_State Mux;Qdot_out;Reference;ReferenceFrame;Robot;SPS tau_Actuator;Saturation;Scope;Shoulder_Link;Solver Configuration;SubSystem;Terminator;Velocity Product Torque;Visual;VisualOriginTransform;World;Wrist1_Link;Wrist2_Link;base_link;tau_Actuator;tau_Demux;tau_in

BLOCKTYPE:
Constant;Delay;Demux;Discrete Derivative;DiscreteFilter;File Solid;From;Gain;Goto;Gravity Torque;Inertia;Inport;Inverse Kinematics;Joint Space Mass Matrix;Mechanism Configuration;Mux;Outport;PMIOPort;PS-Simulink Converter;Product;Reference Frame;Revolute Joint;Rigid Transform;Saturate;Scope;Simulink-PS Converter;Solver Configuration;Sum;Terminator;Velocity Product Torque;Weld Joint;World Frame;robotics.slcore.internal.block.CoordinateTransformationConversion


MODELNAME: SL3DJointSpaceManipulatorTrajectory
PATH: examples/robotics/main/SL3DJointSpaceManipulatorTrajectory.slx
BLOCKTYPE_FREQUENCY: 1;1;1;1;3;2;1;1;1;1
CHECKSUM: 711FBE0977C3300C83A431026290382A
PRODUCT: MATLAB;Robotics System Toolbox;Robotics System Toolbox Documentation;Simulink;Simulink 3D Animation
PRODUCT_BASECODE: RO
ANNOTATION:
 This example shows users how to simulate trajectory tracking and visualize it using Simulink 3D Animation™. The model uses the polynomial trajectory block to interpolate five discrete sets of configurations and create continuous trajectories in the configuration space. The Joint Space Motion Model simulates the behavior of a robot under motion control and executes the trajectories. Two tools from Simulink 3D are used to visualize the results: (1) the VR RigidBodyTree block simulates the robot in a provided scene, and (2) the VR Sink uses axes to illustrate the end effector position to the user  Visualize Manipulator Trajectory Tracking with Simulink 3D Animation Visualization in Simulink 3D Manipulator Trajectory Tracking  Copyright © 2019 The MathWorks, Inc.

BLOCK:
Clock;Coordinate Transformation Conversion;Get Transform;Joint Space Motion Model;MATLAB to VR Coordinates;Polynomial Trajectory;Reference;Scope;Terminator_;VR RigidBodyTree;VR Sink

BLOCKTYPE:
Clock;Get Transform;Joint Space Motion Model;MATLAB to VR Coordinates;Scope;Terminator;VR RigidBodyTree;Virtual Reality Sink;robotics.slcore.internal.block.CoordinateTransformationConversion;robotics.slcore.internal.block.PolyTrajSys


MODELNAME: aStarPathPlanningAndObstacleAvoidanceInWarehouse
PATH: examples/robotics/main/aStarPathPlanningAndObstacleAvoidanceInWarehouse.slx
BLOCKTYPE_FREQUENCY: 2;2;1;1;10;9;4;1;1;1;2;2;1;4;2;33;1;3;24;2;2;7;2;2;1;1;3;8;1;1;1;1
CHECKSUM: F5E544650C769837520CE6EE9E5667DD
PRODUCT_BASECODE: RO
ANNOTATION:
Generate a pose vector (x, y, theta) from X, Y, and quaternion data Robot Pose Data Wheel Speed Data Range Sensor Planning Robot Scheduler Actuate Control Schedule Sense  Initialize Model

BLOCK:
 Demux ; SFunction ; Terminator ;Bus Assignment;Bus Selector;Charging Station ;Constant;Coordinate Transformation Conversion;Demux;Display;Dot Product;Enable;Extract Robot Pose;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Read;Gazebo Select Entity;In;IsNonZero;Lamp;Left Torque;Left Wheel Gazebo Torque Command;Loading Station;MATLAB Function;Map ;Mux;Path Following And Obstacle Avoidance;Pioneer Wheel Control;Planner;Pose;Product;Proportional Gain;Pure Pursuit;Range;Rate Transition;Read Lidar Scan;Read Robot Pose;Read from Gazebo Sensors;Reference;Right Torque;Right Wheel Gazebo Torque Command;Robot Pose;Scheduler;Selector;Set Wheel Speed;Slider;Sqrt;Stop Simulation;SubSystem;Subtract;Sum;Terminator;Torque;Unit Delay;Unloading Station;Vector Concatenate;Vector Field Histogram;Wheel Speeds;angVel;angleMax;angleMin;angleStep;angles;awayFromGoal;chargePos;count;currentPose;distanceToGoal;endPos;gain;left;linVelGain;loadingPos;mapMatrix;omega;omegas;phiDotL;phiDotR;planOutput;pose;ranges;ranges ;right;robotGoal;robotpose;startPos;steerDir;stop;unloadingPos;v;w;waypoints

BLOCKTYPE:
BusAssignment;BusSelector;Compare To Zero;Concatenate;Constant;Demux;Display;DotProduct;EnablePort;Gain;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Read;Gazebo Select Entity;Inport;LampBlock;Mux;Outport;Product;RateTransition;S-Function;Selector;SliderBlock;Sqrt;Stop;Sum;Terminator;UnitDelay;nav.slalgs.internal.PurePursuit;nav.slalgs.internal.VectorFieldHistogram;robotics.slcore.internal.block.CoordinateTransformationConversion

PRODUCT:
MATLAB;Navigation Toolbox;Robotics System Toolbox;Robotics System Toolbox Documentation;Simulink;Stateflow


MODELNAME: custom_time_scaling_rotation
PATH: examples/robotics/main/custom_time_scaling_rotation.slx
BLOCKTYPE: Clock;Constant;Demux;Inport;S-Function;Terminator;robotics.slcore.internal.block.RotTrajSys
BLOCKTYPE_FREQUENCY: 1;2;1;1;1;3;1
CHECKSUM: C0CD4965D475F2F16BF0F70693F41487
PRODUCT: MATLAB;Simulink;UAV Toolbox;UAV Toolbox
PRODUCT_BASECODE: RO
BLOCK:
 Demux ; SFunction ; Terminator ;Clock;Constant;MATLAB Function;Reference;Rotation Trajectory;SubSystem;Terminator_;u


MODELNAME: custom_time_scaling_transform
PATH: examples/robotics/main/custom_time_scaling_transform.slx
BLOCKTYPE_FREQUENCY: 1;2;1;1;1;2;1;1;1;1
CHECKSUM: 028496933B5BD17B28DFE47E95AB9388
PRODUCT: MATLAB;Simulink;UAV Toolbox;UAV Toolbox;UAV Toolbox
PRODUCT_BASECODE: RO
BLOCK:
 Demux ; SFunction ; Terminator ;Clock;Constant;MATLAB Function;Mux;Out;Polynomial Trajectory;Reference;SubSystem;Transform Trajectory;u

BLOCKTYPE:
Clock;Constant;Demux;Inport;Mux;Outport;S-Function;Terminator;robotics.slcore.internal.block.PolyTrajSys;robotics.slcore.internal.block.TransformTrajSys


MODELNAME: exampleHelperAvoidObstaclesMobileRobot
PATH: examples/robotics/main/exampleHelperAvoidObstaclesMobileRobot.slx
BLOCKTYPE_FREQUENCY: 2;1;2;2;3;1;6;11;2;7;3;1;9;1;1;1;2;1;2;2;3;2
CHECKSUM: 80159580DDA906F6851C86F6773220DB
PRODUCT: MATLAB;Reinforcement Learning Toolbox;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
Discourage going in circles Encourage straight line motions Angular speed Linear Speed Distance from nearest obstacle Avoid nearest obstacle

BLOCK:
 Demux ; SFunction ; Terminator ;Add;Add Lidar Noise;Agent;Bias;Compare To Constant;Constant;Contact Check;Convert NaN to Max Range;Delay;Demux;Differential Drive Kinematic Model;Environment;Gain;Interval Test;IsNaN;MATLAB Function;MinMax;NOT;OR;Random Number;Reference;Reward;Saturation;Selector;Square;SubSystem;Terminator;To Workspace;action;ideal;isDone;isdone;mapMatrix;maxRange;minRange;noisy;observation;pose;range;ranges;reward;u;u ;v;w

BLOCKTYPE:
Bias;Compare To Constant;Constant;Delay;Demux;Differential Drive Kinematic Model;Gain;Inport;Interval Test;Logic;Math;MinMax;Outport;RL Agent;RandomNumber;RelationalOperator;S-Function;Saturate;Selector;Sum;Terminator;ToWorkspace


MODELNAME: example_smhumanoidrobot
PATH: examples/robotics/main/example_smhumanoidrobot.slx
BLOCKTYPE_FREQUENCY: 22;22;1;55;22;18;101;12;12;1;3;1
CHECKSUM: DAFDFB5235B76B748D09105DBAF2F48B
PRODUCT: MATLAB;Robotics System Toolbox Documentation;Simscape;Simscape Multibody;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
 Humanoid Robot - Imported from URDF file  1. Explore simulation results using sscexplore 2. Learn more about this example 3. Learn more about multibody import

BLOCK:
F;Inertia;InertiaOriginTransform;MechanismConfiguration;Reference;ReferenceFrame;Simulink-PS Converter;Solver Configuration;SubSystem;Visual;VisualOriginTransform;World;cover;head;head_cover_fixed;head_cover_fixed_OriginTransform;left_ankle;left_ankle_AxisInvTransform;left_ankle_AxisTransform;left_ankle_OriginTransform;left_ankle_actuation;left_elbow;left_elbow_AxisInvTransform;left_elbow_AxisTransform;left_elbow_OriginTransform;left_foot;left_hand;left_hip;left_hip_actuation;left_hip_frontal;left_hip_frontal_AxisInvTransform;left_hip_frontal_AxisTransform;left_hip_frontal_OriginTransform;left_hip_sag_actuation;left_hip_sagittal;left_hip_sagittal_AxisInvTransform;left_hip_sagittal_AxisTransform;left_hip_sagittal_OriginTransform;left_knee;left_knee_AxisInvTransform;left_knee_AxisTransform;left_knee_OriginTransform;left_knee_actuation;left_lower_arm;left_lower_leg;left_shoulder;left_shoulder_actuation;left_shoulder_frontal;left_shoulder_frontal_AxisInvTransform;left_shoulder_frontal_AxisTransform;left_shoulder_frontal_OriginTransform;left_shoulder_sagittal;left_shoulder_sagittal_AxisInvTransform;left_shoulder_sagittal_AxisTransform;left_shoulder_sagittal_OriginTransform;left_upper_arm;left_upper_leg;left_wrist;left_wrist_AxisInvTransform;left_wrist_AxisTransform;left_wrist_OriginTransform;motion_signal;neck;neck_actuation;neck_head;neck_head_OriginTransform;p;right_ankle;right_ankle_AxisInvTransform;right_ankle_AxisTransform;right_ankle_OriginTransform;right_ankle_actuation;right_elbow;right_elbow_AxisInvTransform;right_elbow_AxisTransform;right_elbow_OriginTransform;right_foot;right_hand;right_hip;right_hip_actuation;right_hip_frontal;right_hip_frontal_AxisInvTransform;right_hip_frontal_AxisTransform;right_hip_frontal_OriginTransform;right_hip_sag_actuation;right_hip_sagittal;right_hip_sagittal_AxisInvTransform;right_hip_sagittal_AxisTransform;right_hip_sagittal_OriginTransform;right_knee;right_knee_AxisInvTransform;right_knee_AxisTransform;right_knee_OriginTransform;right_knee_actuation;right_lower_arm;right_lower_leg;right_shoulder;right_shoulder_actuation;right_shoulder_frontal;right_shoulder_frontal_AxisInvTransform;right_shoulder_frontal_AxisTransform;right_shoulder_frontal_OriginTransform;right_shoulder_sagittal;right_shoulder_sagittal_AxisInvTransform;right_shoulder_sagittal_AxisTransform;right_shoulder_sagittal_OriginTransform;right_upper_arm;right_upper_leg;right_wrist;right_wrist_AxisInvTransform;right_wrist_AxisTransform;right_wrist_OriginTransform;shoulder_actuation;shoulder_line;shoulder_neck;shoulder_neck_AxisInvTransform;shoulder_neck_AxisTransform;shoulder_neck_OriginTransform;trunk;trunk_shoulder;trunk_shoulder_AxisInvTransform;trunk_shoulder_AxisTransform;trunk_shoulder_OriginTransform;trunk_waistline_fixed;trunk_waistline_fixed_OriginTransform;waistline

BLOCKTYPE:
File Solid;Inertia;Mechanism Configuration;PMIOPort;Reference Frame;Revolute Joint;Rigid Transform;SignalEditor;Simulink-PS Converter;Solver Configuration;Weld Joint;World Frame


MODELNAME: followTaskSpaceTrajectoryModel
PATH: examples/robotics/main/followTaskSpaceTrajectoryModel.slx
ANNOTATION: Trajectory Generation Follow Trajectory
BLOCKTYPE_FREQUENCY: 1;3;2;1;1;3;2;1
CHECKSUM: CF3A18C7537A485208E1F92E4F91244D
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
BLOCK:
Clock;Constant;Coordinate Transformation Conversion;Get Transform;Initial Configuration;Reference;Scope;Target;Task Space Motion Model;Terminator_;Transform Trajectory

BLOCKTYPE:
Clock;Constant;Get Transform;Scope;Task Space Motion Model;Terminator;robotics.slcore.internal.block.CoordinateTransformationConversion;robotics.slcore.internal.block.TransformTrajSys


MODELNAME: gazeboCosimControl
PATH: examples/robotics/main/gazeboCosimControl.slx
BLOCKTYPE_FREQUENCY: 6;8;25;1;1;2;3;3;3;6;6;1;7;6;1;15;1;3;5;1;3;1;1;1;3;6;3;10;1
CHECKSUM: 9D82469345678350A44327C946A46339
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
Receive from Gazebo Transmit to Gazebo  Velocity Product Torque + Gravity Torque User Input: End Effector Control Gazebo Pacer

BLOCK:
 Demux ; SFunction ; Terminator ;Actuator Input;Add;Bus Assignment;Bus Selector;Callback Button;Constant;Delay;Demux;Derivative;Display;Effort;End Effector Reference;Gain;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Read;Gazebo Robot;Gazebo Select Entity;Gravity Torque;In;Inverse Kinematics;Inverse Kinematics Solver;Joint Controller;Joint Input;Joint Output;Joint Reference;Measured Position;Measured Velocity;Mux;Out;PID Controller;Rate Transition;Reference;Reference Acceleration;Reference Position;Reference Velocity;Reshape;Saturation;Scope;Set Elbow;Set Shoulder Lift;Set Shoulder Pan;Set Wrist;Slider;SubSystem;Terminator;Velocity Product Torque;extract;pitch;roll;tform;x;xyz-eul to tfrom;xyzeul;y;yaw;z

BLOCKTYPE:
BusAssignment;BusSelector;Constant;CustomCallbackButton;Delay;Demux;Derivative;Display;Gain;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Read;Gazebo Select Entity;Gravity Torque;Inport;Inverse Kinematics;Mux;Outport;PID 1dof;RateTransition;Reshape;S-Function;Saturate;Scope;SliderBlock;Sum;Terminator;Velocity Product Torque


MODELNAME: gravity_dynamics_model
PATH: examples/robotics/main/gravity_dynamics_model.slx
ANNOTATION: Copyright 2018 The MathWorks, Inc.
BLOCKTYPE: Constant;CustomCallbackButton;Display;Forward Dynamics;Gravity Torque;Inverse Dynamics
BLOCKTYPE_FREQUENCY: 3;1;3;1;1;1
CHECKSUM: 60445B515FF2200411C9AD32630ED11A
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
BLOCK:
Callback Button;Constant;Forward Dynamics;Gravity Torque;Inverse Dynamics;Joint Accelerations;Joint Torques;Reference;Torques to Counter Gravity


MODELNAME: manipulatorPathPlannerSystem
PATH: examples/robotics/main/manipulatorPathPlannerSystem.slx
BLOCKTYPE_FREQUENCY: 2;3;2;1;9;1;10;2;2;1;1;4;1
CHECKSUM: 0EF2A9457E9575565235D5BA372E92DE
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
Copyright 2023-2024 The MathWorks, Inc. This simple trigger could be replaced in a more advanced model by a Stateflow chart or similar mechanism Robot Plant Model Planning & Trajectory Generation

BLOCK:
 Demux ; SFunction ; Terminator ;Clock;Config ;Constant;GreaterThanOrEqual;Joint Space Motion Model;Offset Time;Plan Generator;Reference;Robot Positions;Scope;Stop Simulation;SubSystem;Terminator;Time;Trajectory Generator;Trajectory Time;Trigger;Triggered Planner;fixedDimInterpPlan;fixedSizePlan;goal;maxTime;numComputedSamples;numPathSamples;numWaypts;path;pathComputationTimeStamp;q;qd;qdd;start;t

BLOCKTYPE:
Clock;Constant;Demux;Display;Inport;Joint Space Motion Model;Outport;RelationalOperator;S-Function;Scope;Stop;Terminator;TriggerPort


MODELNAME: modelWithControllerAndBasicRobotDynamics
PATH: examples/robotics/main/modelWithControllerAndBasicRobotDynamics.slx
BLOCKTYPE_FREQUENCY: 1;2;1;2;3;1;1;4;1;15;2;1;1;14;1;2;1;1;8;2;1;1;1
CHECKSUM: 4E2767902403700C18CE3E358683BCF4
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
Gripper Sensor Manipulator Motion  MassMatrix(ddqd - Kd*dqe - Kp*qe)  Velocity Product Torque + Gravity Torque  dqe  qe Task Scheduling & Trajectory Generation System Dynamics  Copyright © 2019-2020 The MathWorks, Inc.  Simulate Joint-Space Motion Control for Pick-and-Place using an ABB YuMi This model is one of three in the example &quot;Model And Control A Manipulator Arm with RST And Simscape&quot;. This model is one of three in the example &quot;Model And Control A Manipulator Arm with RST And Simscape&quot;. The example shows how to design and simulate a pick-and-place task using an ABB YuMi arm. It also shows how to model a system with different levels of fidelity in order to focus on better focus on the associated algorithm design. This model focuses on the implementation of a joint-space controller for the robotic manipulator. The model parameters are set up in the associated Live Script. To directly load default parameters and run the model, click the &quot;Load Default Parameters&quot; button and simulate. Please be aware that this will overwrite any existing variables in the MATLAB workspace.

BLOCK:
 Demux ; SFunction ; Terminator ;Add;Applied Joint Torques;Applied Torque;Callback Button;Cast To Double;Clock;Constant;Controller Joint Torques and Forces;Desired Configuration;Desired Joint Acceleration;Desired Joint Velocity;Display;Gain;Gravity Torque;Gripper Close Command;Gripper Command;Gripper Control;Gripper Logic;Gripper Status;Integrator;Joint Space Mass Matrix;Kd;Kp;Manipulator Dynamics;Manipulator Forward Dynamics;Measured Acceleration;Measured Configuration;Measured Velocities;Measured Velocity;Modified Joint Torques and Forces;Mux;Product;Reference;Saturation;Selector;SubSystem;Sum;Task & Trajectory Scheduler;Torque Controller;Trapezoidal Velocity Profile Trajectory;Unit Delay;Velocity Product Torque;Zero;closeGripper;configSequence;gripperPos;gripperStateReached;inputTime;isReached;qOut;qdOut;qddOut;robotConfig;state;t;tau_Demux;wpts

BLOCKTYPE:
Clock;Constant;CustomCallbackButton;DataTypeConversion;Demux;Display;Forward Dynamics;Gain;Gravity Torque;Inport;Integrator;Joint Space Mass Matrix;Mux;Outport;Product;S-Function;Saturate;Selector;Sum;Terminator;UnitDelay;Velocity Product Torque;robotics.slcore.internal.block.TrapVelTrajSys


MODELNAME: modelWithSimplifiedSystemDynamics
PATH: examples/robotics/main/modelWithSimplifiedSystemDynamics.slx
BLOCKTYPE_FREQUENCY: 1;2;1;1;1;5;1;8;1;2;1
CHECKSUM: 8265668A29187CDD79A25592157D3B8F
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
Task Scheduling & Trajectory Generation System Dynamics  Copyright © 2019-2020 The MathWorks, Inc.  Simulate Task &amp; Trajectory Scheduling for Pick-and-Place using Simplified Manipulator System Dynamics This model is one of three in the example &quot;Model And Control A Manipulator Arm with RST And Simscape&quot;. The example shows how to design and simulate a pick-and-place task using an ABB YuMi arm. It also shows how to model a system with different levels of fidelity in order to focus on better focus on the associated algorithm design. This model focuses on the design of task &amp; trajectory schedulers for the pick-and-place task. The model parameters are set up in the associated Live Script. To directly load default parameters and run the model, click the &quot;Load Default Parameters&quot; button and simulate. Please be aware that this will overwrite any existing variables in the MATLAB workspace.

BLOCK:
 Demux ; SFunction ; Terminator ;Callback Button;Clock;Constant;Display;Gripper Model;GripperStateReached;Joint Space Motion Model;Reference;SubSystem;Task & Trajectory Scheduler;Terminator;Trapezoidal Velocity Profile Trajectory;closeGripper;configSequence;gripperStateReached;inputTime;qOut;qdOut;qddOut;robotConfig;state;t;wpts

BLOCKTYPE:
Clock;Constant;CustomCallbackButton;Demux;Display;Inport;Joint Space Motion Model;Outport;S-Function;Terminator;robotics.slcore.internal.block.TrapVelTrajSys


MODELNAME: modelWithSimscapeRobotAndEnvironmentDynamics
PATH: examples/robotics/main/modelWithSimscapeRobotAndEnvironmentDynamics.slx
CHECKSUM: E42B00AFA65A42F0FF1C3BF14FC056D5
PRODUCT_BASECODE: RO
ANNOTATION:
Contact Models Manipulator & Environment Dynamics  qe  dqe  Velocity Product Torque + Gravity Torque  MassMatrix(ddqd - Kd*dqe - Kp*qe)  Copyright © 2019-2020 The MathWorks, Inc. Task Scheduling & Trajectory Generation System Dynamics  Simulate a Pick-and-Place Task for an ABB YuMi using RST and Simscape This model is one of three in the example &quot;Model And Control A Manipulator Arm with RST And Simscape&quot;. This model is one of three in the example &quot;Model And Control A Manipulator Arm with RST And Simscape&quot;. The example shows how to design and simulate a pick-and-place task using an ABB YuMi arm. It also shows how to model a system with different levels of fidelity in order to focus on better focus on the associated algorithm design. This model focuses on the addition of a Simscape model to add visualization detail and simulate contact between the robot and its environment. The model parameters are set up in the associated Live Script. To directly load default parameters and run the model, click the &quot;Load Default Parameters&quot; button and simulate. Please be aware that this will overwrite any existing variables in the MATLAB workspace.

BLOCK:
 Demux ; SFunction ; Terminator ;ABB YUMI Plant Model;AND;Add;Applied Joint Torques;Applied Torque;BLB-CT;BLB-Floor;BLB-LS;BLT-CT;BLT-Floor;BLT-LS;BRB-CT;BRB-Floor;BRB-LS;BRT-CT;BRT-Floor;BRT-LS;Back Left Base;Back Left Base Contact Sphere;Back Left Top;Back Left Top Contact Sphere;Back Right Base;Back Right Base Contact Sphere;Back Right Top;Back Right Top Contact Sphere;Brick Solid;Callback Button;Cast To Double;Center Table;Center Table Joint;Clock;Close Gripper;Close Gripper Command;Config;Constant;Contact Frame;Controller Joint Torques and Forces;Desired Configuration;Desired Joint Acceleration;Desired Joint Velocity;Display;Environment Contacts;Environment Model;Environment Objects;F;FLB-CT;FLB-Floor;FLB-LS;FLT-CT;FLT-Floor;FLT-LS;FRB-CT;FRB-LS;FRT-CT;FRT-LS;Floor Joint;From_tau_Joint;Front Left Base;Front Left Base Contact Sphere;Front Left Top;Front Left Top Contact Sphere;Front Right Base;Front Right Base Contact Sphere;Front Right Top;Front Right Top Contact Sphere;Gain;Goto_Q_Joint;Goto_Qddot_Joint;Goto_Qdot_Joint;Gravity Torque;Gripper Close Command;Gripper Control;Gripper Logic;Gripper Sensor;Gripper Status;Gripper to Widget Contact;Inertia;InertiaOriginTransform;Joint Space Mass Matrix;Kd;Kp;Left Contact Primitive;Left Gripper Force;Left Gripper Frame;Left Gripper Reaction Force;Left Gripper to Contact Block Origin;Left Lower Back;Left Lower Back Contact;Left Lower Back Contact Sphere;Left Lower Front;Left Lower Front Contact;Left Lower Front Contact Sphere;Left Shelf;Left Shelf Joint;Left Upper Back;Left Upper Back Contact;Left Upper Back Contact Sphere;Left Upper Front;Left Upper Front Contact;Left Upper Front Contact Sphere;Left Upper Front Normal Force;Left Widget;Left Widget Frame;Left Widget Joint;Less Than;Measured Acceleration;Measured Configuration;Measured Position;Measured Velocities;Measured Velocity;MechanismConfiguration;Modified Joint Torques and Forces;Mux;PSS Q_Joint;PSS Qddot_Joint;PSS Qdot_Joint;Product;Q_Joint;Q_Mux;Qddot_Joint;Qddot_Mux;Qdot_Joint;Qdot_Mux;RFB-Floor;RFT-Floor;Reference;ReferenceFrame;Right Contact Primitive;Right Gripper Force;Right Gripper Frame;Right Gripper Reaction Force;Right Gripper to Contact Block Origin;Right Lower Back;Right Lower Back Contact;Right Lower Back Contact Sphere;Right Lower Front;Right Lower Front Contact;Right Lower Front Contact Sphere;Right Shelf;Right Shelf Joint;Right Upper Back;Right Upper Back Contact;Right Upper Back Contact Sphere;Right Upper Front;Right Upper Front Contact;Right Upper Front Contact Sphere;Right Upper Front Normal Force;SPS tau_Joint;Saturation;Selector;Simscape Bus;Simscape Robot+Environment Plant;Solver Configuration;SubSystem;Sum;Task & Trajectory Scheduler;Torque Controller;Translation to Lower Contacts;Translation to Upper Contact;Trapezoidal Velocity Profile Trajectory;Unit Delay;Velocity Product Torque;Visual;VisualOriginTransform;Widget Center to Base;Widget Center to Top;Widget Frame;Widget to Environment Contact;World;World Frame;World to Center Table;World to Floor;World to Left Shelf;World to Left Widget;World to Right Shelf;closeGripper;closeGripperCmd;configSequence;gripperPos;gripperStateReached;gripper_l_base;gripper_l_finger_l;gripper_l_finger_r;gripper_l_joint;gripper_l_joint_AxisInvTransform;gripper_l_joint_AxisTransform;gripper_l_joint_OriginTransform;gripper_l_joint_m;gripper_l_joint_m_AxisInvTransform;gripper_l_joint_m_AxisTransform;gripper_l_joint_m_OriginTransform;gripper_r_base;gripper_r_finger_l;gripper_r_finger_r;gripper_r_joint;gripper_r_joint_AxisInvTransform;gripper_r_joint_AxisTransform;gripper_r_joint_OriginTransform;gripper_r_joint_m;gripper_r_joint_m_AxisInvTransform;gripper_r_joint_m_AxisTransform;gripper_r_joint_m_OriginTransform;inputTime;isGrippingObj;isStateReached;qOut;qdOut;qddOut;robotConfig;state;t;tau_Demux;tau_Joint;wpts;yumi_base_link;yumi_base_link_to_body;yumi_base_link_to_body_OriginTransform;yumi_body;yumi_joint_1_l;yumi_joint_1_l_AxisInvTransform;yumi_joint_1_l_AxisTransform;yumi_joint_1_l_OriginTransform;yumi_joint_1_r;yumi_joint_1_r_AxisInvTransform;yumi_joint_1_r_AxisTransform;yumi_joint_1_r_OriginTransform;yumi_joint_2_l;yumi_joint_2_l_AxisInvTransform;yumi_joint_2_l_AxisTransform;yumi_joint_2_l_OriginTransform;yumi_joint_2_r;yumi_joint_2_r_AxisInvTransform;yumi_joint_2_r_AxisTransform;yumi_joint_2_r_OriginTransform;yumi_joint_3_l;yumi_joint_3_l_AxisInvTransform;yumi_joint_3_l_AxisTransform;yumi_joint_3_l_OriginTransform;yumi_joint_3_r;yumi_joint_3_r_AxisInvTransform;yumi_joint_3_r_AxisTransform;yumi_joint_3_r_OriginTransform;yumi_joint_4_l;yumi_joint_4_l_AxisInvTransform;yumi_joint_4_l_AxisTransform;yumi_joint_4_l_OriginTransform;yumi_joint_4_r;yumi_joint_4_r_AxisInvTransform;yumi_joint_4_r_AxisTransform;yumi_joint_4_r_OriginTransform;yumi_joint_5_l;yumi_joint_5_l_AxisInvTransform;yumi_joint_5_l_AxisTransform;yumi_joint_5_l_OriginTransform;yumi_joint_5_r;yumi_joint_5_r_AxisInvTransform;yumi_joint_5_r_AxisTransform;yumi_joint_5_r_OriginTransform;yumi_joint_6_l;yumi_joint_6_l_AxisInvTransform;yumi_joint_6_l_AxisTransform;yumi_joint_6_l_OriginTransform;yumi_joint_6_r;yumi_joint_6_r_AxisInvTransform;yumi_joint_6_r_AxisTransform;yumi_joint_6_r_OriginTransform;yumi_joint_7_l;yumi_joint_7_l_AxisInvTransform;yumi_joint_7_l_AxisTransform;yumi_joint_7_l_OriginTransform;yumi_joint_7_r;yumi_joint_7_r_AxisInvTransform;yumi_joint_7_r_AxisTransform;yumi_joint_7_r_OriginTransform;yumi_link_1_l;yumi_link_1_r;yumi_link_2_l;yumi_link_2_r;yumi_link_3_l;yumi_link_3_r;yumi_link_4_l;yumi_link_4_r;yumi_link_5_l;yumi_link_5_r;yumi_link_6_l;yumi_link_6_r;yumi_link_7_l;yumi_link_7_l_joint;yumi_link_7_l_joint_OriginTransform;yumi_link_7_r;yumi_link_7_r_joint;yumi_link_7_r_joint_OriginTransform

BLOCKTYPE:
6-DOF Joint;Brick Solid;Clock;Constant;CustomCallbackButton;DataTypeConversion;Demux;Display;File Solid;From;Gain;Goto;Gravity Torque;Inertia;Inport;Joint Space Mass Matrix;Logic;Mechanism Configuration;Mux;Outport;PMIOPort;PS-Simulink Converter;Prismatic Joint;Product;Reference Frame;RelationalOperator;Revolute Joint;Rigid Transform;S-Function;Saturate;Selector;SimscapeBus;Simulink-PS Converter;Solver Configuration;Spatial Contact Force;Spherical Solid;Sum;Terminator;UnitDelay;Velocity Product Torque;Weld Joint;World Frame;robotics.slcore.internal.block.TrapVelTrajSys

BLOCKTYPE_FREQUENCY:
1;7;1;2;1;2;4;1;21;72;4;72;1;21;21;1;1;1;4;20;56;56;4;1;22;2;14;126;2;1;1;2;18;1;32;16;8;2;1;1;7;1;1

PRODUCT:
MATLAB;Robotics System Toolbox;Robotics System Toolbox Documentation;Simscape;Simscape Multibody;Simulink


MODELNAME: multiRobotExampleModel
PATH: examples/robotics/main/multiRobotExampleModel.slx
BLOCKTYPE_FREQUENCY: 2;1;6;2;5;2;3;2;2;20;1;11;2;2;10;1;7;1;2
CHECKSUM: 03C1BC01C6A864D119859222F62FD3F4
PRODUCT: MATLAB;Robotics System Toolbox;Simulink;Stateflow
PRODUCT_BASECODE: RO
EXTERNALFILE_REFERENCE: robotController.slx___Model_Block___
ANNOTATION:
Visualization Plant Robot Controller Central Scheduler Metrics and Status Dashboard  Package Location  Package Id  Distance Travelled  Control and Simulate Multiple Warehouse Robots This example demonstrates simulation of multiple robots in a warehouse. The robots start from their respective charging stations, go to the loading station, pick up packages and drop them at the packages respective unloading stations. © Copyright 2019-2020 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Bus Selector;Concatenate Signals;Constant;Controller;Differential-Drive Robot ;For Each;For Each Robot Controller;For Each Robot and Package State;For Each to extract statuses;From;Goto;In;MATLAB Function;OmegaSelector ;Package Dispenser;Package Status ;Rate Transition;Reference;Robot Status;Robot and Package Statuses;RobotStatus;Robots;Scheduler;Stop Simulation;SubSystem;Terminator_;To Workspace;Unit Delay;VelocitySelector ;Visualize Robot;currentPoses;delivery;deliveryCommands;hasPackage;metricInfo;packages;planningState;robotPackageStatuses;robotPacketStatus;robotPoses;showPaths;showViz;startPoses;stop;track;velocityCommands;wayPoints;waypoints;xLim;yLim

BLOCKTYPE:
BusSelector;Concatenate;Constant;Demux;Differential Drive Kinematic Model;Display;ForEach;From;Goto;Inport;ModelReference;Outport;RateTransition;S-Function;Selector;Stop;Terminator;ToWorkspace;UnitDelay


MODELNAME: multiRobotTaskingRouting
PATH: examples/robotics/main/multiRobotTaskingRouting.slx
BLOCKTYPE_FREQUENCY: 8;1;3;2;1;14;12;1;2;3;3;3;3;1;6;6;60;1;1;32;2;3;12;5;3;1;1;13;3;4;1
CHECKSUM: A291A79A764DE0AE78DD8C79DE4D37C6
PRODUCT: MATLAB;Robotics System Toolbox;Robotics System Toolbox Documentation;Simulink;Stateflow
PRODUCT_BASECODE: RO
ANNOTATION:
Compute the planned trajectory Control Control the robot Planning Plant Broker Entity Pool World  Multi-Robot Control with Resource Allocation and Conflict Management This example shows how to control multiple robots working in a distribution center, as well as how to easily configure a distribution system. The robots drive around completely multiple tasks around the facility while leveraging algorithms from game theory to optimize the allocation of tasks to the robots, resolve conflicts using a grid based traffic manager. This example buils on top of the Control and Simulate Multiple Robots, which drives multiple robots around a similar facility but with custom algorithms. © Copyright 2019-2021 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Add;Agent Creator;Agent Dynamics;Agent Queue;Agent Server;Agent Terminator;AgentHome;Agents;AngularVelocity;Bus Assignment;Bus Creator;Bus Selector;Clock;Compute Position;Conflict Resolution;Constant;Convert Waypoints to Reservations;Data Initializer;Differential-Drive Robot;Entity Batch Creator;Enumerated Constant;Footprint;For Each;From;Goto;Id;InitPos;Initialize Agent Data;Initialize Task Data;Initialize Traffic Network;MATLAB Function;Make Reservations;Map;Message Send;Mux;Network Creator;Network Queue;Network Server;Network Terminator;Out;Position;Product;Pure Pursuit;Reference;Route Planner;Routing & Robots;Selector;Simulink Function;Sink;Source;Stop Simulation;SubSystem;Task Creator;Task Queue;Task Server;Task Terminator;Tasks;Terminator;Transpose;Type;Unit Delay;Update Tasks and Agents;Update Traffic Network;Velocity;Visualize Agents;Waypoints ;Zero-Velocity at Goal and When Inactive;agent;agentBatch;agentBatchCreator;agentData;agentDataIn;agentDataOut;agentEvents;agentSelector;agents;agents ;angularVelocityOutput;createAgent;createNetwork;createTask;currentRes;goalThresh;leadingRes;linearVelocityOutput;network;networkEvent;nextRes;plannedReservations;reservations;routeChanged;safeToMove;showPaths;showViz;stop;stuckRes;task;taskBatch;taskData;taskDataIn;taskDataOut;taskEvents;tasks;time;trafficNetwork;trafficNetworkIn;trafficNetworkOut;wayPoints;waypoints;xLim;yLim

BLOCKTYPE:
ArgIn;BusAssignment;BusCreator;BusSelector;Clock;Constant;Demux;Differential Drive Kinematic Model;EntityBatchCreator;EntityGenerator;EntityServer;EntityTerminator;Enumerated Constant;ForEach;From;Goto;Inport;Math;Mux;Outport;Product;Queue;S-Function;Selector;Send;Stop;Sum;Terminator;TriggerPort;UnitDelay;nav.slalgs.internal.PurePursuit


MODELNAME: pathPlanningBicycleSimulinkModel
PATH: examples/robotics/main/pathPlanningBicycleSimulinkModel.slx
BLOCKTYPE_FREQUENCY: 1;4;1;1;1;8;1;4;2;1;1;1;1;1;1;2;1;1
CHECKSUM: 1FD1645F8F9425C185265CD76E4A8F66
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
Distance from Goal to satisfy that the robot has reached the goal Control Plant Model Planning  Plan Path for a Bicycle Robot in Simulink This example demonstrates how to execute an obstacle-free path between two locations on a given map in Simulink®. The path is generated using a probabilistic road map (PRM) planning algorithm (mobileRobotPRM). Control commands for navigating this path are generated using the Pure Pursuit controller block. A bicycle kinematic motion model simulates the robot motion based on those commands. © Copyright 2019-2020 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Angular Velocity;Bicycle Kinematic Model;Check Distance To Goal;Constant;Display;Dot Product;Goal Location;Less Than;Linear Velocity;Map;NOT;Planner;Product;Pure Pursuit;Reference;Selector;Sqrt;Start Location;Stop Simulation;SubSystem;Subtract;Terminator;To Workspace;Zero-Velocity At Goal;angularVelocityOutput;atGoal;currentPose;endPos;linearVelocityOutput;mapMatrix;robotGoal;startPos;waypoints

BLOCKTYPE:
Bicycle Kinematic Model;Constant;Demux;Display;DotProduct;Inport;Logic;Outport;Product;RelationalOperator;S-Function;Selector;Sqrt;Stop;Sum;Terminator;ToWorkspace;nav.slalgs.internal.PurePursuit


MODELNAME: pathPlanningSimulinkModel
PATH: examples/robotics/main/pathPlanningSimulinkModel.slx
BLOCKTYPE_FREQUENCY: 4;1;1;1;1;8;1;4;2;1;1;1;1;1;1;2;1;1
CHECKSUM: 97A4A97CE8541B717E2B7B241FCA8E6F
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
Distance from Goal to satisfy that the robot has reached the goal Plant Model Control Planning  Plan Path for a Differential Robot in Simulink This example demonstrates how to execute an obstacle-free path between two locations on a given map in Simulink®. The path is generated using a probabilistic road map (PRM) planning algorithm (mobileRobotPRM). Control commands for navigating this path are generated using the Pure Pursuit controller block. A differential drive kinematic motion model simulates the robot motion based on those commands. © Copyright 2019-2020 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Angular Velocity;Check Distance To Goal;Constant;Differential Drive Kinematic Model;Display;Dot Product;Goal Location;Less Than;Linear Velocity;Map;NOT;Planner;Product;Pure Pursuit;Reference;Selector;Sqrt;Start Location;Stop Simulation;SubSystem;Subtract;Terminator;To Workspace;Zero-Velocity At Goal;angularVelocityOutput;atGoal;currentPose;endPos;linearVelocityOutput;mapMatrix;robotGoal;startPos;waypoints

BLOCKTYPE:
Constant;Demux;Differential Drive Kinematic Model;Display;DotProduct;Inport;Logic;Outport;Product;RelationalOperator;S-Function;Selector;Sqrt;Stop;Sum;Terminator;ToWorkspace;nav.slalgs.internal.PurePursuit


MODELNAME: pathPlanningUnicycleSimulinkModel
PATH: examples/robotics/main/pathPlanningUnicycleSimulinkModel.slx
BLOCKTYPE_FREQUENCY: 4;1;1;1;8;1;4;2;1;1;1;1;1;1;1;1;1;1
CHECKSUM: 73B68042363030C3FE75EB9C75BF022D
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
Distance from Goal to satisfy that the robot has reached the goal Plant Model Control Planning Copyright 2019-2020 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Check Distance To Goal;Constant;Display;Dot Product;Goal Location;Less Than;Map;NOT;Planner;Product;Pure Pursuit;Reference;Selector;Sqrt;Start Location;Stop Simulation;SubSystem;Subtract;To Workspace;Unicycle Angular Velocity;Unicycle Kinematic Model;Unicycle Linear Velocity;Zero-Velocity At Goal;angularVelocityUniOutput;atGoal;currentUniPose;endPos;linearVelocityUniOutput;mapMatrix;robotGoal;startPos;waypoints

BLOCKTYPE:
Constant;Demux;Display;DotProduct;Inport;Logic;Outport;Product;RelationalOperator;S-Function;Selector;Sqrt;Stop;Sum;Terminator;ToWorkspace;Unicycle Kinematic Model;nav.slalgs.internal.PurePursuit


MODELNAME: performCoSimulationWithGazebo
PATH: examples/robotics/main/performCoSimulationWithGazebo.slx
BLOCKTYPE_FREQUENCY: 1;7;2;4;11;1;1;1;4;1;8;1;2;4;1;4
CHECKSUM: 20F77A9BD49A3F37EA7CC0B9AFD20CDF
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
Configure Gazebo Co-Simulation Actutate Gazebo Model Get Sensor Data Copyright 2019 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Bus Assignment;Bus Selector;Constant;Display;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Select Entity;Mux;Read Ground Truth Pose;Read IMU;Read Lidar Scan;Read RGB Image;Reference;String Constant;SubSystem;angleMax;angleMin;angleStep;convertStringToUInt8VarSize;convertUIn8VarSizeToString;count;data;plotImage;plotLidar;range;u;y

BLOCKTYPE:
BusAssignment;BusSelector;Constant;Demux;Display;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Read;Gazebo Select Entity;Inport;Mux;Outport;S-Function;StringConstant;Terminator


MODELNAME: plotAckermannDriveSimulinkModel
PATH: examples/robotics/main/plotAckermannDriveSimulinkModel.slx
BLOCKTYPE: Ackermann Kinematic Model;Constant;Demux;Display;Record;Slider Gain
BLOCKTYPE_FREQUENCY: 1;2;1;3;1;2
CHECKSUM: D6748551DE7786FB70456F2E10D7860E
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
BLOCK:
Ackermann Kinematic Model;Demux;Heading ;Position Graph;Reference;Steering Angle;Steering Gain ;Steering Velocity;Vehicle Velocity ;Velocities;Velocity Gain


MODELNAME: robotController
PATH: examples/robotics/main/robotController.slx
ANNOTATION: Control Planning Robot Scheduler Copyright 2019-2020 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;1;2;2;1;17;10;2;1;2;1;1;1;2;1;1
CHECKSUM: C5C783890B965D154BF78AA4B3823C74
PRODUCT: MATLAB;ROS Toolbox;Robotics System Toolbox;Simulink;Stateflow
PRODUCT_BASECODE: RO
BLOCK:
 Demux ; SFunction ; Terminator ;Bus Creator;Bus Selector;Check Distance To Goal;Constant;Dot Product;Less Than;Planner;Product;Pure Pursuit;Reference;Scheduler;Selector;Sqrt;SubSystem;Subtract;Unit Delay;Vector Concatenate;Zero-Velocity at Goal and When Inactive;active;angularVelocityOutput;atGoal;awayFromGoal;currentPose;deliveryCommand;endPos;hasPackage;linearVelocityOutput;map;mapMatrix;package;planningState;receivedPackage;robotGoal;robotPackageStatus;robotStart;startPos;startPose;velocityCommand;waypoints

BLOCKTYPE:
BusCreator;BusSelector;Concatenate;Constant;Demux;DotProduct;Inport;Outport;Product;RelationalOperator;S-Function;Selector;Sqrt;Sum;Terminator;UnitDelay;nav.slalgs.internal.PurePursuit


MODELNAME: robotSafeTrajectoryTracking
PATH: examples/robotics/main/robotSafeTrajectoryTracking.slx
BLOCKTYPE_FREQUENCY: 1;3;1;1;8;3;3;10;4;2;1;3;1;1;25;1;1;1;1;3;16;49;23;2;25;8;70;2;2;6;9;1;1;18;2;14;1;2;1;1;1;15;1;2
CHECKSUM: AFEB94A7D5EC5A0DA15D9E44218ACD1C
PRODUCT: MATLAB;Robotics System Toolbox;Simscape;Simscape Multibody;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
 qe  dqe  Velocity Product Torque + Gravity Torque  MassMatrix(ddqd - Kd*dqe - Kp*qe)  Computed Torque Controller Planar Object Motion and Visualization Contact Mechanics  Contact force based on a linear spring-damper model Contact Force and Planar Object Motion and Visualization Sensor Feedback Torque Input  Simscape Model with Simple Contact Mechanics  Note: This simscape model is auto-generated by importing sawyer.urdf using smimport().To access the sensor and control for joints, in the Revolute Joint blocks right_j0 - right_j6 the actuation and sensing options are adjusted. External torque External Torque Observer Time Generator with Trajecttory Scaling  Trajectory Scaling Measured torque Expected torque Trajectory Scaling Desired Motion  Time stamp generated by trajectory scaling  Original time stamp  Trajectory Scaling and Desired Motion Evaluation  Basic algorithm: Calculate the time stamp t_(i) as t_(i-1) + fs*dt instead of t_(i-1) + dt. Map the measured torque and the desired motion to a scalar function fs in the range of [-1, 1]. Add dead zones for smooth change of fs during the transitions between different levels of interference. Reference:[1] S. Haddadin, A. Albu-Schäffer, A. De Luca, and G. Hirzinger, “Collision detection and reaction: A contribution to safe physical human-robot interaction,” International Conference on Intelligent Robots and Systems, pp. 3356–3363, 2008.   Perform Safe Trajectory Tracking Control Using Robotics Manipulator Blocks  Switch to toggle trajectory scaling Copyright 2017-2018 The MathWorks, Inc.  Slider to adjust the planar object position

BLOCK:
 Demux ; SFunction ; Terminator ;Action Port;Add;Cartesian Joint;Clock;Clock with Switch;Computed Torque Controller;Constant;Contact Force and Planar Object Motion and Visualization;Contact Model;Damping;Delay;Demux;Divide;F;From;Get Jacobian;Goto;Gravity Torque;If;If Action Subsystem;In;Inertia;InertiaOriginTransform;Inverse Dynamics;J;Joint Space Mass Matrix;Kd;Kp;MechanismConfiguration;Mux;Out;PS-Simulink Converter;Planar Object;Polynomial Trajectory;Product;Reference;ReferenceFrame;Saturation;Scope;Simscape Model with Simple Contact Mechanics;Simulation Rate Control;Simulink-PS Converter;Slider;Solver Configuration;Stiffness;SubSystem;Subtract;Switch;Toggle Switch;Trajectory Scaling;Trajectory Scaling Implementation;Trajectory Scaling and Desired Motion;Transform Sensor;Velocity Product Torque;Visual;VisualOriginTransform;World;base;clock;controller_box;controller_box_fixed;controller_box_fixed_OriginTransform;d;ddqd;display_joint;display_joint_OriginTransform;dq;dqd;endeffectorPos;endeffectorVel;externalTorque;f_s;force;fs;head;head_camera;head_camera_OriginTransform;head_pan;head_pan_AxisInvTransform;head_pan_AxisTransform;head_pan_OriginTransform;k;low pass filter;objectPos;pedestal;pedestal_feet;pedestal_feet_fixed;pedestal_feet_fixed_OriginTransform;pedestal_fixed;pedestal_fixed_OriginTransform;psi;q;qd;reaction force;reaction torque;reference frame;right_arm_base_link;right_arm_itb;right_arm_itb_OriginTransform;right_arm_mount;right_arm_mount_OriginTransform;right_hand;right_hand_OriginTransform;right_hand_camera;right_hand_camera_OriginTransform;right_j;right_j0_AxisInvTransform;right_j0_AxisTransform;right_j0_OriginTransform;right_j1_;right_j1_2_OriginTransform;right_j1_AxisInvTransform;right_j1_AxisTransform;right_j1_OriginTransform;right_j2_;right_j2_2_OriginTransform;right_j2_AxisInvTransform;right_j2_AxisTransform;right_j2_OriginTransform;right_j3_AxisInvTransform;right_j3_AxisTransform;right_j3_OriginTransform;right_j4_;right_j4_2_OriginTransform;right_j4_AxisInvTransform;right_j4_AxisTransform;right_j4_OriginTransform;right_j5_AxisInvTransform;right_j5_AxisTransform;right_j5_OriginTransform;right_j6_AxisInvTransform;right_j6_AxisTransform;right_j6_OriginTransform;right_l;right_l1_;right_l2_;right_l4_;right_torso_itb;right_torso_itb_OriginTransform;right_wrist;right_wrist_OriginTransform;screen;t_In;t_Mod;t_Mod_Delayed ;t_Out;time;torque;torso;torso_t;torso_t0_OriginTransform;u;vPen;xPen

BLOCKTYPE:
ActionPort;Brick Solid;Cartesian Joint;Clock;Constant;Delay;Demux;File Solid;From;Gain;Get Jacobian;Goto;Gravity Torque;If;Inport;Inverse Dynamics;Joint Space Mass Matrix;MATLABSystem;Mechanism Configuration;Mux;Outport;PMIOPort;PS-Simulink Converter;Product;Reference Frame;Revolute Joint;Rigid Transform;S-Function;Saturate;Scope;Simulink-PS Converter;SliderBlock;Solver Configuration;Spherical Solid;StateSpace;Sum;Switch;Terminator;ToggleSwitchBlock;Transform Sensor;Velocity Product Torque;Weld Joint;World Frame;robotics.slcore.internal.block.PolyTrajSys


MODELNAME: shapeTracingSawyer
PATH: examples/robotics/main/shapeTracingSawyer.slx
BLOCKTYPE_FREQUENCY: 1;1;1;1;2;3;1;1;3;2;1;1;1
CHECKSUM: 6F3A319F60DAA534A0B134D3D499B11A
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
ANNOTATION:
 Manipulator Shape Tracing in MATLAB and Simulink This example shows how to trace a predefined 3-D shape in space. A 3-D trajectory is solved in the task space for tracing the MATLAB® membrane and is executed using the Sawyer robot from Rethink Robotics®. The goal is the generate a smooth path for the end effector to follow. You must first run the associated MATLAB® Live Script, to get the jointPathSegmentMatrix variable, which is a set of joint-space path segments for tracing the membrane. The Simulink model has two main parts: The Trajectory Generation section takes the matrix of joint-space path segments, jointPathSegmentMatrix, and converts the segments to a set of discretized joint-space waypoints (joint configurations) at each time step in the simulation using a MATLAB function block. The Polynomial Trajectory Block converts the set of joint configurations to a smoothed B-spline trajectory in time. The Kinematic Simulation section accepts the joint-space waypoints and computes the resulting end-effector position for the robot. Copyright 2018 The MathWorks, Inc. Trajectory Generation Robot Kinematics Simulation

BLOCK:
 Demux ; SFunction ; Terminator ;Clock;Constant;Coordinate Transformation Conversion;Get Transform;MATLAB Function;Polynomial Trajectory;Reference;Stop Simulation;SubSystem;Terminator;To Workspace;Zero-Order Hold;isComplete;jointSegments;t;timeInterval;wayPoints

BLOCKTYPE:
Clock;Constant;Demux;Get Transform;Inport;Outport;S-Function;Stop;Terminator;ToWorkspace;ZeroOrderHold;robotics.slcore.internal.block.CoordinateTransformationConversion;robotics.slcore.internal.block.PolyTrajSys


MODELNAME: simulateWarehouseRobotInGazebo
PATH: examples/robotics/main/simulateWarehouseRobotInGazebo.slx
BLOCKTYPE_FREQUENCY: 2;2;1;11;8;4;1;1;1;2;2;1;4;2;32;2;3;21;2;2;6;2;3;1;1;3;6;1;1;1
CHECKSUM: 78A03EC3D967ED5D789CC58AB48277A7
PRODUCT: MATLAB;Robotics System Toolbox;Robotics System Toolbox Documentation;Simulink;Stateflow
PRODUCT_BASECODE: RO
ANNOTATION:
Generate a pose vector (x, y, theta) from X, Y, and quaternion data Robot Pose Data Wheel Speed Data Range Sensor Planning Robot Scheduler Actuate Control Schedule Sense  Initialize Model  Stop  Go

BLOCK:
 Demux ; SFunction ; Terminator ;Bus Assignment;Bus Selector;Charging Station ;Constant;Coordinate Transformation Conversion;Demux;Display;Dot Product;Enable;Extract Robot Pose;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Read;Gazebo Select Entity;In;Lamp;Left Torque;Left Wheel Gazebo Torque Command;Loading Station;MATLAB Function;Map ;Mux;Path Following And Obstacle Avoidance;Pioneer Wheel Control;Planner;Pose;Product;Proportional Gain;Pure Pursuit;Range;Rate Transition;Read Lidar Scan;Read Robot Pose;Read from Gazebo Sensors;Reference;Right Torque;Right Wheel Gazebo Torque Command;Robot Pose;Scheduler;Selector;Set Wheel Speed;Slider;Sqrt;Stop Robot On Sensing Obstacles;Stop Simulation;SubSystem;Subtract;Sum;Torque;Unit Delay;Unloading Station;Vector Concatenate;Wheel Speeds;angleMax;angleMin;angleStep;avoidCollisionDistance;awayFromGoal;chargePos;count;currentPose;distanceToGoal;endPos;gain;left;loadingPos;mapMatrix;noStop;omega;omegas;phiDotL;phiDotR;planOutput;pose;range;right;robotGoal;robotpose;startPos;stop;unloadingPos;v;w;waypoints

BLOCKTYPE:
BusAssignment;BusSelector;Concatenate;Constant;Demux;Display;DotProduct;EnablePort;Gain;Gazebo Apply Command;Gazebo Blank Message;Gazebo Pacer;Gazebo Read;Gazebo Select Entity;Inport;LampBlock;Mux;Outport;Product;RateTransition;S-Function;Selector;SliderBlock;Sqrt;Stop;Sum;Terminator;UnitDelay;nav.slalgs.internal.PurePursuit;robotics.slcore.internal.block.CoordinateTransformationConversion


MODELNAME: sm_backhoe_with_environment
PATH: examples/robotics/main/sm_backhoe_with_environment.slx
BLOCKTYPE_FREQUENCY: 11;1;2;21;1;2;1;8;3;4;1;2;19;1;5;18;20;2;15;5;8;1;1;1;1;1;9;5;83;8;19;84;1;21;1;1;2;6;1;1;4;1;1
CHECKSUM: D9338482F41F7255648DB03074741819
PRODUCT: MATLAB;Simscape;Simscape Multibody;Simulink;UAV Toolbox
PRODUCT_BASECODE: RO
DESCRIPTION:
Backhoe This example shows a hydraulically actuated backhoe model with closed-loop PID control. The mechanism consists of a fixed vehicle model with a base mounting bracket. The bracket allows the backhoe arm to swivel left and right. Additionally, this arm has three rotational degrees of freedom for controlling the position of the bucket relative to the base swivel point. The backhoe is actuated using pressure inputs to linear acting hydraulic cylinders. Pressure is controlled with decoupled PID controllers that act on the error between measured and reference angular positions.

ANNOTATION:
Backhoe This example shows a hydraulically actuated backhoe model with closed-loop PID control. The mechanism consists of a fixed vehicle model with a base mounting bracket. The bracket allows the backhoe arm to swivel left and right. Additionally, this arm has three rotational degrees of freedom for controlling the position of the bucket relative to the base swivel point. The backhoe is actuated using pressure inputs to linear acting hydraulic cylinders. Pressure is controlled with decoupled PID controllers that act on the error between measured and reference angular positions. The model uses Translational Multibody Interface blocks to connect 1D mechanical translational domain lines in Simscape (used by Translational Mechanical Converter blocks to model the hydraulic cylinders) with Prismatic Joint blocks in Simscape Multibody (used to model the backhoe mechanism). Additionally, position signals from the Prismatic Joint blocks are fed directly into the Translational Mechanical Converter blocks to ensure that Simscape and Simscape Multibody always agree on the value of each cylinders displacement. Copyright 2022-2023 The MathWorks, Inc.

BLOCK:
 Rear Right Wheel;Alignment;Angle Realignment;Angle Rotation;Arm Left;Arm Link Pin;Arm Revolute Rotation;Arm Right;Arm-Actuator Joint;Arm-Bucket Joint;Arrange Reference Signals;Attachment Arm Left;Attachment Arm Right;Attachment Arm Transform Left;Attachment Arm Transform Right;Attachment Frame;Attachment Plates;BA Der;Back;Back Crossbar;Back Left Window;Back Left Window Transform;Back Right Window;Back Right Window Transform;Back Transform;Back Window;Back Window Transform;BackCage Bar Left;BackCage Bar Right;BackCrossbar Transform;Backhoe Arm;Bar;Base Alignment;Base Angle;Base Angle Selector;Base Command Selector Left;Base Command Selector Right;Base Ref;Base Reference Position Selector;Base Velocity;Base Velocity Selector;Base to Left Transform;Base to Right Transform;Bracket;Bracket Assembly;Bracket Double Hole;Bracket Hub;Bracket Left;Bracket Right;Bracket Rotation;Bracket Transform Left;Bracket Transform Right;Bracket to Hub Transform;Brick Solid;BsA;BuA;BuA Der;Bucket;Bucket Angle;Bucket Angle Selector;Bucket Attachment Transform;Bucket Back;Bucket Back Transform;Bucket Command Selector;Bucket Left Transform;Bucket Ref;Bucket Reference Position Selector;Bucket Right Transform;Bucket Side Left;Bucket SideRight;Bucket Top;Bucket Top Transform;Bucket Velocity;Bucket Velocity Selector;Bucket-Arm;Bucket-Crank;CB [Left Joint];CB [Right Joint];Center Offset;Clock;Commands;Constant;Control Commands (u);Control Commands [u];Controller;Crank 1 Left;Crank 1 Right;Crank 2 Left;Crank 2 Right;Crank Arm;Crank Assembly;Crank Left;Crank Link Pin;Crank Link Transform Left;Crank Link Transform Right;Crank Pin;Crank Revolute Rotation;Crank Right;Crank to Bucket Left;Crank to Bucket Right;Crank-Actuator Joint;Crank-Bucket Joint;Cylinder Base;Cylinder Base Pin;Cylinder Base [Bucket Joint];Cylinder Base [Lower Joint];Cylinder Base to Mounting Plate;Cylinder Transform;Demux;FLW;FRW;Front Bracket;Front Bracket Transform;Front Cage Bar Left;Front Cage Bar Right;Front Crossbar;Front Crossbar Transform;Front Left Wheel;Front Left Wheel Pin;Front Left Wheel Transform;Front Left Window;Front Left Window Transform;Front Right Wheel;Front Right Wheel Pin;Front Right Wheel Transform;Front Right Window;Front Right Window Transform;Front Window;Front Window Transform;Ground;Hub to Mounting Base Transform;Hub to Web Transform Left;Hub to Web Transform Right;Hydraulic Actuator Left;Hydraulic Actuator Lower - Upper Arm;Hydraulic Actuator Mounting - Lower Arm;Hydraulic Actuator Right;Hydraulic Actuator Upper Arm - Bucket;In;Joint Angle Trajectories;Joint Angles;LA;LA Der;Left Arm Bracket;Left Back Transform;Left Bracket;Left Bracket Transform;Left Bracket Transform ;Left Cage;Left Cage Transform;Left Crank Pin;Left Crossbar;Left Crossbar Transform;Left Cylinder;Left Cylinder Transform;Left Front Transform;Left Head;Left Middle Transform;Left Pin;Left Plate;Left Web;Lower Angle;Lower Angle Selector;Lower Arm;Lower Arm Angle;Lower Arm Assembly;Lower Arm Velocity;Lower Arm to Cylinder Base;Lower Arm to Mounting Assembly;Lower Arm to Piston Head;Lower Bracket;Lower Bracket Transform;Lower Command Selector;Lower Cylinder;Lower Head;Lower Ref;Lower Reference Position Selector;Lower Vehicle;Lower Velocity;Lower Velocity Selector;Main Brick;Mech Config;Middle Cage Bar Left;Middle Cage Bar Right;Minimum Jerk Polynomial Trajectory;Mounting Assembly;Mounting Base;Mounting Base Pin;Mounting Base and Support Arms;Mounting Hub;Mounting Left Side;Mounting Right Side;Mounting Transform;Negative Direction;Out;PID Controller Base;PID Controller Bucket;PID Controller Lower;PID Controller Support;PID Controller Upper;PS-Simulink Converter Base;PS-Simulink Converter Lower;PS-Simulink Converter Upper;Pin;Pin ;Pin 1 Transform;Pin 2 Left Transform;Pin 2 Right Transform;Pin 2 Transform;Pin 2 to Crank 2 Left;Pin 2 to Crank 2 Right;Piston;Piston Attachment;Piston Bracket Transform;Piston Head;Piston Head Pin;Piston Head [Bucket Joint];Piston Head [Upper Joint];Plant;Plate-to-Bracket Transform;Plate-to-Plate Transform;Plates;Positive Direction;Pressure [Bucket Joint];RLW;RRW;Rear Bracket;Rear Bracket Transform;Rear Left Wheel;Rear Left Wheel Pin;Rear Left Wheel Transform;Rear Right Wheel Pin;Rear Right Wheel Transform;Reference;References;Revolute Joint Left Cylinder;Revolute Joint Left Piston;Revolute Joint Mounting Hub;Revolute Joint Right Cylinder;Revolute Joint Right Piston;Revolute Left ;Revolute Left Crank;Revolute Right ;Revolute Right Crank;Right Arm Bracket;Right Back Transform;Right Bracket;Right Bracket Transform;Right Bracket Transform ;Right Cage;Right Cage Transform;Right Crank Pin;Right Crossbar;Right Crossbar Transform;Right Cylinder;Right Cylinder Transform;Right Front Transform;Right Head;Right Middle Transform;Right Pin;Right Plate;Right Web;Roof;Roof Transform;SA;SA Der;Sensed Signals;Single Bracket;Solver Config;SubSystem;Support Arm Angle;Support Arm Angle Selector;Support Arm Cmd Selector;Support Arm Left;Support Arm Pos Ref Selector;Support Arm Right;Support Arm Velocity;Support Arm Velocity Selector;Support Ref;Teeth;Terminator;Tooth ;Tooth Transform ;UA;UA Der;Upper Angle Selector;Upper Arm;Upper Arm Angle;Upper Arm Assembly;Upper Arm Velocity;Upper Arm and Crank;Upper Arm to Actuator Joint;Upper Bracket;Upper Bracket Transform;Upper Command Selector;Upper Cylinder;Upper Head;Upper Ref;Upper Reference Position Selector;Upper Vehicle;Upper Vehicle Transform;Upper Velocity Selector;Upper-Lower Arm Joint;Vector Concatenate;Vehicle;Vehicle Transform;World Frame;pv;u;y

BLOCKTYPE:
Bracket;Bracket Assembly;Bracket Double Hole;Brick Solid;Bucket;Bucket Side;Clock;Concatenate;Constant;Crank Arm;Crank Assembly;Crank-Arm Pin;Cylindrical Solid;Demux;Derivative;Extruded Solid;From;Gain;Goto;Hydraulic Actuator;Inport;Lower Arm;Lower Vehicle;Mechanism Configuration;Mounting Base;Mounting Hub;Outport;PID Controller;PMIOPort;PS-Simulink Converter;Revolute Joint;Rigid Transform;Scope;Selector;Single Bracket;Solver Configuration;Support Arm Assembly;Terminator;Upper Arm;Upper Vehicle;Wheel;World Frame;shared_uav_rst.sluav.internal.system.MinJerkPolyTraj


MODELNAME: sm_ik_trajectory_model
PATH: examples/robotics/main/sm_ik_trajectory_model.slx
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;3;2;1
CHECKSUM: F77337F83F28A70DC29E3F1F9DF569E8
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
BLOCK:
Callback Button;Constant;Coordinate Transformation Conversion;Delay;Inverse Kinematics;Mux;Reference;To Workspace;x-Coordinates ;y-Coordinates;z-Coordinates

BLOCKTYPE:
Constant;CustomCallbackButton;Delay;Inverse Kinematics;Mux;Repeating Sequence Interpolated;ToWorkspace;robotics.slcore.internal.block.CoordinateTransformationConversion


MODELNAME: transform_traj_ex1
PATH: examples/robotics/main/transform_traj_ex1.slx
BLOCKTYPE_FREQUENCY: 1;1;1;1;2;1;1
CHECKSUM: 8A6379472918CC845D4357134875B9E3
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
BLOCK:
Constant;Delay One Step;Inverse Kinematics;Ramp;Reference;Terminator;To Workspace;Transform Trajectory

BLOCKTYPE:
Constant;Delay;Inverse Kinematics;Ramp;Terminator;ToWorkspace;robotics.slcore.internal.block.TransformTrajSys


MODELNAME: velocity_product_example
PATH: examples/robotics/main/velocity_product_example.slx
ANNOTATION: Copyright 2018 The MathWorks, Inc.
BLOCKTYPE: Constant;CustomCallbackButton;Display;Inverse Dynamics;Velocity Product Torque
BLOCKTYPE_FREQUENCY: 4;1;2;1;1
CHECKSUM: 4450099E20C7D7EA42E9B23EA1E8CF6A
PRODUCT: MATLAB;Robotics System Toolbox;Simulink
PRODUCT_BASECODE: RO
BLOCK:
Callback Button;Constant;Inverse Dynamics;Joint Torques;Joint Velcities;Reference;Velocity Product Torque


MODELNAME: warehouseTasksRobotSimulationModel
PATH: examples/robotics/main/warehouseTasksRobotSimulationModel.slx
BLOCKTYPE_FREQUENCY: 9;3;1;1;2;2;21;7;2;2;1;3;1;1;1;1;4;1;1;1
CHECKSUM: AAAD9D82658FC9E805AADF08BA193D95
PRODUCT: MATLAB;Robotics System Toolbox;Simulink;Stateflow
PRODUCT_BASECODE: RO
ANNOTATION:
Visualization Plant Model Control Planning Robot Scheduler  Execute Tasks for a Warehouse Robot This example demonstrates how to execute an obstacle free path for a mobile robot between three locations on a given map. The robot is expected to visit the three locations in a warehouse: a charging station, loading station, and unloading location. The sequence in which these locations are visited are dictated by a scheduler. The scheduler gives each robot a goal pose to navigate to. The robot plans a path and uses a Pure Pursuit controller to follow the waypoints based on the current pose of the robot. The Differential Drive Kinematic Model block models the simplified kinematics, which takes the linear and angular velocities from the Pure Pursuit Controller. This example builds on top of the Plan Path for a Differential Robot in Simulink example. © Copyright 2019-2020 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Angular Velocity;Charging Station ;Check Distance To Goal;Constant;Differential Drive Kinematic Model ;Dot Product;From;Goto;In;Less Than;Linear Velocity;Loading Station;MATLAB Function;Map ;Planner;Product;Pure Pursuit;Rate Transition;Reference;Scheduler;Selector;Sqrt;Stop Simulation;SubSystem;Subtract;Terminator;To Workspace;Unit Delay;Unloading Station;Visualize Robot;Zero-Velocity At Goal;angularVelocityOutput;atGoal;awayFromGoal;chargePos;currentPose;endPos;linearVelocityOutput;loadingPos;mapMatrix;robotGoal;robotPoses;showPaths;showViz;startPos;stop;unloadingPos;wayPoints;waypoints;xLim;yLim

BLOCKTYPE:
Constant;Demux;Differential Drive Kinematic Model;DotProduct;From;Goto;Inport;Outport;Product;RateTransition;RelationalOperator;S-Function;Selector;Sqrt;Stop;Sum;Terminator;ToWorkspace;UnitDelay;nav.slalgs.internal.PurePursuit


MODELNAME: airframemarginEx
PATH: examples/robust/main/airframemarginEx.slx
ANNOTATION: Copyright 2004-2014 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;2;2;1;10;1;16;3;1;1;21;5;1;1;1;6;7
CHECKSUM: BA1A7BB098B91DDD792EF2B9A80EF7C8
PRODUCT: MATLAB;Simulink
PRODUCT_BASECODE: RC
BLOCK:
 Equations of Motion (Body Axes); M; Mach;Aerodynamics;Aerodynamics & Equations of Motion;Airframe Model;Alpha;Atmosphere model;Attitude;Ax,Az;Body Rate;Cm;Cm_alpha;Cm_el;Cm_tot;Constant;Cx;Cx_alpha;Cx_el;Cx_tot;Cz;Cz_alpha;Cz_el;Cz_tot;Discrete-Time Integrator;Dynamic Pressure;Fin;Fin Deflection;Fins;Fx;Fz;Height;In;Incidence;Incidence & Airspeed;Look-Up Table (2-D);Mach;Mach Number;Math Function;Mux;Out;Product;Reference;Rho;S_ref;S_ref ;S_ref * d_ref;Selector;Step az;SubSystem;Sum;Terminator;Thrust;V;Xe,Ze;a;az;az Control;az DTF;az Gain;az Response;q;q Control;q Gain;qdot;xxxx

BLOCKTYPE:
3 DOF equations of motion;Atmosphere Model;Constant;DiscreteIntegrator;DiscreteTransferFcn;Gain;Incidence and Airspeed;Inport;Lookup2D;Math;Mux;Outport;Product;Scope;Selector;Step;Sum;Terminator


MODELNAME: rct_airframe2
PATH: examples/robust/main/rct_airframe2.slx
BLOCKTYPE_FREQUENCY: 1;1;2;8;1;15;1;2;1;2;19;5;1;1;1;1;6;7
CHECKSUM: B5B06313AE73042CE5AC31039D9289ED
PRODUCT: MATLAB;Simulink
PRODUCT_BASECODE: RC
ANNOTATION:
Copyright 1999-2021 The Mathworks, Inc. Two-loop autopilot for controlling the vertical acceleration of an airframe

BLOCK:
 Equations of Motion (Body Axes); M; Mach;2-D Lookup Table;Aerodynamics;Aerodynamics & Equations of Motion;Airframe Model;Alpha;Atmosphere model;Attitude;Ax,Az;Body Rate;Cm;Cm_alpha;Cm_el;Cm_tot;Constant;Cx;Cx_alpha;Cx_el;Cx_tot;Cz;Cz_alpha;Cz_el;Cz_tot;Dynamic Pressure;Fin;Fin Deflection;Fins;Fx;Fz;Height;Incidence;Incidence & Airspeed;Look-Up Table (2-D);MIMO Controller;Mach;Mach Number;Math Function;Mux;Product;Reference;Rho;S_ref;S_ref ;S_ref * d_ref;Selector;SubSystem;Sum;Terminator;Thrust;V;Xe,Ze;a;az;az Response;az ref;delta trim;q;qdot;xxxx

BLOCKTYPE:
3 DOF equations of motion;Atmosphere Model;Constant;Gain;Incidence and Airspeed;Inport;Lookup2D;Lookup_n-D;Math;Mux;Outport;Product;Scope;Selector;StateSpace;Step;Sum;Terminator


MODELNAME: rct_airframeWP
PATH: examples/robust/main/rct_airframeWP.slx
BLOCKTYPE_FREQUENCY: 1;1;3;8;1;14;1;1;2;1;2;19;5;1;1;1;1;6;7
CHECKSUM: E7DA3484EA67582C386ECE67611AB490
PRODUCT: Control System Toolbox;MATLAB;Simulink
PRODUCT_BASECODE: RC
ANNOTATION:
Copyright 1999-2021 The Mathworks, Inc. Two-loop autopilot for controlling the vertical acceleration of an airframe

BLOCK:
 Equations of Motion (Body Axes); M; Mach;2-D Lookup Table;Aerodynamics;Aerodynamics & Equations of Motion;Airframe Model;Alpha;Atmosphere model;Attitude;Ax,Az;Body Rate;Cm;Cm_alpha;Cm_el;Cm_tot;Constant;Cx;Cx_alpha;Cx_el;Cx_tot;Cz;Cz_alpha;Cz_el;Cz_tot;Dynamic Pressure;Fin;Fin Deflection;Fins;Fx;Fz;Height;Incidence;Incidence & Airspeed;Look-Up Table (2-D);MIMO Controller;Mach;Mach Number;Math Function;Mux;Product;Reference;Rho;S_ref;S_ref ;S_ref * d_ref;Selector;SubSystem;Sum;Terminator;Thrust;V;WorstPerturbation;Xe,Ze;a;az;az Response;az ref;q;qdot;xxxx

BLOCKTYPE:
3 DOF equations of motion;Atmosphere Model;Constant;Gain;Incidence and Airspeed;Inport;LTI Block;Lookup2D;Lookup_n-D;Math;Mux;Outport;Product;Scope;Selector;StateSpace;Step;Sum;Terminator


MODELNAME: rct_diskdrive
PATH: examples/robust/main/rct_diskdrive.slx
BLOCK: C;F;HDA Model;Reference;Scope;Sum;az ref;noise
BLOCKTYPE: Constant;LTI Block;PID 1dof;Scope;Step;Sum;TransferFcn
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;2;1
CHECKSUM: 502F7A31A3B0B46842FE32DEFE3BC4BC
PRODUCT: Control System Toolbox;MATLAB;Simulink
PRODUCT_BASECODE: RC
ANNOTATION:
See hinfstruct_demo to see how you can tune the PI gains and the filter coefficient with the HINFSTRUCT command. Copyright 2004-2010 The MathWorks, Inc.


MODELNAME: rct_ulinearize_uss
PATH: examples/robust/main/rct_ulinearize_uss.slx
ANNOTATION: Copyright 2009 The MathWorks, Inc.
BLOCKTYPE: PID 1dof;Saturate;Scope;Step;Sum;Uncertain State Space Block
BLOCKTYPE_FREQUENCY: 1;1;1;1;2;3
CHECKSUM: DBE7FEE488553049663502D61311CA0A
PRODUCT: MATLAB;Robust Control Toolbox;Simulink
PRODUCT_BASECODE: RC
BLOCK:
PID Controller;Reference;Saturation;Scope;Sum;Uncertain Plant;Uncertain Sensor;Unmodeled Plant Dynamics


MODELNAME: usim_model
PATH: examples/robust/main/usim_model.slx
BLOCKTYPE: Inport;LTI Block;MultiPlot Graph;Mux;Outport;Scope;Sum;Uncertain State Space Block;chirp
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;2;3;1
CHECKSUM: 045B9CE07A8D288D728FA3DF0D115AA4
PRODUCT: Control System Toolbox;MATLAB;Robust Control Toolbox;Simulink
PRODUCT_BASECODE: RC
ANNOTATION:
This model uses Uncertain State Space (USS) blocks to capture three sources of uncertainty: unmodeled plant dynamics (input_unc), variability in the plant pole location (unc_pole), and poorly known value of the sensor gain (sensor_gain). To see how this uncertainty affects the closed-loop response, double-click to randomly sample the uncertainty and re-simulate the model. See the companion demo for more information on robustness analysis in Simulink.

BLOCK:
Chirp Signal;In;More Info;MultiPlot Graph;Mux;Out;Plant;Reference;Scope;Sensor;Sensor Gain;SubSystem;Sum;Unmodeled Plant Dynamics


MODELNAME: EmergencybrakingofCarlaEgoVehicle
PATH: examples/ros/main/EmergencybrakingofCarlaEgoVehicle.slx
BLOCKTYPE_FREQUENCY: 1;2;7;7;3;6;11;2;9;1;1;4;3;1;2;7;1;1;2;1;1
CHECKSUM: 7596617C8FB34199B2912A9C4F7F7F42
PRODUCT: Computer Vision Toolbox;Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;Add;Blank Message;Brake;Bus Assignment;Bus Selector;Data Type Conversion;Display;Distance;Ego Vehicle Speed;Emergency Braking System;Emergency Braking Unit;Extract Image Data;Front Camera Image Subscriber;Gear;HandBrake;In;Knob;Lidar Subscriber;ManaulGearShift;Measure Target Distance;Odometer Subscriber;Out;Point Cloud Processor;Read Image;Read Point Cloud;Reference;Reverse;Slider;Speedometer Subscriber;Steer;SubSystem;Target_Data;Terminator;Throttle;Thrtl;To Video Display;Toggle Switch;Trigger;Vehicle Control command;Vehicle Controls Publisher;Visualize Point cloud;intensity;ptCloud;xPosition Out;xyzPoints;yPosition Out;zPosition Out

BLOCKTYPE:
BusAssignment;BusSelector;Constant;DataTypeConversion;Demux;Display;Inport;KnobBlock;Outport;ROS Blank Message;ROS Publish;ROS Subscribe;S-Function;SliderBlock;Sum;Terminator;To Video Display;ToggleSwitchBlock;TriggerPort;ros.slros.internal.block.ReadImage;ros.slros.internal.block.ReadPointCloud


MODELNAME: LogROS2MessageFrom3DSimulation
PATH: examples/ros/main/LogROS2MessageFrom3DSimulation.slx
ANNOTATION: Visualize vehicle path on scene Copyright 2023 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;3;2;2;1;1;1;1;1;1;1;3
CHECKSUM: B93CFE0FBFDDD524EBC5B41627AF46E9
PRODUCT: Embedded Coder;Image Processing Toolbox;MATLAB;ROS Toolbox;Simulink;Vehicle Dynamics Blockset
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;From Workspace;Header Assignment;MATLAB Function;Reference;Simulation 3D Camera;Simulation 3D Lidar;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;SubSystem;Terminator;Write Image;Write Point Cloud;x;y

BLOCKTYPE:
Demux;FromWorkspace;Inport;ROS2 Header;ROS2 Write Image;ROS2 Write Point Cloud;S-Function;Simulation 3D Camera;Simulation 3D Lidar;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;Terminator


MODELNAME: ROS2ValetBehavioralPlannerExample
PATH: examples/ros/main/ROS2ValetBehavioralPlannerExample.slx
BLOCKTYPE_FREQUENCY: 4;4;1;1;4;2;44;1;48;4;4;3;4;3;1;5;1
CHECKSUM: 87B89C50D122C3DF618CCAEB4FA8506F
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;Behavior Planner and Goal Checker;BehaviorPlanner;BehavioralPlanner_Pub;BehavioralPlanner_Pub_Codegen;BehavioralPlanner_Pub_Sim;BehavioralPlanner_Sub;BehavioralPlanner_Sub_Codegen;BehavioralPlanner_Sub_Sim;Blank Message;Bus Assignment;Bus Selector;Constant;CurrentPose;CurrentVel;Direction;Enable;In;MATLAB Function;NewData;NextGoal;OR;Out;Publish;ReachedGoal;Reference;Selector;SpeedConfig;Stop Simulation;SubSystem;Subscribe;Subsystem;Terminator;Unit Delay;Vector Concatenate;VehicleDir;curPose;curVel;currPose;currVel;currentPose;currentSpeed;direction;endRefVel;motionPlannerConfig;nextGoal;nextgoal;planNext;plannerCfg;plannerCfgSize;plannerConfig;reachgoal;speed;speedCfg;speedCfgBusSize;speedProfilerConfig;stopMotion;y

BLOCKTYPE:
BusAssignment;BusSelector;Concatenate;Constant;Demux;EnablePort;Inport;Logic;Outport;ROS2 Blank Message;ROS2 Publish;ROS2 Subscribe;S-Function;Selector;Stop;Terminator;UnitDelay


MODELNAME: ROS2ValetControllerExample
PATH: examples/ros/main/ROS2ValetControllerExample.slx
BLOCKTYPE_FREQUENCY: 5;9;1;2;1;2;65;1;1;1;1;66;5;5;9;1;3;1;8;1
CHECKSUM: 699EFBADF205206988001879BEA9CF59
PRODUCT: Automated Driving Toolbox;Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
AccelCmd;Blank Message;Bus Assignment;Bus Selector;Cast To Double;Constant;Controller;Controller_Pub;Controller_Pub_Codegen;Controller_Pub_Sim;Controller_Sub;Controller_Sub_Codegen;Controller_Sub_Sim;ConvertToFloat;ConvertToFloat64_;CurrPose;CurrSteer;CurrVel;CurrYaw;CurrentPose;CurrentVel;Curvatures;DecelCmd;Directions;Enable;In;Lateral Controller Stanley;Longitudinal Controller Stanley;MATLAB System;NewData;OR;Out;Poses;Publish;RefPoses;RefVelocties;Reference;Reshape;Selector;SteerCmd;Stop Simulation;SubSystem;Subscribe;Terminator;Unit Delay;Vector Concatenate;Velocities

BLOCKTYPE:
BusAssignment;BusSelector;Concatenate;Constant;DataTypeConversion;EnablePort;Inport;Lateral Controller Stanley;Logic;Longitudinal Controller Stanley;MATLABSystem;Outport;ROS2 Blank Message;ROS2 Publish;ROS2 Subscribe;Reshape;Selector;Stop;Terminator;UnitDelay


MODELNAME: ROS2ValetPathPlannerExample
PATH: examples/ros/main/ROS2ValetPathPlannerExample.slx
BLOCKTYPE_FREQUENCY: 3;4;7;1;5;7;4;3;2;54;1;56;3;1;4;4;5;1;1;3;5;1;7;1;1;1
CHECKSUM: AB2987141E9279EEF1EB70F0DA509EAC
PRODUCT: Automated Driving Toolbox;Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
Copyright 2019-2023 The MathWorks, Inc. Automated Parking Valet: ROS 2 node for Path Planner Stop simulation when vehicle is parked

BLOCK:
 Demux ; SFunction ; Terminator ;AND;Array;Assignment;Blank Message;Bus Assignment;Bus Selector;Compare To Constant;Constant;ConvertPose2D;CreateFloatMultiArrayMessage;CurrentPose;Curvatures;Data Type Conversion;Directions;Enable;Equal;GoalPose;In;IsNewData;MATLAB Function;Out;Path Smoother Spline;Path planner;PathPlanner_Pub;PathPlanner_Pub_Codegen;PathPlanner_Pub_Sim;PathPlanner_Sub_Codegen;PathPlanner_Sub_Sim;PlannerConfig;Probe;Product;Publish;Reference;Reshape;Selector;Size;SmoothPath;SpeedConfig;Stop Simulation;SubSystem;Subscribe;Subsystem;Terminator;Unit Delay;Variable To Fixed Size;Varsize;Vector Concatenate;Velocity Profiler;VelocityProfile;currentPose;directions;motionPlanning;nextGoal;plannerConfig;refPoses;u;y

BLOCKTYPE:
Assignment;BusAssignment;BusSelector;Compare To Constant;Concatenate;Constant;DataTypeConversion;Demux;EnablePort;Inport;Logic;Outport;Probe;Product;ROS2 Blank Message;ROS2 Publish;ROS2 Subscribe;RelationalOperator;Reshape;S-Function;Selector;Stop;Terminator;UnitDelay;driving.internal.planning.PathSmootherSpline;driving.internal.planning.VelocityProfiler


MODELNAME: ROS2ValetSimulationExample
PATH: examples/ros/main/ROS2ValetSimulationExample.slx
BLOCK: Behavioral Planner;Callback Button;Controller;Path Planner;Vehicle
BLOCKTYPE: CustomCallbackButton;ModelReference
BLOCKTYPE_FREQUENCY: 4;4
CHECKSUM: F86D99A9C52075BFE9E33CB65F12A54D
PRODUCT: Embedded Coder;MATLAB;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
Select parking spot: Copyright 2020-2023 The MathWorks, Inc. Automated Parking Valet: ROS 2 node for Simulation Model

EXTERNALFILE_REFERENCE:
ROS2ValetBehavioralPlannerExample.slx___Model_Block___ROS2ValetControllerExample.slx___Model_Block___ROS2ValetPathPlannerExample.slx___Model_Block___ROS2ValetVehicleExample.slx___Model_Block___


MODELNAME: ROS2ValetVehicleExample
PATH: examples/ros/main/ROS2ValetVehicleExample.slx
BLOCKTYPE_FREQUENCY: 1;4;8;2;2;1;1;62;1;1;1;2;50;1;1;4;4;7;1;4;1;1;1;3;1;3;1;10;1;7;1
CHECKSUM: B0639A6F443F320E18F95410D7BC0FFE
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink;Vehicle Dynamics Blockset
PRODUCT_BASECODE: RR
ANNOTATION:
Automated Parking Valet: ROS 2 node for Vehicle Model Copyright 2019-2023 The MathWorks, Inc. Stop simulation when vehicle is parked

BLOCK:
 Demux ; SFunction ; Terminator ;AND;Abs;Accel;AccelCmd;Acceleration to Velocity;Add;Blank Message;Bus Assignment;Bus Selector;Commands;Compare Path;Compare To Zero;Constant;ConvertToFloat;CurrPose;CurrSteer;CurrVel;CurrYawRate;CurrentVelocity;CurrtVel;Decel;DecelCmd;Degrees to Radians;Delay;Delayed Steering System;Direction;Fixed To Variable Size;In;Math Function;Minus;Mux;Out;Pose;Probe;Product;Publish;Radians to Degrees;Rate Transition;RefPoses;RefVelocity;Reference;ReferenceVelocity;Reshape;Saturated integrator;Selector;SteerCmd;SteeringAngle;Stop Simulation;SubSystem;Subscribe;Switch;Terminator;Unit Delay;Vehicle Body 3DOF Lateral;Vehicle model;VehicleDir;Vehicle_Pub;Vehicle_Pub_Codegen;Vehicle_Pub_Sim;Vehicle_Sub;Vehicle_Sub_Codegen;Vehicle_Sub_Sim;Velocity;Visualization;pose;refPoses;steer

BLOCKTYPE:
Abs;BusAssignment;BusSelector;Compare To Zero;Constant;DegreesToRadians;Demux;Inport;Integrator;Logic;Math;Mux;Outport;Probe;Product;ROS2 Blank Message;ROS2 Publish;ROS2 Subscribe;RadiansToDegrees;RateTransition;Reshape;S-Function;Scope;Selector;Stop;Sum;Switch;Terminator;TransferFcn;UnitDelay;Vehicle Body 3DOF Lateral


MODELNAME: ROSValetBehavioralPlannerExample
PATH: examples/ros/main/ROSValetBehavioralPlannerExample.slx
BLOCKTYPE_FREQUENCY: 4;4;1;1;4;2;44;1;48;4;4;3;4;3;1;5;1
CHECKSUM: 0D9E7DBB00751114EADE9A0FF941791F
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
Automated Parking Valet: ROS node for Behavior Planner and Goal Checker Copyright 2019-2023 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Behavior Planner and Goal Checker;BehaviorPlanner;BehavioralPlanner_Pub;BehavioralPlanner_Pub_Codegen;BehavioralPlanner_Pub_Sim;Behavioral_Sub;Behavioral_Sub_Codegen;Behavioral_Sub_Sim;Blank Message;Bus Assignment;Bus Selector;Constant;CurrentPose;CurrentVel;Direction;Enable;In;MATLAB Function;NewData;NextGoal;OR;Out;Publish;ReachedGoal;Reference;Selector;SpeedConfig;Stop Simulation;SubSystem;Subscribe;Subsystem;Terminator;Unit Delay;Vector Concatenate;VehicleDir;curPose;curVel;currPose;currVel;currentPose;currentSpeed;direction;endRefVel;motionPlannerConfig;nextGoal;nextgoal;planNext;plannerCfg;plannerCfgSize;plannerConfig;reachgoal;speed;speedCfg;speedCfgBusSize;speedProfilerConfig;stopMotion;y

BLOCKTYPE:
BusAssignment;BusSelector;Concatenate;Constant;Demux;EnablePort;Inport;Logic;Outport;ROS Blank Message;ROS Publish;ROS Subscribe;S-Function;Selector;Stop;Terminator;UnitDelay


MODELNAME: ROSValetControllerExample
PATH: examples/ros/main/ROSValetControllerExample.slx
BLOCKTYPE_FREQUENCY: 5;9;1;2;1;2;65;1;1;1;1;66;5;5;9;1;3;1;8;1
CHECKSUM: F7272FD8ED9B8DFAA3F7F6A374A31E56
PRODUCT: Automated Driving Toolbox;Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
Copyright 2019-2023 The MathWorks, Inc. Automated Parking Valet: ROS node for Controller Stop simulation when vehicle is parked

BLOCK:
AccelCmd;Blank Message;Bus Assignment;Bus Selector;Cast To Double;Constant;Controller;Controller_Pub;Controller_Pub_Codegen;Controller_Pub_Sim;Controller_Sub;Controller_Sub_Codegen;Controller_Sub_Sim;ConvertToFloat;ConvertToFloat64_;CurrPose;CurrSteer;CurrVel;CurrYaw;CurrentPose;CurrentVel;Curvatures;DecelCmd;Directions;Enable;In;Lateral Controller Stanley;Longitudinal Controller Stanley;MATLAB System;NewData;OR;Out;Poses;Publish;RefPoses;RefVelocties;Reference;Reshape;Selector;SteerCmd;Stop Simulation;SubSystem;Subscribe;Terminator;Unit Delay;Vector Concatenate;Velocities

BLOCKTYPE:
BusAssignment;BusSelector;Concatenate;Constant;DataTypeConversion;EnablePort;Inport;Lateral Controller Stanley;Logic;Longitudinal Controller Stanley;MATLABSystem;Outport;ROS Blank Message;ROS Publish;ROS Subscribe;Reshape;Selector;Stop;Terminator;UnitDelay


MODELNAME: ROSValetPathPlannerExample
PATH: examples/ros/main/ROSValetPathPlannerExample.slx
BLOCKTYPE_FREQUENCY: 3;4;7;1;5;7;4;3;2;54;1;56;3;1;4;4;5;1;3;5;1;7;1;1
CHECKSUM: FE46CBC9948E58FB351B0E3F5496FABC
PRODUCT: Automated Driving Toolbox;Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
Copyright 2019-2023 The MathWorks, Inc. Automated Parking Valet: ROS node for Path Planner Stop simulation when vehicle is parked

BLOCK:
 Demux ; SFunction ; Terminator ;AND;Array;Assignment;Blank Message;Bus Assignment;Bus Selector;Compare To Constant;Constant;ConvertPose2D;CreateFloatMultiArrayMessage;CurrentPose;Curvatures;Data Type Conversion;Directions;Enable;GoalPose;In;IsNewData;MATLAB Function;Out;Path Smoother Spline;Path planner;PathPlanner_Pub;PathPlanner_Pub_Codegen;PathPlanner_Pub_Sim;PathPlanner_Sub;PathPlanner_Sub_Codegen;PathPlanner_Sub_Sim;PlannerConfig;Probe;Product;Publish;Reference;Reshape;Selector;Size;SmoothPath;SpeedConfig;Stop Simulation;SubSystem;Subscribe;Terminator;Variable To Fixed Size;Varsize;Vector Concatenate;Velocity Profiler;VelocityProfile;currentPose;directions;motionPlanning;nextGoal;plannerConfig;refPoses;u;y

BLOCKTYPE:
Assignment;BusAssignment;BusSelector;Compare To Constant;Concatenate;Constant;DataTypeConversion;Demux;EnablePort;Inport;Logic;Outport;Probe;Product;ROS Blank Message;ROS Publish;ROS Subscribe;Reshape;S-Function;Selector;Stop;Terminator;driving.internal.planning.PathSmootherSpline;driving.internal.planning.VelocityProfiler


MODELNAME: ROSValetSimulationExample
PATH: examples/ros/main/ROSValetSimulationExample.slx
BLOCKTYPE: CustomCallbackButton;Demux;Inport;ModelReference;Outport;S-Function;Terminator
BLOCKTYPE_FREQUENCY: 4;4;16;4;21;4;4
CHECKSUM: AA56BE958825468E9C3C52D9D7B4A684
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
*Note: ROS Bus Converter blocks in this model are MATLAB function blocks for accommodating bus naming differences between each model references. Select one parking spot before simulation: Copyright 2020-2023 The MathWorks, Inc. Automated Parking Valet: ROS node for Simulation Model

BLOCK:
 Demux ; SFunction ; Terminator ;Behavioral Planner;Callback Button;Controller;Path Planner;ROS Bus Converter;ROS Bus Converter ;SubSystem;Vehicle;u;y

EXTERNALFILE_REFERENCE:
ROSValetBehavioralPlannerExample.slx___Model_Block___ROSValetControllerExample.slx___Model_Block___ROSValetPathPlannerExample.slx___Model_Block___ROSValetVehicleExample.slx___Model_Block___


MODELNAME: ROSValetVehicleExample
PATH: examples/ros/main/ROSValetVehicleExample.slx
BLOCKTYPE_FREQUENCY: 1;4;8;2;2;1;1;62;1;1;1;2;50;1;1;4;4;7;1;4;1;1;1;3;1;3;1;10;1;7;1
CHECKSUM: 98F433693C59E70F45F6A4125D69CEB9
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink;Vehicle Dynamics Blockset
PRODUCT_BASECODE: RR
ANNOTATION:
Automated Parking Valet: ROS node for Vehicle Model Copyright 2019 The MathWorks, Inc. Stop simulation when vehicle is parked

BLOCK:
 Demux ; SFunction ; Terminator ;AND;Abs;Accel;AccelCmd;Acceleration to Velocity;Add;Blank Message;Bus Assignment;Bus Selector;Commands;Compare Path;Compare To Zero;Constant;ConvertToFloat;CurrPose;CurrSteer;CurrVel;CurrYawRate;CurrentVelocity;CurrtVel;Decel;DecelCmd;Degrees to Radians;Delay;Delayed Steering System;Direction;Fixed To Variable Size;In;Math Function;Minus;Mux;Out;Pose;Probe;Product;Publish;Radians to Degrees;Rate Transition;RefPoses;RefVelocity;Reference;ReferenceVelocity;Reshape;Saturated integrator;Selector;SteerCmd;SteeringAngle;Stop Simulation;SubSystem;Subscribe;Switch;Terminator;Unit Delay;Vehicle Body 3DOF Lateral;Vehicle model;VehicleDir;Vehicle_Pub;Vehicle_Pub_Codegen;Vehicle_Pub_Sim;Vehicle_Sub;Vehicle_Sub_Codegen;Vehicle_Sub_Sim;Velocity;Visualization;pose;refPoses;steer

BLOCKTYPE:
Abs;BusAssignment;BusSelector;Compare To Zero;Constant;DegreesToRadians;Demux;Inport;Integrator;Logic;Math;Mux;Outport;Probe;Product;ROS Blank Message;ROS Publish;ROS Subscribe;RadiansToDegrees;RateTransition;Reshape;S-Function;Scope;Selector;Stop;Sum;Switch;Terminator;TransferFcn;UnitDelay;Vehicle Body 3DOF Lateral


MODELNAME: RobotController
PATH: examples/ros/main/RobotController.slx
BLOCKTYPE_FREQUENCY: 1;1;1;3;2;2;2;10;1;3;1;1;1;1;1;1;2;3;2;1;1
CHECKSUM: 0A0D51F84CB024E13F539520061E3677
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;ROS Toolbox Documentation;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
 Proportional Controller  Basic algorithm: Calculate difference between current and desired locations If distance is below a threshold, stop the robot. if distance is above the threshold, set yaw angle to orient robot toward desired location, and drive towards it.  Colored blocks indicates tunable parameters  The /odom topic represents orientation as a quarternion, so convert it to a yaw angle  The desired (X,Y) position of the robot (Colored blocks indicate tunable parameters)   Feedback Control of a ROS-enabled Robot (Configured for generation of C++ code for a standalone ROS node) Copyright 2014-2016 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Angular Velocity (w);Blank Message;Bound [-pi,pi];Bus Assignment;Bus Selector;Command Velocity Publisher;Constant;Conversion;Demux;Desired Position;Desired Yaw;Desired position;Distance;Distance Threshold;Enable;Gain (Slider);Linear Velocity (Slider);Linear Velocity (v);More Info;Mux;Orientation (theta);Position X;Position Y;Proportional Controller;Publish;Reference;Saturation;Scope;Stop;SubSystem;Subscribe;Sum;Switch;v;w;x;y;yaw;z

BLOCKTYPE:
BusAssignment;BusSelector;Compare To Constant;Constant;Demux;EnablePort;Fcn;Inport;Mux;Outport;ROS Blank Message;ROS Publish;ROS Subscribe;S-Function;Saturate;Scope;Slider Gain;Sum;Switch;Terminator;Trigonometry


MODELNAME: SetStringParamOnROSNetworkExample
PATH: examples/ros/main/SetStringParamOnROSNetworkExample.slx
ANNOTATION: Copyright 2019 The MathWorks, Inc.
BLOCKTYPE: Constant;Demux;Inport;Outport;ROS Set Parameter;S-Function;StringConstant;Terminator
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;1;1
CHECKSUM: F47BA3433932271DA28152BA42F0B25E
PRODUCT: MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;Constant;Convert String2uint;Reference;Set Parameter;String Constant;SubSystem;u;y


MODELNAME: drivecontroller
PATH: examples/ros/main/drivecontroller.slx
BLOCKTYPE_FREQUENCY: 1;2;1;3;1;2;2;2;8;1;10;1;1;1;2;1;1;2;5;2;1;1
CHECKSUM: 5905D85B045FCE2199075AD29143E528
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
leftWheelSpeed = (v - trackWidth/(w*2))/wheelRadius Copyright 2021 The MathWorks, Inc.  Proportional Controller  Basic algorithm: Calculate difference between current and desired locations If distance is below a threshold, stop the robot. if distance is above the threshold, set yaw angle to orient robot toward desired location, and drive towards it.

BLOCK:
 Demux ; SFunction ; Terminator ;<X>;<Y>;Blank Message;Bound [-pi,pi];Bus Assignment;Bus Selector;Constant;Conversion;Desired Yaw;Distance;Distance Threshold;Divide;Enable;Gain;Gain (Slider);In;Linear Velocity (Slider);Mux;Publish;Reference;Saturation;Stop;SubSystem;Subscribe;Subsystem;Sum;Switch;TrackWidth;getOrientation;getXY;leftWheelSpeed;lftWhlSpd;rightWheelSpeed;rtWhlSpd;v;w;x;y;yaw;z

BLOCKTYPE:
BusAssignment;BusSelector;Compare To Constant;Constant;Demux;EnablePort;Fcn;Gain;Inport;Mux;Outport;Product;ROS Blank Message;ROS Publish;ROS Subscribe;S-Function;Saturate;Slider Gain;Sum;Switch;Terminator;Trigonometry


MODELNAME: getAndSetParameters
PATH: examples/ros/main/getAndSetParameters.slx
ANNOTATION: Copyright 2019-2020 The MathWorks, Inc.
BLOCKTYPE: Constant;Display;ROS Get Parameter;ROS Set Parameter;RelationalOperator
BLOCKTYPE_FREQUENCY: 2;3;2;2;1
CHECKSUM: 1994E4CDE162C3231DA305F78FD31BDB
PRODUCT: MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
Boolean Parameter;Constant;Error Code;Get Parameter;Param Value;Reference;Relational Operator;Set Parameter


MODELNAME: laneAndVehicleDetection
PATH: examples/ros/main/laneAndVehicleDetection.slx
ANNOTATION: Copyright 2021 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;5;1;13;17;1;1;1;1;1;1;1;5;5
CHECKSUM: 167E3AB440D3F78FEC35C31B9CA29968
PRODUCT: Computer Vision Toolbox;Deep Learning Toolbox;Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;Annotation using Vehicle Bounding Boxes and Lane Trajectory ;Blank Message;Bus Assignment;Constant;Conversion to ROS Image;Data;Data to fill Blank msg;DataLength;Enable;Enc;EncLength;H_;I;In;In ;IsBig;Lane Detection Network;Lane Trajectory from Network Output ;Lane and Vehicle Detection;Out;Outport;Preprocessing for Lane Detection;Product;Publish;ROS Image to MATLAB Image conversion;Reference;Reshape;Resize;Step;SubSystem;Vehicle Detection using YOLO v;W_;bboxes;im;itraffucimage;laneFound;laneNetOut;ltPts;msg;rtPts;scores;u;y

BLOCKTYPE:
BusAssignment;Constant;Demux;EnablePort;Inport;Outport;Predict;Product;ROS Blank Message;ROS Publish;ROS Subscribe;Reshape;Resize;S-Function;Terminator


MODELNAME: pose_to_transformation_model
PATH: examples/ros/main/pose_to_transformation_model.slx
ANNOTATION: Copyright 2018 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 2;2;1;1;1;1
CHECKSUM: 2B9D84533E407A16A129B602D35D3EC1
PRODUCT: MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
Bus Selector;Coordinate Transformation Conversion;Homogeneous Transformation;Position Vector;Quaternion Vector ;Reference;Subscribe;Terminator

BLOCKTYPE:
BusSelector;Concatenate;Display;ROS Subscribe;Terminator;robotics.slcore.internal.block.CoordinateTransformationConversion


MODELNAME: readAndApplyROS2Transform
PATH: examples/ros/main/readAndApplyROS2Transform.slx
ANNOTATION: Copyright 2023 The MathWorks, Inc
BLOCK: Apply Transform;Bus Selector;Display;Get Transform;Reference;Subscribe;Terminator;To Workspace
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;1
CHECKSUM: 177D2B11777BF5A42F697A57A096D774
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCKTYPE:
BusSelector;Display;ROS2 Subscribe;Terminator;ToWorkspace;ros.slros2.internal.block.ApplyTransform;ros.slros2.internal.block.GetTransform


MODELNAME: readAndApplyROSTransform
PATH: examples/ros/main/readAndApplyROSTransform.slx
ANNOTATION: Copyright 2023 The MathWorks, Inc.
BLOCK: Apply Transform;Bus Selector;Display;Get Transform;Reference;Subscribe;Terminator;To Workspace
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;1
CHECKSUM: DDB8955CF9D8B118ED8D8A81D9EFC59F
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCKTYPE:
BusSelector;Display;ROS Subscribe;Terminator;ToWorkspace;ros.slroscpp.internal.block.ApplyTransform;ros.slroscpp.internal.block.GetTransform


MODELNAME: readImageAndEstimateTransformationExampleModel
PATH: examples/ros/main/readImageAndEstimateTransformationExampleModel.slx
ANNOTATION: Copyright 2021-2022 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;3;1;4;1;2;2;1;1;2
CHECKSUM: DD94F9679B1E8C49446BF67A3270595E
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;AND;Display;Enable;EstimateTransform;MATLAB Function;Read Image;Reference;Relative rotation (deg);SubSystem;Subscribe;img;rotAngleDeg

BLOCKTYPE:
Demux;Display;EnablePort;Inport;Logic;Outport;ROS2 Subscribe;S-Function;Terminator;ros.slros2.internal.block.ReadImage


MODELNAME: read_point_cloud_example_model
PATH: examples/ros/main/read_point_cloud_example_model.slx
ANNOTATION: Copyright 2018 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;3;1;1;1;1;1;1;1
CHECKSUM: 1C0086A7CD4410CCECDE91A3B4E04576
PRODUCT: Computer Vision Toolbox;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;Error Code Output;MATLAB Function;New Message;Read Point Cloud;Reference;SubSystem;Subscribe;Video Viewer;XYZ Center of Mass;comXYZ;xyzPoints

BLOCKTYPE:
Demux;Display;Inport;Outport;ROS Subscribe;S-Function;Terminator;VideoViewer;ros.slros.internal.block.ReadPointCloud


MODELNAME: read_pointcloud_and_perform_stitching_example_model
PATH: examples/ros/main/read_pointcloud_and_perform_stitching_example_model.slx
ANNOTATION: © Copyright 2021 The MathWorks, Inc.
BLOCKTYPE: Demux;Display;Inport;ROS2 Subscribe;S-Function;Terminator;ros.slros2.internal.block.ReadPointCloud
BLOCKTYPE_FREQUENCY: 1;2;4;2;1;3;2
CHECKSUM: EB3F44FFC1F22156222B13044D953D87
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;Display;MATLAB Function;Read Point Cloud;Reference;SubSystem;Subscribe;Terminator;rgbValues;xyzPoints


MODELNAME: read_scan_example_model
PATH: examples/ros/main/read_scan_example_model.slx
BLOCKTYPE: Demux;Inport;Outport;ROS Subscribe;S-Function;Stop;Terminator;ros.slros.internal.block.ReadScan
BLOCKTYPE_FREQUENCY: 1;2;1;1;1;1;2;1
CHECKSUM: 77C07C83CD5AC235A26A3A48961A26FA
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;Angles;MATLAB Function;Ranges;Read Scan;Reference;Stop Simulation;SubSystem;Subscribe;Terminator;endSim


MODELNAME: robotControllerROS2
PATH: examples/ros/main/robotControllerROS2.slx
BLOCKTYPE_FREQUENCY: 1;1;1;3;2;2;2;10;1;3;1;1;1;1;1;1;2;3;2;1;1
CHECKSUM: 951B1EDDC1311D06D94C534A48D03B01
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
 Proportional Controller  Basic algorithm: Calculate difference between current and desired locations If distance is below a threshold, stop the robot. if distance is above the threshold, set yaw angle to orient robot toward desired location, and drive towards it.  Colored blocks indicates tunable parameters  The /odom topic represents orientation as a quarternion, so convert it to a yaw angle  The desired (x,y) position of the robot (Colored blocks indicate tunable parameters)  Copyright 2019 The MathWorks, Inc.  Feedback Control of a ROS-enabled Robot over ROS 2

BLOCK:
 Demux ; SFunction ; Terminator ;Angular Velocity (w);Blank Message;Bound [-pi,pi];Bus Assignment;Bus Selector;Command Velocity Publisher;Constant;Conversion;Demux;Desired Position;Desired Yaw;Desired position;Distance;Distance Threshold;Enable;Gain (Slider);Linear Velocity (Slider);Linear Velocity (v);Mux;Orientation (theta);Position x;Position y;Proportional Controller;Publish;Reference;Saturation;Scope;Stop;SubSystem;Subscribe;Sum;Switch;v;w;x;y;yaw;z

BLOCKTYPE:
BusAssignment;BusSelector;Compare To Constant;Constant;Demux;EnablePort;Fcn;Inport;Mux;Outport;ROS2 Blank Message;ROS2 Publish;ROS2 Subscribe;S-Function;Saturate;Scope;Slider Gain;Sum;Switch;Terminator;Trigonometry


MODELNAME: robotROS2ConnectToRobotExample
PATH: examples/ros/main/robotROS2ConnectToRobotExample.slx
ANNOTATION: Copyright 2019-2023 The MathWorks, Inc. Send messages to /odom topic Receive messages sent to /odom
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;1;1;2;1
CHECKSUM: D4B8088CDD41EBA1626ACDD25191436C
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
Blank Message;Bus Assignment;Bus Selector;Constant;Invert Direction;Linear Velocity (Slider);Publish;Reference;Steering gain(Slider) ;Subscribe;Terminator;XY Graph

BLOCKTYPE:
BusAssignment;BusSelector;Constant;Gain;ROS2 Blank Message;ROS2 Publish;ROS2 Subscribe;Record;Slider Gain;Terminator


MODELNAME: robotROS2FeedbackControlExample
PATH: examples/ros/main/robotROS2FeedbackControlExample.slx
BLOCKTYPE_FREQUENCY: 1;1;1;3;2;2;2;10;1;1;3;1;1;1;1;1;1;2;3;2;1;1
CHECKSUM: 6555702201F9846DEC910E71A2897C2F
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
 Proportional Controller  Basic algorithm: Calculate difference between current and desired locations If distance is below a threshold, stop the robot. if distance is above the threshold, set yaw angle to orient robot toward desired location, and drive towards it.  Colored blocks indicates tunable parameters  The /odom topic represents orientation as a quarternion, so convert it to a yaw angle  The desired (x,y) position of the robot (Colored blocks indicate tunable parameters)   Feedback Control of a ROS-enabled Robot over ROS 2 Copyright 2019 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Angular Velocity (w);Blank Message;Bound [-pi,pi];Bus Assignment;Bus Selector;Command Velocity Publisher;Constant;Conversion;Demux;Desired Position;Desired Yaw;Desired position;Distance;Distance Threshold;Enable;Gain (Slider);Linear Velocity (Slider);Linear Velocity (v);Mux;Orientation (theta);Position X;Position Y;Proportional Controller;Publish;Reference;Saturation;Scope;Simulation Rate Control;Stop;SubSystem;Subscribe;Sum;Switch;v;w;x;y;yaw;z

BLOCKTYPE:
BusAssignment;BusSelector;Compare To Constant;Constant;Demux;EnablePort;Fcn;Inport;MATLABSystem;Mux;Outport;ROS2 Blank Message;ROS2 Publish;ROS2 Subscribe;S-Function;Saturate;Scope;Slider Gain;Sum;Switch;Terminator;Trigonometry


MODELNAME: robotROS2MessageUsageExample
PATH: examples/ros/main/robotROS2MessageUsageExample.slx
BLOCKTYPE_FREQUENCY: 1;3;1;6;2;10;18;15;1;15;1;6;6;1;10;3;1;11
CHECKSUM: DA88670E6C9063566BBE7E7D8282AB9B
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
 Use MATLAB Function block to assign signals of nested array of messages  Use MATLAB Function block to extract signals from nested arrays of messages   Use Bus Assignment block to assign signals   Use Bus Selector block to extract signals  Use MATLAB Function block to assign signals in nested messages   Use MATLAB Function block to extract signals in nested messages           Use MATLAB Function Block to assign to an array  Use Bus Selector to extract the array, and Selector block to extract specific items from the array    Use MATLAB Function block to assign to a string  Use MATLAB Function block to compare a string  Use MATLAB Function block to assign to a string array  Use MATLAB Function block to compare a string array  Pick out a single element from the array  If ReceivedLength &gt; CurrentLength, the length of array in received message was greater than the maximum allowed  Variable-length arrays in ROS 2 messages are converted to Fixed-length arrays in Simulink buses. &lt;FieldName&gt;_SL_Info.ReceivedLength The length of the array in the original received ROS 2 message (can be arbitrarily large). &lt;FieldName&gt;_SL_Info.CurrentLength The length of the array in the Simulink bus signal.  Select all elements from the array Choose at least 1 element if length is 0  Check if the array was truncated  Get maximum length of the array in Simulink  Working with ROS 2 messages in Simulink  MATLAB Function blocks require their output buses to be created explicitly. Use ros.ros2.createSimulinkBus to do this. Click here to run ros.ros2.createSimulinkBus Copyright 2021 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Blank Message;Bus Assignment;Bus Selector;Constant;Constant String;Current Length;Current Stringsin Array;Data Type Conversion;Display;MATLAB Function - Assign;MATLAB Function - Extract;MATLAB Function - String Array Assign;MATLAB Function - String Array Compare;MATLAB Function - String Compare;MATLAB Function -String Assign;Max Characters in String;Max Stringsin Array;MinMax;Probe;Publish;Received Length;Reference;Selector;Sine Wave;SubSystem;Subscribe;Terminator;Vector Concatenate;Work with Nested Arrays of Messages;Work with Nested Messages;Work with Nested Messages using MATLAB Function Block;Work with Numeric Arrays;Work with Strings and String Arrays;Work with Variable-length Arrays;az;blankMessage;blankMsg;foundIndex;isMatch;maxLength;maxStrings;msg;numStrings;px;str;u;x;z;zzz

BLOCKTYPE:
BusAssignment;BusSelector;Concatenate;Constant;DataTypeConversion;Demux;Display;Inport;MinMax;Outport;Probe;ROS2 Blank Message;ROS2 Publish;ROS2 Subscribe;S-Function;Selector;Sin;Terminator


MODELNAME: robotROSConnectToRobotExample
PATH: examples/ros/main/robotROSConnectToRobotExample.slx
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;1;1;2;1
CHECKSUM: 95A2079227417476CFFE0B3664482FFE
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;ROS Toolbox Documentation;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
 Receive messages sent to /odom topic  Send messages to /mobile_base/commands/velocity topic  Connecting to a ROS-enabled Robot from Simulink Copyright 2014-2016 The MathWorks, Inc.

BLOCK:
Blank Message;Bus Assignment;Bus Selector;Constant;Invert Direction;Linear velocity (Slider);More Info;Publish;Reference;Steering gain (Slider);SubSystem;Subscribe;Terminator;XY Graph;zzz

BLOCKTYPE:
BusAssignment;BusSelector;Constant;Gain;ROS Blank Message;ROS Publish;ROS Subscribe;Record;Slider Gain;Terminator


MODELNAME: robotROSFeedbackControlExample
PATH: examples/ros/main/robotROSFeedbackControlExample.slx
BLOCKTYPE_FREQUENCY: 1;1;1;3;2;2;2;10;1;1;3;1;1;1;1;1;1;2;3;2;1;1
CHECKSUM: A6894FE46D82821BC6B1A053BE91AC8D
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
 Proportional Controller  Basic algorithm: Calculate difference between current and desired locations If distance is below a threshold, stop the robot. if distance is above the threshold, set yaw angle to orient robot toward desired location, and drive towards it.  Colored blocks indicates tunable parameters  The /odom topic represents orientation as a quarternion, so convert it to a yaw angle  The desired (X,Y) position of the robot (Colored blocks indicate tunable parameters)   Feedback Control of a ROS-enabled Robot Copyright 2014-2016 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Angular Velocity (w);Blank Message;Bound [-pi,pi];Bus Assignment;Bus Selector;Command Velocity Publisher;Constant;Conversion;Demux;Desired Position;Desired Yaw;Desired position;Distance;Distance Threshold;Enable;Gain (Slider);Linear Velocity (Slider);Linear Velocity (v);More Info;Mux;Orientation (theta);Position X;Position Y;Proportional Controller;Publish;Reference;Saturation;Scope;Simulation Rate Control;Stop;SubSystem;Subscribe;Sum;Switch;v;w;x;y;yaw;z

BLOCKTYPE:
BusAssignment;BusSelector;Compare To Constant;Constant;Demux;EnablePort;Fcn;Inport;MATLABSystem;Mux;Outport;ROS Blank Message;ROS Publish;ROS Subscribe;S-Function;Saturate;Scope;Slider Gain;Sum;Switch;Terminator;Trigonometry


MODELNAME: robotROSGetStartedExample
PATH: examples/ros/main/robotROSGetStartedExample.slx
BLOCKTYPE_FREQUENCY: 1;1;2;1;1;2;1;1;1;1;2
CHECKSUM: 551E1C0B46B5B9637B5CD416ADF78784
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
 Receive messages sent to /location topic  Getting Started with ROS in Simulink Copyright 2014-2016 The MathWorks, Inc.  Send messages to /location topic

BLOCK:
Blank Message;Bus Assignment;Bus Selector;Display;Enable;Enabled Subsystem;In;More Info;Out;Publish;Reference;Sine Wave;SubSystem;Subscribe;XY Graph;zzz

BLOCKTYPE:
BusAssignment;BusSelector;Display;EnablePort;Inport;Outport;ROS Blank Message;ROS Publish;ROS Subscribe;Record;Sin


MODELNAME: robotROSMessageUsageExample
PATH: examples/ros/main/robotROSMessageUsageExample.slx
BLOCKTYPE_FREQUENCY: 1;3;1;6;2;10;18;15;1;15;1;6;6;1;10;3;1;11
CHECKSUM: 8D4E8A97E811F70EE3E6A998FD2AE01A
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
 Use MATLAB Function block to assign signals of nested array of messages  Use MATLAB Function block to extract signals from nested arrays of messages   Use Bus Assignment block to assign signals   Use Bus Selector block to extract signals  Use MATLAB Function block to assign signals in nested messages   Use MATLAB Function block to extract signals in nested messages           Use MATLAB Function Block to assign to an array  Use Bus Selector to extract the array, and Selector block to extract specific items from the array    Use MATLAB Function block to assign to a string  Use MATLAB Function block to compare a string  Use MATLAB Function block to assign to a string array  Use MATLAB Function block to compare a string array  Pick out a single element from the array  If ReceivedLength &gt; CurrentLength, the length of array in received message was greater than the maximum allowed  Variable-length arrays in ROS messages are converted to Fixed-length arrays in Simulink buses. &lt;FieldName&gt;_SL_Info.ReceivedLength The length of the array in the original received ROS message (can be arbitrarily large). &lt;FieldName&gt;_SL_Info.CurrentLength The length of the array in the Simulink bus signal.  Select all elements from the array Choose at least 1 element if length is 0  Check if the array was truncated  Get maximum length of the array in Simulink Click here to run ros.createSimulinkBus  Run ROSINIT to set up a local ROS Master   MATLAB Function blocks require their output buses to be created explicitly. Use robotics.ros.createSimulinkBus to do this. Click here to run rosinit  Working with ROS messages in Simulink Copyright 2014-2016 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Blank Message;Blank String Aray;Blank String Message;Bus Assignment;Bus Selector;Constant;Constant String;Current Length;Current Stringsin Array;Data Type Conversion;Display;MATLAB Function - Assign;MATLAB Function - Extract;MATLAB Function - String Array Assign;MATLAB Function - String Array Compare;MATLAB Function - String Compare;MATLAB Function -String Assign;Max Characters in String;Max Stringsin Array;MinMax;More Info;Probe;Publish;Received Length;Reference;Selector;Sine Wave;SubSystem;Subscribe;Terminator;Vector Concatenate;Work with Nested Arrays of Messages;Work with Nested Messages;Work with Nested Messages using MATLAB Function Block;Work with Numeric Arrays;Work with Strings and String Arrays;Work with Variable-length Arrays;az;blankMessage;blankMsg;foundIndex;isMatch;maxLength;maxStrings;msg;numStrings;px;str;u;x;z;zzz

BLOCKTYPE:
BusAssignment;BusSelector;Concatenate;Constant;DataTypeConversion;Demux;Display;Inport;MinMax;Outport;Probe;ROS Blank Message;ROS Publish;ROS Subscribe;S-Function;Selector;Sin;Terminator


MODELNAME: ros2GetStartedExample
PATH: examples/ros/main/ros2GetStartedExample.slx
BLOCKTYPE_FREQUENCY: 1;1;2;1;1;2;1;1;1;1;2
CHECKSUM: B798146B96AEC9F349273FBD861800F3
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
 Receive messages sent to /location topic  Getting Started with ROS 2 in Simulink Copyright 2019 The MathWorks, Inc.  Send messages to /location topic

BLOCK:
Blank Message;Bus Assignment;Bus Selector;Display;Enable;Enabled Subsystem;In;Out;Publish;Reference;Sine Wave;SubSystem;Subscribe;XY Graph;zzz

BLOCKTYPE:
BusAssignment;BusSelector;Display;EnablePort;Inport;Outport;ROS2 Blank Message;ROS2 Publish;ROS2 Subscribe;Record;Sin


MODELNAME: rosHeaderAssignmentBlockExampleModel
PATH: examples/ros/main/rosHeaderAssignmentBlockExampleModel.slx
ANNOTATION: Copyright 2021 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;2;1;3;1;1;2;2;1;1;1;1
CHECKSUM: 6290F6A983896536CF44606134F60435
PRODUCT: MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
ASCII to String;Blank Message;Bus Assignment;Bus Selector;Clock;CustomTime;Display;Gain;Header Assignment;Publish;Reference;Round;SubSystem;Subtract;nanoseconds;seconds;simulationTime

BLOCKTYPE:
ASCIIToString;BusAssignment;BusSelector;Clock;Display;Gain;Inport;Outport;ROS Blank Message;ROS Header;ROS Publish;Rounding;Sum


MODELNAME: rosImageFormatParameter
PATH: examples/ros/main/rosImageFormatParameter.slx
BLOCKTYPE_FREQUENCY: 1;1;2;4;1;2;1;1;1;2;1
CHECKSUM: 89245A9B991366E92C6EE325B9A27BF7
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
 Copyright 2019 The MathWorks, Inc. Click to set format parameter to jpeg  Compare Image format to known string  Get image format parameter  Subscribe to image data  Process if image is new and format is correct Click to set format parameter to png Click to delete format parameter

BLOCK:
 Demux ; SFunction ; Terminator ;Constant;Display;ErrorCode Display;Get Parameter;In;Logical Operator;MATLAB Function;Out;Process Image;Reference;SubSystem;Subscribe;Terminator;Trigger;eq;n;s

BLOCKTYPE:
Constant;Demux;Display;Inport;Logic;Outport;ROS Get Parameter;ROS Subscribe;S-Function;Terminator;TriggerPort


MODELNAME: rosImagePublisher
PATH: examples/ros/main/rosImagePublisher.slx
BLOCKTYPE_FREQUENCY: 1;1;1;2;9;1;1;1;1;1
CHECKSUM: 9B0750F15BF02825E932E1E3958F987B
PRODUCT: Automated Driving Toolbox;Computer Vision Toolbox;Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;Blank Message;Bus Assignment;Data;Data to fill msg;DataLength;Enc;EncLength;H_;I;IsBig;Reference;Reshape;Step;SubSystem;W_;WriteImage;im;inputvideofile;msg;publish

BLOCKTYPE:
BusAssignment;Demux;From Multimedia File;Inport;Outport;ROS Blank Message;ROS Publish;Reshape;S-Function;Terminator


MODELNAME: rosPubSubExample
PATH: examples/ros/main/rosPubSubExample.slx
ANNOTATION: Copyright 2018 The MathWorks, Inc.
BLOCKTYPE: BusAssignment;BusSelector;Constant;Display;ROS Blank Message;ROS Publish;ROS Subscribe;Terminator
BLOCKTYPE_FREQUENCY: 1;1;2;2;1;1;1;1
CHECKSUM: BB62636A9E4378D5B28BDF471B724399
PRODUCT: MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
Blank Message;Bus Assignment;Bus Selector;Publish;Reference;Subscribe;Terminator;xPosition;xPosition Out;yPosition;yPosition Out


MODELNAME: rosStringParameterCompare
PATH: examples/ros/main/rosStringParameterCompare.slx
ANNOTATION: Copyright 2019 The MathWorks, Inc.
BLOCKTYPE: Constant;Demux;Display;Inport;Outport;ROS Get Parameter;S-Function;Terminator
BLOCKTYPE_FREQUENCY: 1;1;3;2;1;1;1;1
CHECKSUM: BB206139B23008315D5F25AF8EC97EB0
PRODUCT: MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;Constant;Display;Get Parameter;MATLAB Function;Reference;SubSystem;str;y


MODELNAME: set_command
PATH: examples/ros/main/set_command.slx
BLOCKTYPE_FREQUENCY: 1;1;2;2;1;1;2;1;1;1;2
CHECKSUM: AB92391BB8480EA466FD0CA4F8E0F32B
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
ANNOTATION:
Copyright 2021 The MathWorks, Inc.  Companion client model for drivercontroller ros_control plugin Algorithm: Subscribes to /left_right_wheelspeed topic from controller When the values are 0, the model publishes a new desired position Desired positions are preset repeated sequences in SendDesiredPosition subsystem

BLOCK:
AND;Blank Message;Bus Assignment;Bus Selector;Compare To Zero;Enable;Out;Publish;Reference;Repeating Sequence;SendDesiredPosition;SubSystem;Subscribe;XCommand;YCommand

BLOCKTYPE:
BusAssignment;BusSelector;Compare To Zero;Display;EnablePort;Logic;Outport;ROS Blank Message;ROS Publish;ROS Subscribe;Repeating table


MODELNAME: setupROS2ServiceServer
PATH: examples/ros/main/setupROS2ServiceServer.slx
ANNOTATION: Copyright 2024 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;1;3;1;1;1
CHECKSUM: A7C180304A2A819A6AB85B89414A65C7
PRODUCT: MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
Bus Assignment;Cross Product;Default Response Message;Enable;Enabled Subsystem;In Bus Element;Out;Receive Service Request;Reference;Send Service Response;SubSystem

BLOCKTYPE:
BusAssignment;CrossProduct;EnablePort;Inport;Outport;ROS2 Receive Service Request;ROS2 Send Service Response


MODELNAME: signFollowingRobotROS
PATH: examples/ros/main/signFollowingRobotROS.slx
ANNOTATION: Copyright 2019 The MathWorks, Inc. Sign Following Robot with ROS
BLOCKTYPE_FREQUENCY: 1;1;1;3;3;1;3;14;2;10;1;1;2;3;1;1;5;1;1
CHECKSUM: 37DC792D1312C3734F149D4EA87F9475
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink;Stateflow
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;ActualImage;Blank Message;Bus Assignment;Bus Selector;CODEGEN;Color Thresholding and Sign Location;Color Thresholds (BLUE);Color Thresholds (GREEN);Color Thresholds (RED);Coordinate Transformation Conversion;Display;Enable;Image Display;Image Processing;MaskImage;Mux;Publish;Read Image;Read Odometry;Reference;SIM;Selector;Sign Tracking Logic;Stop Simulation;SubSystem;Subscribe;Terminator;Vector Concatenate;blobSize;blobX;img;mask;msg;pose;stopRobot;th;v;w

BLOCKTYPE:
BusAssignment;BusSelector;Concatenate;Constant;Demux;Display;EnablePort;Inport;Mux;Outport;ROS Blank Message;ROS Publish;ROS Subscribe;S-Function;Selector;Stop;Terminator;robotics.slcore.internal.block.CoordinateTransformationConversion;ros.slros.internal.block.ReadImage


MODELNAME: signFollowingRobotROS2
PATH: examples/ros/main/signFollowingRobotROS2.slx
ANNOTATION: Copyright 2019 The MathWorks, Inc. Sign Following Robot with ROS 2
BLOCKTYPE_FREQUENCY: 1;1;1;3;4;1;3;15;2;11;1;1;2;4;1;1;6;1
CHECKSUM: C59CFC9A7D4082FF3AD019E06E738081
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink;Stateflow
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;ActualImage;Blank Message;Bus Assignment;Bus Selector;CODEGEN;Color Thresholding and Sign Location;Color Thresholds (BLUE);Color Thresholds (GREEN);Color Thresholds (RED);Coordinate Transformation Conversion;Enable;Image Display;Image Processing;MaskImage;Mux;Publish;Read Image;Read Odometry;Reference;Robot Pose;SIM;Selector;Sign Tracking Logic;Stop Simulation;SubSystem;Subscribe;Terminator;Vector Concatenate;blobSize;blobX;img;mask;msg;pose;stopRobot;th;v;w

BLOCKTYPE:
BusAssignment;BusSelector;Concatenate;Constant;Demux;Display;EnablePort;Inport;Mux;Outport;ROS2 Blank Message;ROS2 Publish;ROS2 Subscribe;S-Function;Selector;Stop;Terminator;robotics.slcore.internal.block.CoordinateTransformationConversion


MODELNAME: signFollowingRobotYOLOv2ROS
PATH: examples/ros/main/signFollowingRobotYOLOv2ROS.slx
ANNOTATION: Copyright 2019 The MathWorks, Inc. Sign Following Robot with ROS
BLOCKTYPE_FREQUENCY: 1;1;4;1;3;14;2;11;1;1;2;4;1;1;6;1;1
CHECKSUM: 92B74668C428C94771B016610BFFEF7C
PRODUCT: Computer Vision Toolbox;Embedded Coder;MATLAB;ROS Toolbox;Simulink;Stateflow
PRODUCT_BASECODE: RR
BLOCK:
 Demux ; SFunction ; Terminator ;ActualImage;Blank Message;Bus Assignment;Bus Selector;CODEGEN;Coordinate Transformation Conversion;Deep Learning Object Detection;Display;Enable;Image Display;In;MATLAB Function;MaskImage;Mux;Publish;Read Image;Read Odometry;Reference;SIM;Selector;Sign Tracking Logic;Signs Detection YOLOv;Stop Simulation;SubSystem;Subscribe;Terminator;blobSize;blobX;detectionImage;img;msg;pose;stopRobot;u;v;w;y

BLOCKTYPE:
BusAssignment;BusSelector;Demux;Display;EnablePort;Inport;Mux;Outport;ROS Blank Message;ROS Publish;ROS Subscribe;S-Function;Selector;Stop;Terminator;robotics.slcore.internal.block.CoordinateTransformationConversion;ros.slros.internal.block.ReadImage


MODELNAME: simulinkPubSubROS2Example
PATH: examples/ros/main/simulinkPubSubROS2Example.slx
ANNOTATION: Copyright 2019 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;2;2;1;1;1;1
CHECKSUM: 36CBC0DF444FE9252FC918755AB908EC
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink
PRODUCT_BASECODE: RR
BLOCK:
Blank Message;Bus Assignment;Bus Selector;Publish;Reference;Subscribe;Terminator;xPosition;xPosition_Out;yPosition;yPosition_Out

BLOCKTYPE:
BusAssignment;BusSelector;Constant;Display;ROS2 Blank Message;ROS2 Publish;ROS2 Subscribe;Terminator


MODELNAME: slreportgen_ExecutionOrder_example
PATH: examples/rptgenext/main/slreportgen_ExecutionOrder_example.slx
ANNOTATION: van der Pol Equation Copyright 2020-2021 The MathWorks, Inc.
BLOCKTYPE: CMBlock;Constant;Gain;Inport;Integrator;Math;Mux;Outport;Product;Scope;Sum
BLOCKTYPE_FREQUENCY: 1;1;1;1;2;1;1;3;1;1;2
CHECKSUM: 1E9EEB07A7F8F9130D5875B588AEC5EB
PRODUCT: MATLAB;Simulink
PRODUCT_BASECODE: SR
DESCRIPTION:
The van der Pol Equation This is a simulation of a nonlinear second order system. The Gain block in this system is in a nonvirtual subsystem in order to demonstrate how the ExecutionOrder reporter reports nonvirtual subsystems.

BLOCK:
Constant;In;Model Info;More Info;Mu;MultiplyMu;Mux;Out;Product;Reference;Scope;Square;SubSystem;Sum;x


MODELNAME: slreportgen_demo_ConditionalExecution
PATH: examples/rptgenext/main/slreportgen_demo_ConditionalExecution.slx
ANNOTATION: Copyright 2020 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;2;2;1;1;1;1;1;4;2;5;1;1;1;4;2;2
CHECKSUM: 974F9CF1B8CD2172D6A1B67D15707323
PRODUCT: MATLAB;Simulink
PRODUCT_BASECODE: SR
BLOCK:
-accum;AAA;Abs;Abs Output Reset;Action;Add;BBB;Constant;FCI ;FcnCallLatch;Function-Call Split;If;In;Mux;Out;Pulse Generator;Reference;Saturation;Saturation between -0.75 and 0.75 Output held;Scope;Sine Wave;SubSystem;Sum;Unit Delay;accum;f

BLOCKTYPE:
Abs;ActionPort;Constant;DiscretePulseGenerator;Function-Call Generator;FunctionCallFeedbackLatch;FunctionCallSplit;If;Inport;Mux;Outport;Saturate;Scope;Sin;Sum;TriggerPort;UnitDelay


MODELNAME: slreportgen_demo_InitResetTerm
PATH: examples/rptgenext/main/slreportgen_demo_InitResetTerm.slx
ANNOTATION: Copyright 2020-2021 The MathWorks, Inc
BLOCKTYPE: Constant;DiscreteIntegrator;EventListener;Scope;StateReader;StateWriter;Terminator
BLOCKTYPE_FREQUENCY: 3;1;3;1;1;2;1
CHECKSUM: D2E0620BE392BF82624534C9E3B48C44
PRODUCT: MATLAB;Simulink
PRODUCT_BASECODE: SR
BLOCK:
Constant;Discrete Integrator;Event Listener;Initialize Function;Reset Function;Scope;State Reader;State Writer;SubSystem;Terminate Function;Terminator


MODELNAME: slrgex_datatypedemo
PATH: examples/rptgenext/main/slrgex_datatypedemo.slx
ANNOTATION: Data Type Example Copyright 2004-2015 The MathWorks, Inc.
BLOCKTYPE: DataTypeConversion;Enumerated Constant;Inport;Outport;RelationalOperator;Scope;Sin;Switch
BLOCKTYPE_FREQUENCY: 4;3;1;1;1;2;1;2
CHECKSUM: 1CBCB10CADDE3ABA2C28EECA0D30D7C4
PRODUCT: MATLAB;Simulink
PRODUCT_BASECODE: SR
DESCRIPTION:
Data Typing in Simulink This example shows how to use data types in Simulink. The model used in this example converts a double-precision sine wave having an amplitude of 150 to various data types and displays the converted signals on two scopes. The first scope shows the original sine wave and the result of converting this signal to signed and unsigned 8-bit integer data types with saturation enabled. The bottom axes show the boolean results of comparing the signed and unsigned integer values. The second scope shows the original sine wave and the result of converting this signal to two fixed-point data types: one high-resolution, the other lower resolution. The bottom axes show the result of mapping the sine wave to an enumerated data type that indicates whether the signal is positive, negative or zero. Similar data type support exists for parameters and states. Simulink also supports other integer and floating-point data types, such as, single, int16, and uint32, and fixed-point types with slope/bias and wordlengths from 1 to 128 bits. You can also define types for bus signals and aliases for existing types. NOTE: If you do not have a license for Fixed-Point Designer(TM) then the fixed-point signals will be replaced by single-precision signals. 

BLOCK:
Convert to fixed point;Convert to fixed point (2);Convert to int;Convert to uint;Enumerated Constant;In;Map to enumerated type;More Info;Out;Reference;Relational Operator;Scope;Sine Wave;SubSystem;Switch


MODELNAME: slrgex_sldemo_bus_arrays
PATH: examples/rptgenext/main/slrgex_sldemo_bus_arrays.slx
BLOCKTYPE_FREQUENCY: 1;1;2;7;1;5;1;12;1;2;1;1;1;1;6
CHECKSUM: 5A62FD35CEE5A90E2BFABEC9E62AE29D
PRODUCT: Embedded Coder;MATLAB;Simulink;Simulink Documentation
PRODUCT_BASECODE: SR
ANNOTATION:
Create an array of buses with a Vector Concatenate block Iterate over an array of buses with a For Each Subsystem block Select elements from an array of buses with Selector blocks Copyright 1990-2021 The MathWorks, Inc. Model Arrays of Buses Assign to an element of an array of buses with an Assignment block Use arrays of buses with any of the following nonvirtual blocks: Memory, Zero Order Hold, Rate Transition, Merge, Switch, and Multiport Switch blocks Create a nonvirtual bus with a Constant block

BLOCK:
Assignment;Bus Assignment;Bus Creator;Bus Selector;Callback Button;Constant;Display;For Each Subsystem;Foreach;Gain;In;Memory;Out;Scope;Selector;SubSystem;Vector Concatenate

BLOCKTYPE:
Assignment;BusAssignment;BusCreator;BusSelector;Concatenate;Constant;CustomCallbackButton;Display;ForEach;Gain;Inport;Memory;Outport;Scope;Selector


MODELNAME: DVBS2BentPipeLinkModel
PATH: examples/satcom/main/DVBS2BentPipeLinkModel.slx
CHECKSUM: E085C21EABEED37AB52741A697FCD8C3
PRODUCT: Communications Toolbox;DSP System Toolbox;MATLAB;Simulink
PRODUCT_BASECODE: SI
ANNOTATION:
BER Errors Bits BER Results (with reset) Noisy signal (input 2) has power S+N. Noiseless signal (input 1) has power S. (S+N)/S = 1 + N/S = 1 + 1/SNR. Es/No = 10*log10(sps*SNR). These two Memoryless Nonlinearity blocks should always have the same settings. Copyright 2021 The MathWorks, Inc. BER PER Satellite Repeater Ground Station Uplink Transmitter  To change parameters as the model is running, apply the changes from the Model Parameters dialog and then apply Update Diagram to the model (ctrl-d). Received Constellation Eye Diagrams  BER While running the simulation, double-click on the blocks to open or close scopes Uplink HPA AM/AM and AM/PM #Pkts #Errs Ground Station Downlink Receiver Bent Pipe DVB-S2 Link with RF Impairments and Corrections #Bits #Errs Power Spectra Intermediate Constellations Uplink Path Power Measurements 

BLOCK:
 Demux ; SFunction ; Terminator ;AGC;Abs;Add;Antenna and RX Front End;BCH Decoder;BCH Enc Out;BCH Encoder;BER;BER Calculation;BER Measurements;Bernoulli Binary Generator;Bit Source, Channel Coding, Interleaving;Bit Src;Buffer;Buffer for Coding;Calc PER;Calculate Rx Power and Uplink Es/No;Carrier Synchronizer;Chebyshev Filter Output Eye Diagram;Close Eye Diagrams;Close Intermediate Constellations;Close Power Measurements;Close Received Constellation;Close Spectrum Analyzers;Close Uplink HPA AM/AM and AM/PM;Complex to Magnitude-Angle;Complex to Real-Imag;Constant;DC Blocker;DC Blocker Control;DC Blocking;DC Offset;DPD;DPD Coefficient Estimator;Deinterleaver;Deinterleaving, Channel Decoding, Unbuffering;Digital Pre-Distortion;Discrete Filter;Display;Display Filter Output Power (dBm);Display HPA Output Power (dBm);Divide;Doppler Correction;Doppler Error;Downlink Path;Error Rate Calculation;Estimate Noise Variance;Eye Diagrams;Find Delay;Frame Alignment;From;Gain;Goto;Ground Station Output Power (W);Ground Station Receiver Noise Figure;Ground Station Rx Dish Antenna Gain;Ground Station Tx Dish Antenna Gain;Ground Station Tx and Rx Spectra;HPA AM to AM;HPA AM to PM;HPA Nonlinearity;I/Q Imbalance;I/Q Imbalance Compensator;I/Q Imbalance Correction;In;Info;Input&Output of HPA;Interleaver;Intermediate Constellations;Intlv Out;LDPC Bit Error Rate;LDPC Dec;LDPC Decoder;LDPC Encoder;LDPC Error Rate Calculation;LNA;LNA Out;Logical Operator;M-PSK Demodulator Baseband;M-PSK Modulator Baseband;Matrix Concatenation;Mean;Memoryless Nonlinearity;Model Parameters;No. of Iterations;No. of Parity-Check Failures;Noiseless Uplink Signal Power (dBm);Noisy Uplink Signal Power (dBm);NumIter;Onboard Constellations;Onboard Processing;Onboard Spectra;Open Eye Diagrams;Open Intermediate Constellations;Open Power Measurements;Open Received Constellation;Open Spectrum Analyzers;Open Uplink HPA AM/AM and AM/PM;Out;PER;Packet Error Calculation;Packet Error Rate;ParChk;Phase Noise;Power Measurements;Power Meter;Power Spectra;QPSK Demod;RF Corrections;RRC Signal Before and After Uplink HPA;Radians to Degrees;Raised Cosine Receive Filter;Raised Cosine Transmit Filter;Real-Imag to Complex;Received Constellation;Receiver Thermal Noise;Reciprocal;Reference;Rx;Rx Eye Diagram;Sat AGC Output Eye Diagram;Satellite Output Power (W);Satellite Rx Dish Antenna Gain;Satellite Tx Dish Antenna Gain;Selector;SubSystem;Subsystem;Subtract;Sum;Sum of Elements;Switch;Tx;Unbuffer;Unbuffer Packets;Unwrap;Uplink Es/No;Uplink FSPL;Uplink HPA AM/AM and AM/PM;Uplink HPA Nonlinearity with Optional DPD;Zero Pad;dB Conversion;estVar;modIdx;out;x

BLOCKTYPE:
AGC;Abs;BCH Decoder;BCH Encoder;Bernoulli Binary Generator;Buffer;Carrier Synchronizer;ComplexToMagnitudeAngle;ComplexToRealImag;Concatenate;Constant;ConstellationDiagram;CustomCallbackButton;DPD;DPD Coefficient Estimator;Delay;Demux;DiscreteFilter;Display;Error Rate Calculation;EyeDiagram;Find Delay;Free Space Path Loss;From;Gain;General Block Deinterleaver;General Block Interleaver;Goto;I/Q Imbalance;I/Q Imbalance Compensator;Inport;LDPC Decoder;LDPC Encoder;Logic;M-PSK Demodulator Baseband;M-PSK Modulator Baseband;Mean;Memoryless Nonlinearity;Model Parameters;Outport;Pad;Phase Noise;Phase/Frequency Offset;Product;RadiansToDegrees;Raised Cosine Receive Filter;Raised Cosine Transmit Filter;RealImagToComplex;Receiver Thermal Noise;S-Function;Selector;SpectrumAnalyzer;Sum;Switch;Terminator;Unwrap;dB Conversion;dsp.simulink.DCBlocker;dsp.simulink.PowerMeter

BLOCKTYPE_FREQUENCY:
2;1;1;1;1;2;1;2;1;1;8;5;1;1;1;2;1;1;21;3;3;3;2;22;8;1;1;15;1;1;22;1;1;1;1;1;9;3;1;24;2;1;1;2;1;1;1;2;2;1;1;2;5;4;1;1;3;1;8


MODELNAME: ccsdsTMReceiver
PATH: examples/satcom_whdl/main/ccsdsTMReceiver.slx
BLOCKTYPE_FREQUENCY: 1;2;2;21;3;22;1;9;475;52;1;1;4;16;10;13;6;18;199;39;3;1;3;5;1;156;7;19;2;3;7;271;18;1;2;35;4;2;2
CHECKSUM: AB1E9A33B7C769B47FF332AD79280F5C
PRODUCT_BASECODE: SI;LH
ANNOTATION:
 1) Add Subsystem or Model blocks as valid variant choices. 2) You cannot connect blocks at this level. At simulation, connectivity is automatically determined, based on the active variant and port name matching.  1) Add Subsystem or Model blocks as valid variant choices. 2) You cannot connect blocks at this level. At simulation, connectivity is automatically determined, based on the active variant and port name matching.  1) Add Subsystem or Model blocks as valid variant choices. 2) You cannot connect blocks at this level. At simulation, connectivity is automatically determined, based on the active variant and port name matching. Proportional-Plus-Integrator Loop Filter, Infinite DC Response to guarantee convergence Copyright 2023 The Mathworks, Inc HDL CCSDS TM Receiver

BLOCK:
 Demux ; SFunction ; Terminator ;1-D Lookup Table;AND;ASM Synchronizer;Add;BPSK Demodulator;BPSK Frame Synchronizer;Bit Concat;BitByteConversion;ByteBitConversion;CCSDS RS Decoder;CCSDS TM Receiver;Capture Data Bits;Carrier Synchronizer;Channel Decoder;Compare To Constant;Complex to Real-Imag;Concatenated RS Decoder;Constant;Control Scope;Convolutional Decoder;Data Type Conversion;Delay;Delta;Demux;Discrete FIR Filter;Display;Enable;Exp;Extract Bits;FIFO;Frame Correlation;FrameCorrelation;From;GTED;Gain;Gardner TED;Goto;HDL Counter;IQPhase;In;Integ Gain;Integer Delay;Interpolation Control;Interpolation Filter;K;Logical Operator;Loop Filter;MATLAB Function;Multiport Switch;Mux;NCO;NOT;No HDL;OR;Out;Phase Error Detector;PhaseError;Pop Counter;Product;Prop Gain;Push Counter;QPSK ASM Synchronizer;QPSK Demodulator;RS Decoder;Rate Handle;Receiver Constellations;Reference;Sample Control Bus Creator;Sample Control Bus Selector;Simple Dual Port RAM;SubSystem;Subsystem;Subtract;Sum;Sum of Elements;Sum of Elements I;Sum of Elements Q;Sum of Elements_;SumI;SumQ;SumofElementsI;SumofElementsQ;Switch;Symbol Demodulator;Symbol Synchronizer;Synchronization;Tapped Delay Enabled Synchronous;Terminator;To Workspace;Underflow;Uniform Quantization;Unit Delay Enabled Synchronous;Validate Input Push Pop;Viterbi Decoder;XOR;bitIn;bitOut;byteIn;byteOut;calcMaximum;calcMaximumPhase;corrout;count;csIn;csValid;ctrl;ctrlIn;ctrlOut;data;dataI;dataIn;dataOut;dataPacking;dataQ;datao;ddsOut;decData;decValid;demodData;demodValid;dir;divide by ;e;enb;fOfSiYi;fOfSiYi_;fOfSiYi_I;fOfSiYi_Q;frame;frameCorrelate;frameValid;fvalid;in;interpolant;iqPhase;iqphase;loopFiltering;maxCorr;maxcorr;memoryController;mu;mulInteg;mulProp;newFrame;newframe;normFreqOffset;numEntries;out;peakPos;peakout;peakpos;phase;phaseout;pop;popEmpty;popEmptyDiag;popEmptyFIFO;pos;possync;push;pushFull;pushFullDiag;pushFullFIFO;rdData;rdValid;rdaddr;rdenb;rdvalid;reset;rrcIn;rrcValid;rst;rx;rxIn;rxValid;rxValidIn;ssIn;ssValid;start;strobe;syncControl;syncFrameControl;syncFrames;syncStatus;syncValid;syncstatus;v;valid;valid pop;valid push;validIn;validOut;validPop;valido;validsync;wraddr;wrdata;wrenb

BLOCKTYPE:
ArithShift;Bit Concat;CCSDS RS Decoder;Compare To Constant;ComplexToRealImag;Constant;ConstellationDiagram;DataTypeConversion;Delay;Demux;Discrete FIR Filter;Display;EnablePort;Extract Bits;From;Gain;Goto;HDL Counter;Inport;Logic;Lookup_n-D;Math;MultiPortSwitch;Mux;NCO;Outport;Product;S-Function;Sample Control Bus Creator;Signal From Workspace;Simple Dual-port RAM;Sum;Switch;Symbol Demodulator;Tapped Delay Enabled Synchronous;Terminator;ToWorkspace;Unit Delay Enabled Synchronous;Viterbi Decoder

PRODUCT:
Communications Toolbox;DSP HDL Toolbox;DSP System Toolbox;Fixed-Point Designer;MATLAB;Simulink;Wireless HDL Toolbox


MODELNAME: gpshdlAcquisitionTracking
PATH: examples/satcom_whdl/main/gpshdlAcquisitionTracking.slx
CHECKSUM: 3BA94F6BFDCED120EB71B5C6968AF20E
PRODUCT: Communications Toolbox;DSP HDL Toolbox;DSP System Toolbox;Fixed-Point Designer;MATLAB;Simulink
PRODUCT_BASECODE: SI;LH
ANNOTATION:
Asserts for every 1ms of valid input data  The ready signal stops new acquisitions until the current acquisition is completed or if there is a reset signal. Reshape PRNIDs into an output vector of required size. The output vector size is equal to the number of parallel satellite acquisitions.  reset should apply 1 clock ahead of other signals Wait till the currently processing IFFT data is flushed out and then give output reset  Perform correlation with satellite C/A codes of PRNIDs from 1 to 8. Also perform correlation with invalid C/A code (PRNID 0) for noise threshold estimation. Wait till the currently processing IFFT data is flushed out and then give output reset  Perform correlation with satellite C/A codes of PRNIDs from 9 to 16 Wait till the currently processing IFFT data is flushed out and then give output reset  Perform correlation with satellite C/A codes of PRNIDs from 17 to 24 Wait till the currently processing IFFT data is flushed out and then give output reset  Perform correlation with satellite C/A codes of PRNIDs from 25 to 32 Once all coarse frequency values are done searching, a satellite search iteration completes. Four satellites are searched parallelly in each iteration. Store PRNIDs and valid signals of satellites to be searched. The PRNIDs are read out from the FIFO and correlation is performed for it. The correlation is performed only if the valid signal is HIGH.  If there is a reset, force dummy valids into the FFT block to push out the currently processing data. This is an alternative logic for resetting the block. If there is a reset signal, do not propagate the enableIn signal. Wait till the currently processing FFT data is flushed out, and then propagate the signal. When 21 frequency values are searched, 1 search iteration completes. In each iteration, 4 satellites are searched in parallel. When maxSearchIter number of search iterations complete, all satellites are done searching for. So stop reading data from the RAM. For every 4096 (FFT length) valid samples, 1 frequency search completes.  Sort PRNIDs, code phase offsets, and doppler offsets in the decreasing order of peak correlation values and give them out as a vector. The output vector size is equal to the number of tracking loops.  If there is an input reset, stop giving sort function output. Wait for the input reset to propagate through acquisition till the sort function and then enable the function output.  Once acquisition is done (satDetValid HIGH), wait for the next 1ms epoch and start accepting Rx data for Tracking. Time multiplex and use the same divide block for all 8 tracking channels to compute delay error Change quadrant based on input sign Frequency Discriminator Phase Discriminator Complex to Magnitude-Angle block is time shared between frequency and phase discriminators. Logic for atan2 to atan conversion The block computes previous phase, current phase, and prompt phase in 3 consecutive cycles current phase - previous phase Time multiplex and use the same frequency and phase discriminator for all 8 tracking channels  Map 32768-length C/A code to 1023-length code (many-to-one mapping)  Prompt  Scaling  Early Use switch instead of a multiplier because the second input to the multiplier (BPSK Modulated C/A code) is always a +1 or -1. Use switch instead of a multiplier because the second input to the multiplier (BPSK Modulated C/A code) is always a +1 or -1. Use switch instead of a multiplier because the second input to the multiplier (BPSK Modulated C/A code) is always a +1 or -1. dllGain is the first order filter gain of DLL. T is the predetection integration time and is an extra multiplication, both clubbed in a single gain. Divide block fllGain is the first order filter gain of FLL. T is the predetection integration time and is an extra multiplication, both multiplied in single gain. Frequency Loop Filter Bilinear Transformation Integrator Frequency and Phase Discriminator  Add and accumulate consecutive input samples of 1ms duration and give the accumulated value out. Reset (dump) the register and start adding new samples of next 1ms.  Add and accumulate consecutive input samples of 1ms duration and give the accumulated value out. Reset (dump) the register and start adding new samples of next 1ms.  Add and accumulate consecutive input samples of 1ms duration and give the accumulated value out. Reset (dump) the register and start adding new samples of next 1ms. For giving input to frequency discriminator, two accumulated values are computed. One is the accumulated value of the first 1/2 ms and the other is that of the next 1/2 ms. Pre-scaling  Start plotting the constellation from 70th symbol onwards, as the loop doesnt converge properly till then.  Plot the estimated doppler offset, C/A code phase offset and LNAV symbols of only the 1st detected satellite out of 8 satellites. false true  Copyright 2022-2023 The MathWorks, Inc. GPS HDL Acquisition and Tracking Using C/A Code

BLOCK:
 Demux ; SFunction ; Terminator ;2D LUT;AcqDone;Acquisition;Acquisition and Tracking;AcquisitionDone;Add;Amplitude Square;Amplitude Square ;Bias;CA Code;CA Code Frequency Domain Conjugate;CA Code Replica;CIC Decimator;Carrier Wipeoff;Code Phase Offset;Code Wipeoff;Code Wipeoff Early;Code Wipeoff Late;Code Wipeoff Prompt;Compare To Constant;Complex Multiplier;Complex to Magnitude-Angle;Complex to Real-Imag;Conjugate;Constant;Constellation Diagram;Control Acquisition;Correlation;Counter;Data Type Conversion;Data Type Propagation;Decimation;Delay;Delay Discriminator;Delay Discriminator and Loop Filter;Demux;Diagnostic Decoder;Discriminators and Loop Filters;Divide;Doppler Offset;E;Early;Enable;Enabled Subsystem;FFT;FIR Decimator;Find Start of Frequency Search;For Each;For Each Subsystem;Frequency;Frequency Domain Correlation;Frequency Domain Correlation ;Frequency Loop Filter and Integrator;Frequency and Phase Discriminator;Frequency and Phase Discriminators;From;Gain;Generate Code Phase and Pop Signal;Generate Epoch;Goto;HDL Counter;HDL FIFO;Half Chip Delay;Hold Acquisition;IFFT;In;Index Mapper;Input Configuration;Integrate and Dump;Integrate and Dump Early;Integrate and Dump Late;Integrate and Dump Prompt;Invalid CA Code Frequency Domain Conjugate;LUT;Late;Logical Operator;Loop Filter;Loop Over Coarse Frequency Indices;Loop Over Code Phases;Loop Over Search Iterations;MATLAB Function;Manual Switch;Multiport Switch;Mux;NCO;Out;Output PRNIDs Vector;PRNID;PRNID of 1st Satellite;PRNIDIn;PRNIDOut;PRNIDSort;PRNIDValid;PRNIDValidIn;PRNIDValidOut;PRNIDs;PRNIDsIn;PRNIDsOut;PRNIDsToSearch;PRNIDsValid;PRNIDsValidOut;Peak Detector;Phase;Phase Loop Filter;Phase Loop Filter and Integrator;Pop;Pop PRNIDs To Search;Product;Prompt;Pulse;Push;R;RAM Read Address;RAM Read Logic;RAM Read and Write;RAM Write Logic;RAMReadAddr;RAMReadValid;Real-Imag to Complex;Reference;Relational Operator;Replica CA Code;Reshape PRNIDs Vector;Sample PRNID;Satellite Correlation;Scaling;Selector;Serializer;Sign;Signal From Workspace;Signal Specification;Simple Dual Port RAM;Sort Function;Sort and Prepare Outputs;SubSystem;Subsystem;Sum;Sum of Elements;Switch;Terminator;Time Scope;Timing Adjust;To Workspace;Toggle Scopes;Tracking;Tracking Core;Unary Minus;Unit Delay Enabled Synchronous;Upsample;Valid;accumDataEarly;accumDataLate;accumDataPrompt;asyncReset;caSymbolsEarly;caSymbolsLate;caSymbolsPrompt;carrierConj;carrierWipedOffData;coarseCodePh;coarseCodePhOffset;coarseCodePhase;coarseDoppler;coarseDopplerOffset;coarseFreqInd;codePhOffset;codePhOffsetIn;codePhOffsetOut;codePhOffsetSort;codePhase;codePhaseIn;codePhaseOffset;corrVal;corrValIn;corrValOut;correlation;count;current;data;dataEarly;dataIn;dataLate;dataOut;dataPrompt;decimData;delay;delayErr;delayErrValid;discValidIn;divComputed;divComputedValid;divideIn;divideOut;divideOutValid;divideValidIn;doppOffset;doppOffsetIn;doppOffsetOut;doppOffsetSort;doppler;dopplerIndex;dopplerOffset;earlyData;enableIn;enb;endIn;errValid;fftOut;fftValid;fineCodePhOffset;fineCodePhase;fineDopplerOffset;firstHalfSum;freqDiscInp;freqErr;freqInd;freqIndex;frequency;idxIn;idxOut;in;inputValid;lateData;lnavSym;lnavSymValid;maxCorr;oneFreqSearchDone;oneSatLoopDone;oneSearchIterDone;onemsEpoch;out;phase;phaseDiscInp;phaseErr;phaseFreqValid;phaseIn;phaseValidIn;pipelinedReset;pop;popOut;previous;prnID;promptDataCurrent;promptDataFirstHalf;promptDataPrev;promptDataSecondHalf;ramDataIn;ramDataOut;ramDataValid;ramWriteAddr;ramWriteDone;ramWriteValid;reset;resetOut;resetTrackCh;resetTrackChannel;restartAcq;rxData;rxDataIn;rxValid;rxValidIn;rxValidOut;rxWaveform;samplePRNID;sampledExtraChipLoc;satDetValid;satDetected;secondHalfSum;selectInput;start;startAcq;startAcqOut;startIn;stopRAMRead;threshold;u;valid;validIn;validOut;y

BLOCKTYPE:
Bias;CIC Decimator;Compare To Constant;Complex to Magnitude-Angle;ComplexToRealImag;Constant;ConstellationDiagram;Data Type Propagation;DataTypeConversion;Delay;Demux;Display;EnablePort;FFT;FIR Decimator;ForEach;From;Gain;Goto;HDL Counter;HDL_FIFO;IFFT;Inport;Logic;LookupNDDirect;ManualSwitch;Math;MultiPortSwitch;Mux;NCO;Outport;Product;RealImagToComplex;RelationalOperator;S-Function;Scope;Selector;Signal From Workspace;SignalSpecification;Signum;Simple Dual-port RAM;Sum;Switch;Terminator;ToWorkspace;UnaryMinus;Unit Delay Enabled Synchronous;Upsample

BLOCKTYPE_FREQUENCY:
2;1;54;1;16;71;1;22;27;440;15;1;8;1;1;13;27;22;22;29;2;4;518;145;6;1;2;5;5;2;329;25;7;3;14;2;32;2;7;2;1;72;60;28;5;3;55;3


MODELNAME: gpshdlDataDecodePositionEstimation
PATH: examples/satcom_whdl/main/gpshdlDataDecodePositionEstimation.slx
BLOCKTYPE_FREQUENCY: 2;5;36;1;32;13;109;13;9;20;6;15;20;174;91;2;1;4;13;113;2;16;1;12;49;2;2;9;15;15;7;21;2
CHECKSUM: 5068426F590FCB6BC2581C596A914C5B
PRODUCT: DSP System Toolbox;Embedded Coder;Fixed-Point Designer;MATLAB;Navigation Toolbox;Simulink
PRODUCT_BASECODE: SI;LH
ANNOTATION:
Stage 3 Stage 2 Stage 1 Vector to serial Buffer helps to store initial symbols till bit synchronization completes. change in the sign Find the index with max transitions Stage 3 Stage 2 Stage 1 Check if HOWTOW agrees with subframe ID Enable data decoding from the 60th input bit (2 GPS words)  After a subframe is available, start reading  Give out decodedWords only when you have an entire subframe (10 words) available in RAM Rising edge detector Regular preamble matched Inverted preamble matched  To avoid negative number in the output Start position estimation only after 50 words (1 GPS frame) Total time duration from the start of signal reception till a valid GPS subframe is detected. Ideally, the transmission start time should be subtracted from the receiver reception time to compute pseudoRange. But, as the receiver reception time is the same for all the detected satellite channels, it is absorbed in the calculations and thus ignored.  Convert last two parameters back to uint32. Then, all parameters to double. Select and store latest input between the two Categorize Scale and Vectorize Scale and Vectorize GPS HDL Data Decode and Position Estimation  Copyright 2023 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Add;Almanac Data;Almanac Reference Time;AlmanacParam;Assignment;Bit Concat;Bit Counter;Bit Synchronization;Bit and Word Counters;Buffer;Buffer Logic;CA Code Blocks Counter;CEI;Compare HOWTOW With SubframeID;Compare To Constant;Complex to Real-Imag;Configure Input Generation;Constant;Current Buffer Length;D;D29Star;D30Star;DTC;Data Decode;Data Decode Core;Data ID and SVID;Data Interpretation;Data Type Conversion;Decode Word;Delay;Delay Init ;Demux;Detect Change;For Each;Frame Sync Index Counter;Frame Synchronization and Data Decoding;From;Gain;Goto;HDL Counter;HOWTOWValid;Hold Data Decode;Hold Decoding;Hold Position Estimation;In;IntegrityStatusFlag;Inverted matched;Logical Operator;MATLAB Function;Manual Switch;Mux;NonEmpty Buffer;Other Than Almanac Data;Out;Parameters;Position Estimation;Preamble matched;Prepare Outputs;Product;RAM Read;RAM System;RAM Write;Read Counter;Receiver Position;Reference;Relational Operator;Reshape;SV ID;SVID;Scale;Scaling;Scaling Factors;Selector;Serializer;Signal From Workspace;Simple Dual Port RAM;Store Inversion Flag;Store Latest IODE;SubSystem;Subframe 1_2_;Subframe 4_;Subframe Buffer;Subframes 1_2_;Subframes 4_;Subsystem;Subtract ;Switch;TLMMessage;Telemetry Word;Terminator;To Workspace;Transmission Time Offset;Transpose;UTC;Unit Delay Enabled Resettable Synchronous;Unit Delay Resettable Synchronous;Word Counter;Word Decode;WordCountRst;Write Counter;almDataIn;almDataStart;almanacData;almanacDataStart;almanacParam;bitSyncIdx;bitTransitionIdx;bits;bitsOut;bitsValid;ceiOut;coarseCodeOffsetTime;coarseCodePhaseTime;count;currentWord;currentWordParity;decodedBits;decodedData;decodedWord;decodedWordOut;decodingActive;enableBitCount;enb;estRecPos;fineCodeOffsetTime;fineCodePhaseTime;frameDecodingActive;frameSync;frameSyncIdx;frameSyncStartIdx;frameSyncStartIn;in;initialWord1In;invertFlag;invertOn;lnavSym;lnavValid;maxIdx;mod;otherParam;out;paramSerial;paramVec;parameter;parameterSet;parameterSetStart;parityPassed;prevWord;pseudoRange;rd_addr;rd_dout;reset;resetOut;rst;rxEstPos;satPos;start;startDecode;subFrNum;subFrameNum;subFrameNumIn;subfrNum;subfrNumber;subframeID;subframeNum;subframeNumber;svID;tOffset;transIdx;transition;twoWords;valid;validOut;validWordNum;values;word;word1 parity;wordCount;wordEnd;wordNum;wordNumber;wordValid;wordValidIn;wr_addr;wr_din;wr_en;y

BLOCKTYPE:
Assignment;Bit Concat;Compare To Constant;ComplexToRealImag;Constant;DataTypeConversion;Delay;Demux;ForEach;From;Gain;Goto;HDL Counter;Inport;Logic;LookupNDDirect;ManualSwitch;Math;Mux;Outport;Product;RelationalOperator;Reshape;S-Function;Selector;Signal From Workspace;Simple Dual-port RAM;Sum;Switch;Terminator;ToWorkspace;Unit Delay Enabled Resettable Synchronous;Unit Delay Resettable Synchronous


MODELNAME: AbstractCombustionEngineCar
PATH: examples/sdl/main/AbstractCombustionEngineCar.slx
BLOCKTYPE_FREQUENCY: 2;3;8;2;1;1;8;3;2;3;1;6;9;9;5;2;1;1;5;1;1;1;1;1
CHECKSUM: E3E11CAC472E4263BB0F1DF7DE7100BF
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
 1. Plot input signals (see code) 2. Plot speeds, gear position, and so on (see code) 3. Analyze transmission slip 4. Explore simulation results using Simscape Results Explorer 5. Learn more about this example Abstract Combustion Engine Car Copyright 2022 The MathWorks, Inc.

BLOCK:
Bus Creator;Bus Selector;C;Controller;EngSpd;Engine Friction;Final Reduction;From;From Workspace;Gain;Gear;Generic Engine;Goto;Ideal Rotational Motion Sensor;Impeller Inertia;In;InSpd;Longitudinal Vehicle;Mechanical Rotational Reference;Out;PS-Simulink Converter;R;Reference;Scope;Simulink-PS Converter;Solver Configuration;Spd;SubSystem;Subsystem;Terminator;Thr;Torque Converter;Transmission;Transmission Friction;Turbine Inertia;Unit Conversion;Veh;output

BLOCKTYPE:
BusCreator;BusSelector;From;FromWorkspace;Gain;Generic Engine;Goto;Ideal Rotational Motion Sensor;Inertia;Inport;Longitudinal Vehicle;Mechanical Rotational Reference;Outport;PMIOPort;PS-Simulink Converter;Rotational Damper;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Terminator;Torque Converter;Transmission;UnitConversion


MODELNAME: AutomotiveClutch
PATH: examples/sdl/main/AutomotiveClutch.slx
DESCRIPTION: Automotive Clutch
BLOCKTYPE_FREQUENCY: 1;1;2;1;3;1;3;3;9;1;2;1;1;1;1;3;1;1;1;1;1;1;1;1
CHECKSUM: 10A87EDFF11D7BE162500ADB96EE5526
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Clutch To Transmission From Engine Automotive Clutch  1. Open input script 2. Plot function diagram (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2019-2022 The MathWorks, Inc.

BLOCK:
Automotive Clutch;ClutchBase;ClutchFollower;ClutchPressure;Diaphragm spring;Disk Friction Clutch;Engagement surface area;Engine;Follower;Hub;Ideal Force Sensor;Ideal Force Source;Ideal Rotational Motion Sensor;Inertia;Lever;Lever Mechanism;LeverOutF;Mechanical Rotational Reference;Mechanical Translational Reference;PS Constant;PS Saturation;PS Terminator;PS-Simulink Converter;Pressure Plate and Diaphragm Spring;Reference;Rotational Damper;Rotational Hard Stop;Rotational Spring;Saturation;Scope;Secondary Cylinder Force;SecondaryCylF;SecondaryCylForce;Simulink-PS Converter;Solver Configuration;SubSystem;TorqueOut;Translational Damper;Translational Spring;Transmission

BLOCKTYPE:
Disc Friction Clutch;Ideal Force Sensor;Ideal Force Source;Ideal Rotational Motion Sensor;Inertia;Lever;Mechanical Rotational Reference;Mechanical Translational Reference;PMIOPort;PS Constant;PS Gain;PS Saturation;PS Terminator;PS-Simulink Converter;Ramp;Rotational Damper;Rotational Hard Stop;Rotational Spring;Saturate;Scope;Simulink-PS Converter;Solver Configuration;Translational Damper;Translational Spring


MODELNAME: CRCRFourSpeedTransmission
PATH: examples/sdl/main/CRCRFourSpeedTransmission.slx
DESCRIPTION: CR-CR Four-Speed Transmission
BLOCKTYPE_FREQUENCY: 9;2;6;7;4;9;1;1;6;4;6;1;1;16;3;1;1;2;1;1;1;1;1;2;2;2;1;6;1;8;4;6
CHECKSUM: 7F90CECCC0DDF51183E995F5108DD730
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
 Gear A B C D R Ratio R 0 0 0 1 1 -g1 1 1 0 0 1 0 g2 2 1 0 1 0 0 (g1+g2)/(1+g1) 3 1 1 0 0 0 1 4 0 1 1 0 0 g1 /(1+g1) g1: Input planetary ring/sun gear ratio g2: Output planetary ring/sun gear ratio 0 - Disengaged, 1 - Engaged  Clutch Schedule  Select Gear Use this subsystem as a manually switchable clutch control for the CR-CR transmission. For complete control, change the simulation time to infinity.  Manually Switchable Clutch Control for the CR-CR Transmission  Output Shaft Speed (RPM) Use this subsystem to control the CR-CR transmission with a preprogrammed schedule of clutch pressures.  Programmed Clutch Control for the CR-CR Transmission CR-CR Four-Speed Transmission  1. Plot speeds of shafts (see code) 2. Configure Clutch Control: Programmed, Manual 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2016-2022 The MathWorks, Inc.

BLOCK:
 Po ;Apply Brake;Brake;Brake Clutch Actuator;Brake Signal;Cl;Clutch A;Clutch A Actuator;Clutch B;Clutch B Actuator;Clutch C;Clutch C Actuator;Clutch Control;Clutch D;Clutch D Actuator;Clutch Pressures;Clutch R;Clutch Schedule;Clutches;Clutches Gear ;Clutches Gear N;Clutches Gear R;Cmd;Constant;Damper Input;Damper Output Shaft;Demux;From;G;Gear;Goto;Half Gauge;In;Inertia Input Carrier Output Ring;Inertia Input Shaft;Inertia Input Sun;Inertia Output Carrier Input Ring;Inertia Output Shaft;Inertia Output Sun;Input Planetary Gear ;MRRef;MRRef Clutch C;MRRef Clutch D;MRRef Damper Input;MRRef Damper Output Shaft;MRRef Torque Source;Manual;Motion Sensor;Mux;Out;Output Planetary Gear;P;PS-Simulink Converter;Po;Programmed;Push Button;Quantizer;R;Ramp;Rate Limiter;Reference;Rotary Switch;Saturation;Scopes;Select Clutch States;Sensor Output Shaft;Shaft Speed;Simulink-PS Converter;Solver Configuration;Step;SubSystem;Sum;Torque;Torque Source;Transmission;Validate Brake Choice;Validate Gear Choice;w

BLOCKTYPE:
Constant;Demux;Disc Friction Clutch;From;Gain;Goto;Ideal Rotational Motion Sensor;Ideal Torque Source;Inertia;Inport;Mechanical Rotational Reference;MultiPortSwitch;Mux;Outport;PMIOPort;PS Constant;PS-Simulink Converter;Planetary Gear;PushButtonBlock;Quantizer;Ramp;RateLimiter;RotarySwitchBlock;Rotational Damper;Saturate;Scope;SemiCircularGaugeBlock;Simulink-PS Converter;Solver Configuration;Step;Sum;TransferFcn


MODELNAME: CapstanWithSlip
PATH: examples/sdl/main/CapstanWithSlip.slx
DESCRIPTION: Capstan with Slip
BLOCKTYPE_FREQUENCY: 1;1;2;1;1;1;1;1;1;1;1;2;1;1
CHECKSUM: 8F3F85B0F1C0D4445601090C086EF711
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
 1. Plot speeds, torque, and forces (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Capstan with Slip Copyright 2017-2022 The MathWorks, Inc.

BLOCK:
5 rad/s @ 3 sec;Capstan;Holding force;Ideal Angular Velocity Source;Ideal Force Source;Ideal Translational Motion Sensor;Load force and speed;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;PS Transfer Function;PS-Simulink Converter;Pulling force;Reference;Solver Configuration

BLOCKTYPE:
Belt Pulley;Ideal Angular Velocity Source;Ideal Force Source;Ideal Translational Motion Sensor;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;PS Constant;PS Ramp;PS Step;PS Transfer Function;PS-Simulink Converter;Scope;Solver Configuration


MODELNAME: ClutchesForAcceleratingAndBraking
PATH: examples/sdl/main/ClutchesForAcceleratingAndBraking.slx
DESCRIPTION: Clutches For Accelerating and Braking
BLOCKTYPE_FREQUENCY: 1;2;1;1;6;2;6;3;3;1;2;6;2;6;6;6;2;1;1;3;1
CHECKSUM: C6AC9E137D0A4B0D69532CE4AC7CE46B
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Clutches For Accelerating and Braking  1. Plot shaft speeds (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2003-2022 The MathWorks, Inc.

BLOCK:
Accelerate or Brake;C;Clutch Brake;Clutch Drive;Damper;Drive Torque;Fcn;From;Gain;Gear;Goto;Inertia Drive Shaft;Inertia Output Shaft;MRRef;MRRef Brake;MRRef Damping;MRRef Source;Motion Sensor;Mux;PS-Simulink Converter;PS2S;R;Reference;Scope;Sensor Drive;Sensor Intermediate;Sensor Output;Simulink-PS Converter;Solver Configuration;Speed;SubSystem;Torque;Torque Sensor;Torque Source;tD;tI;tO;wD;wI;wO

BLOCKTYPE:
Constant;Disc Friction Clutch;DiscretePulseGenerator;Fcn;From;Gain;Goto;Ideal Rotational Motion Sensor;Ideal Torque Sensor;Ideal Torque Source;Inertia;Mechanical Rotational Reference;Mux;Outport;PMIOPort;PS-Simulink Converter;Rotational Damper;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration


MODELNAME: CompoundPulley
PATH: examples/sdl/main/CompoundPulley.slx
DESCRIPTION: Compound Pulley
BLOCKTYPE_FREQUENCY: 6;6;4;4;2;1;2;1;1;5;2;2;4;1;5;1;6;2;1;1
CHECKSUM: 2435057A9CBE9178F4A2D2DF0BC7D12E
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Compound Pulley  1. Plot pulley rotation and cable tension (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2017-2022 The MathWorks, Inc.

BLOCK:
Bottom Pulley ;C;Cable;From;Goto;H;Ideal Force Sensor;Ideal Force Source;Ideal Translational Motion Sensor;Ideal Velocity Source;MTRef;Mechanical Translational Reference;Mux;Out;PS-Simulink Converter;Payload Mass;Payload Sensor;Payload Weight Force ;Payload height;Pull Belt;R;Reference;Repeating Sequence;Rotational Free End;Scope;Simulink-PS Converter;Solver Configuration;Source Sensor;SubSystem;Top Pulley 

BLOCKTYPE:
Belt Pulley;Cable;From;Goto;Ideal Force Sensor;Ideal Force Source;Ideal Translational Motion Sensor;Ideal Translational Velocity Source;Mass;Mechanical Translational Reference;Mux;Outport;PMIOPort;PS Constant;PS-Simulink Converter;Repeating table;Rotational Free End;Scope;Simulink-PS Converter;Solver Configuration


MODELNAME: CrankAngleResolvedEngine
PATH: examples/sdl/main/CrankAngleResolvedEngine.slx
DESCRIPTION: Crank Angle Resolved Engine Model
BLOCKTYPE_FREQUENCY: 2;4;1;2;1;1;2;2;1;2;1;1;3;15;4;17;7;1;8;1;2;1;2;1;6;1;1;1;1;1
CHECKSUM: DBA7581E7E0D6CF301AC65DA5A3EE525
PRODUCT: MATLAB;Simscape;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
 You can plot signals in sdlInputSignals by clicking this button.  1. Plot inputs, brake torque and engine speed (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Crank-Angle-Resolved Engine Model Copyright 2017-2022 The MathWorks, Inc.

BLOCK:
-;AFR;B;BrkF;BrkTrq;Bus Creator;Bus Element Out;Bus Selector;Clock;Constant;Crank;Dynamometer;Dyno Brake;Dyno Friction;Dyno Inertia;EngSpd;EngTrq;Engine Starter;F;From;From Workspace Continuous;From Workspace Step;Fundamental Friction Clutch;Goto;Ideal Angular Velocity Source;Ig;IgOnOff;In Bus Element;Inertia;Input signals;Inputs;Load;Mechanical Rotational Reference;OnOff;PS-Simulink Converter;Plots;Probe;R;Reference;Rotational Damper;Rotational Friction;Rotational Spring;SA;Scope;Simulink-PS Converter;Solver Configuration;Spark;Spark Ignition Engine;Spark Ignition Four-Cylinder Engine;Speed and Torque;Sta;Starter Speed;SubSystem;Switch;Thr;Throttle;Time;Torque Sensor;Transducer Inertia;Unidirectional Clutch;Unit Conversion;brk_in;trq;trq_out

BLOCKTYPE:
BusCreator;BusSelector;Clock;Constant;CustomCallbackButton;Display;From;FromWorkspace;Fundamental Friction Clutch;Goto;Ideal Angular Velocity Source;Ideal Torque Sensor;Inertia;Inport;Mechanical Rotational Reference;Outport;PMIOPort;PS Gain;PS-Simulink Converter;Rotational Damper;Rotational Friction;Rotational Spring;Scope;SimscapeProbe;Simulink-PS Converter;Solver Configuration;Spark Ignition Engine;Switch;Unidirectional Clutch;UnitConversion


MODELNAME: CustomClutch
PATH: examples/sdl/main/CustomClutch.slx
DESCRIPTION: Custom Clutch
BLOCKTYPE_FREQUENCY: 1;2;1;2;3;1;3;6;1;1;4;1;1;1;4;4;2;1;1;1;3
CHECKSUM: 37A17EF5931F008463C013CFAD3F6B18
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Custom Clutch  1. Plot speeds of clutch shafts (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2003-2022 The MathWorks, Inc.

BLOCK:
1 Nm;B;Custom Clutch;Effective Radius;F;Fundamental Friction Clutch;Ideal Rotational Motion Sensor;Ideal Torque Source;Inertia ;Lookup Table Dynamic Friction Coefficient;Mechanical Rotational Reference;Mode;Mux;Normalized clutch pressure;Opposite Sign;P;PS Abs;PS Product;PS-Simulink Converter;Peak Force;R;Ramp;Ratio Static Dynamic Friction;Reference;Scope;Signal ;Simple Gear;Simulink-PS Converter;Slip(rad/s);Solver Configuration;Speed Sensor ;SubSystem;Sum;[0, inf];w

BLOCKTYPE:
Fundamental Friction Clutch;Ideal Rotational Motion Sensor;Ideal Torque Source;Inertia;Mechanical Rotational Reference;Mux;Outport;PMIOPort;PS Abs;PS Constant;PS Gain;PS Lookup Table (1D);PS Product;PS Saturation;PS-Simulink Converter;Ramp;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Sum


MODELNAME: CustomPlanetaryGear
PATH: examples/sdl/main/CustomPlanetaryGear.slx
DESCRIPTION: Custom Planetary Gear
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;3;1;4;1;2;1;1;3
CHECKSUM: 63F75538566B56080ACB3125738736BB
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
  N_4/N_7 N_4/N_2 N_5/N_6 Custom Planetary Gear  1. Explore simulation results using Simscape Results Explorer 2. Learn more about this example Copyright 2008-2022 The MathWorks, Inc.

BLOCK:
Bevel Planetary Gear;Damper Input;Damper Output;MRR Damper Output;MRRef;MRRef Velocity Source;Motion Sensor;PS-Simulink Converter;R;RPM;Reference;S;S2PS;Sensor;Solver Configuration;Speed;SubSystem;Sun-Planet Bevel Blue Red;Sun-Planet Bevel Green Red;Sun-Planet Bevel Yellow Red;Velocity Source;w

BLOCKTYPE:
Constant;Coupled Planetary Train with Bevel Gears;Display;Ideal Angular Velocity Source;Ideal Rotational Motion Sensor;Mechanical Rotational Reference;Outport;PMIOPort;PS-Simulink Converter;Rotational Damper;Simulink-PS Converter;Solver Configuration;Sun-Planet Bevel


MODELNAME: DoubleCardanJoint
PATH: examples/sdl/main/DoubleCardanJoint.slx
DESCRIPTION: Double Cardan Joint
BLOCKTYPE_FREQUENCY: 1;6;2;7;2;8;12;1;2;6;1;1;1;1;4
CHECKSUM: 4B7454480869ABA6A1EDFFD04CB84150
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Double Cardan Joint  1. Plot speeds of shafts (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2013-2022 The MathWorks, Inc.

BLOCK:
A;B;Double Cardan Half Angles;Double Cardan Opposite Angles;F;Half;Inertia Ha;Inertia Op;Intermediate Angle;MRRef;Motion Sensor;Mux;Opposite Sign;PS-Simulink Converter;R;Reference;Scope;Sensor B;Sensor F;Sensor I;Simulink-PS Converter;Solver Configuration;Speed;SubSystem;Universal Joint ;Velocity Source;w

BLOCKTYPE:
Ideal Angular Velocity Source;Ideal Rotational Motion Sensor;Inertia;Mechanical Rotational Reference;Mux;Outport;PMIOPort;PS Constant;PS Gain;PS-Simulink Converter;Ramp;Scope;Simulink-PS Converter;Solver Configuration;Universal Joint


MODELNAME: Dynamometer
PATH: examples/sdl/main/Dynamometer.slx
DESCRIPTION: Dynamometer
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;2;5;2;1;1;1;1;1;1;1;1
CHECKSUM: 8569982EA09C24635D68E83F308E1673
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Dynamometer  1. Plot input and absorbed torques and load speed (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2016-2022 The MathWorks, Inc.

BLOCK:
-;Ambient temperature;B;Convective Heat Transfer;Dynamometer;F;Fundamental Friction Clutch;H;Ideal Temperature Source;Ideal Torque Sensor;Ideal Torque Source;Inertia;Load;Mechanical Rotational Reference;PS Ramp;PS-Simulink Converter;R;Reference;Resisted torque;Rotational Damper;Rotational Spring;Solver Configuration;SubSystem;T;Thermal Reference;Torque limit

BLOCKTYPE:
Controlled Temperature Source;Convective Heat Transfer;Fundamental Friction Clutch;Ideal Torque Sensor;Ideal Torque Source;Inertia;Mechanical Rotational Reference;PMIOPort;PS Constant;PS Gain;PS Ramp;PS-Simulink Converter;Rotational Damper;Rotational Spring;Scope;Solver Configuration;Thermal Reference


MODELNAME: EngineBraking
PATH: examples/sdl/main/EngineBraking.slx
DESCRIPTION: Engine Braking
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;2;10;1;2;1;1;1;2;2;1;2;1;2;2
CHECKSUM: A6C86AD67D7E70B074ECAE87A20995A7
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Engine Braking  1. Plot engine speed (see code) 2. Plot engine and braking torque (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2012-2022 The MathWorks, Inc.

BLOCK:
 Engine;B;Braking;Braking Power;Braking Torque;Braking Torque Per cylinder;Braking cylinders;Driver Inputs;Engine with Brake;F;Inertia;MRRef;Motion Sensor;Mux;N;Net power;Num Cyl Limit;Num Cyl Round;P;Power (W);Ramp;Reference;Simulink-PS Converter;Solver Configuration;Step;SubSystem;Sum;T;Tb;Throttle;Torque Source;Total;Total Braking Torque

BLOCKTYPE:
Generic Engine;Ideal Rotational Motion Sensor;Ideal Torque Source;Inertia;Mechanical Rotational Reference;Mux;Outport;PMIOPort;PS Lookup Table (1D);PS Product;PS Round;PS Saturation;PS Subtract;PS-Simulink Converter;Ramp;Scope;Simulink-PS Converter;Solver Configuration;Step;Sum


MODELNAME: EpicyclicGearEfficiencyMeasurement
PATH: examples/sdl/main/EpicyclicGearEfficiencyMeasurement.slx
DESCRIPTION: Epicyclic Gear Efficiency Measurement
BLOCKTYPE_FREQUENCY: 2;2;2;2;2;1;2;2;7;1;3;8;4;2;2;2;2;1;1
CHECKSUM: BBCB419410D0168CF13BF11BF4F80874
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Epicyclic Gear Efficiency Measurement  1. Explore simulation results using Simscape Results Explorer 2. Learn more about this example Copyright 2008-2022 The MathWorks, Inc.

BLOCK:
A;Abs;B;C;Calculate Efficiency;Damper Input;Damper Load;Divide;E;Efficiency;Epicyclic Gear;From;Goto;MRRef;MRRef Damper Load;MRRef Ring ;MRRef Velocity Source;MinMax;Motion Sensor;PS-Simulink Converter;Pi;Po;Power Sensor;Power Sensor Input;Power Sensor Output;Prevent divide by zero;Product;R;Ratio;Reference;Ring-Planet ;S2PS;Solver Configuration;Speed;Speed Base;Speed Follower;SubSystem;Velocity Source;w

BLOCKTYPE:
Abs;Constant;Display;From;Goto;Ideal Angular Velocity Source;Ideal Rotational Motion Sensor;Inport;Mechanical Rotational Reference;MinMax;Outport;PMIOPort;PS-Simulink Converter;Product;Ring-Planet;Rotational Damper;Rotational Power Sensor;Simulink-PS Converter;Solver Configuration


MODELNAME: FiveSpeedTransmission
PATH: examples/sdl/main/FiveSpeedTransmission.slx
DESCRIPTION: Five-Speed Transmission
BLOCKTYPE_FREQUENCY: 7;1;1;3;1;2;1;1;3;1;2;6;3;3;3;6;1;6;10;1;3;3;1;1;1;1;8;4;1;4;3
CHECKSUM: 02EA3658C29D5D7B0BE5828861CD5FE9
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Five-Speed Transmission  1. Plot speeds in transmission (see code) 2. Plot selector lever position in transmission (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2012-2022 The MathWorks, Inc.

BLOCK:
 Dbl Synchro 3or; Load Damper;1or;3or;5orR;A;Actuator 1or;Actuator 3or;Actuator 5orR;B;Brake;Cmd;Conn;Dbl Synchro 1or;Dbl Synchro 5orR;Demux;Double-Shoe Brake;Engage ;Engine;F;Force;Force Source;From;Gain;Gear;Gear ;Gear Engine Layshaft;Gear Idler Output;Gear Layshaft Idler;Gear to Fork State;Gear to Lever Position;Goto;In;Inertia Layshaft ;Input;K;Lever Displacement;Load;Load Inertia;MRRef Generic Engine;MRRef Load Damper;MTRef Force Source;MTRef LeverC 1or;MTRef LeverC 3or;MTRef LeverC 5orR;Mass Shift Linkage 1or;Mass Shift Linkage 3or;Mass Shift Linkage 5orR ;Mechanical Rotational Reference;Motion Sensor;PS Subtract;PS-Simulink Converter;Pos;R;Reference;Repeating Sequence Stair;Selector Lever 1or;Selector Lever 3or;Selector Lever 5orR;Sensor;Simulink-PS Converter;Solver Configuration;Step;SubSystem;Sum;Throttle;Transmission;w

BLOCKTYPE:
Constant;Demux;Double-Shoe Brake;Double-Sided Synchronizer;From;Gain;Generic Engine;Goto;Ideal Force Source;Ideal Rotational Motion Sensor;Inertia;Inport;Lever;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;MultiPortSwitch;Outport;PMIOPort;PS Constant;PS Gain;PS Subtract;PS-Simulink Converter;Repeating Sequence Stair;Rotational Damper;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Step;Sum


MODELNAME: FixedCaliperDiskBrake
PATH: examples/sdl/main/FixedCaliperDiskBrake.slx
DESCRIPTION: Fixed Caliper Disk Brake
BLOCKTYPE_FREQUENCY: 8;1;4;2;4;1;4;4;10;8;5;1;35;4;2;6;4;4;1;6;4;1;1;1;1;10;10;10;2
CHECKSUM: 4AD664F3D9ED8498F09C9F9BCEC67C16
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Front right wheel Front left wheel Rear right wheel Rear left wheel Fixed Orifice2  1. Open parameterization file 2. Plot compliance curve (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Fixed Caliper Disk Brake Copyright 2018-2022 The MathWorks, Inc.

BLOCK:
A;Brake Circuit ;Brk;C;CP;Compensating port ;Conn;F;FCDB;FLW;FRW;Fixed Orifice;HD;Hydraulic Pressure Sensor;Hydraulic Reference;Ideal Force Sensor;Ideal Force Source;Ideal Torque Sensor;Ideal Translational Motion Sensor;Infinite Hydraulic Resistance;K;Loaded-Contact Rotational Friction;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;Mux;P;PFLW;PFRW;PRLW;PRRW;PS Add;PS Lookup Table (1D);PS Terminator;PS-Simulink Converter;Piston 1 Mass;Piston 2 Mass;Pressure Sensor;R;R1/V;R2/V;RLW;RRW;Ramp;Reference;Rotational Damper;Saturation;Scope;Simulink-PS Converter;Solver Configuration;SubSystem;Subsystem;TPC;Translational Damper;Translational Hard Stop;Translational Hydro-Mechanical Converter;Wheel

BLOCKTYPE:
Ideal Force Sensor;Ideal Force Source;Ideal Torque Sensor;Ideal Translational Motion Sensor;Inertia;Infinite Flow Resistance (IL);Loaded-Contact Rotational Friction;Local Restriction (IL);Mass;Mechanical Rotational Reference;Mechanical Translational Reference;Mux;PMIOPort;PS Add;PS Lookup Table (1D);PS Terminator;PS-Simulink Converter;Pressure Sensor (IL);Ramp;Reservoir (IL);Rotational Damper;Saturate;Scope;Simulink-PS Converter;Solver Configuration;Translational Damper;Translational Hard Stop;Translational Mechanical Converter (IL);Translational Spring


MODELNAME: GearWithBacklash
PATH: examples/sdl/main/GearWithBacklash.slx
DESCRIPTION: Gear with Backlash
BLOCKTYPE_FREQUENCY: 2;1;2;3;1;2;2;1;2;1;1;1
CHECKSUM: 64761C237AA11286250EE3A01AD578E7
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Gear with Backlash  1. Set backlash model: Spring-damper or Coefficient of restitution 2. Set solver: Global Simulink Solver or Local Simscape Solver 3. Plot shaft speeds and gap between gears (see code) 4. Compare backlash models (see code) 5. Explore simulation results using Simscape Results Explorer 6. Learn more about this example Copyright 2003-2022 The MathWorks, Inc.

BLOCK:
Gear;Ideal Torque Source;Inertia Base;Inertia Follower;MRRef;Motion Sensor;Mux;PS-Simulink Converter;R;Reference;Scope;Solver Configuration;Speed Base;Speed Follower;SubSystem;Torque;w

BLOCKTYPE:
Ideal Rotational Motion Sensor;Ideal Torque Source;Inertia;Mechanical Rotational Reference;Mux;Outport;PMIOPort;PS Constant;PS-Simulink Converter;Scope;Simple Gear;Solver Configuration


MODELNAME: GearboxEfficiencyMeasurement
PATH: examples/sdl/main/GearboxEfficiencyMeasurement.slx
DESCRIPTION: Gearbox Efficiency Measurement
BLOCKTYPE_FREQUENCY: 2;2;2;2;1;1;2;4;1;2;4;2;1;2;2;1;1;2;1;1
CHECKSUM: 120F1631469810B3A0D1480451B7A3F2
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Gearbox Efficiency Measurement  1. Plot efficiency of gear (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2008-2022 The MathWorks, Inc.

BLOCK:
A;Abs;B;Calculate Efficiency;Divide;E;From;Gear;Goto;MRRef;MRRef Torque Source;MRRef Velocity Source;MinMax;PS-Simulink Converter;Pi;Po;Power Sensor;Power Sensor Input;Power Sensor Output;Prevent divide by zero;Ramp;Reference;Results;S2PS/;Solver Configuration;Speed;SubSystem;Sum;T;Torque;Torque Source;Velocity Source

BLOCKTYPE:
Abs;Constant;From;Goto;Ideal Angular Velocity Source;Ideal Torque Source;Inport;Mechanical Rotational Reference;MinMax;Outport;PMIOPort;PS-Simulink Converter;Product;Ramp;Rotational Power Sensor;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Sum


MODELNAME: HelicopterTransmission
PATH: examples/sdl/main/HelicopterTransmission.slx
DESCRIPTION: Helicopter Transmission
BLOCKTYPE_FREQUENCY: 2;1;1;2;1;1;1;2;1;3;5;2;1;1;4;2;10;3;2;1;8;1;1
CHECKSUM: 606DF02E742790C37FE00269CB7ECEEF
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Helicopter Transmission  1. Plot torques on shafts (see code) 2. Plot main rotor coefficients (see code) 3. Plot tail rotor coefficients (see code) 4. Explore simulation results using Simscape Results Explorer 5. Learn more about this example Copyright 2013-2022 The MathWorks, Inc.

BLOCK:
Chassis;Engine;Flexible Shaft;Gravity Force;Ground;Height (m);Ideal Force Sensor;Ideal Torque Sensor;Ideal Translational Motion Sensor;Inertia Main Rotor;Inertia Tail Rotor;Input;MRRef Engine;MRRef Planetary Main;MRRef Planetary Tail;Main Rotor;Main Rotor Lift (N);Mechanical Translational Reference;PS Constant;PS-Simulink Converter;Pitch;Planetary Main Rotor;Planetary Tail Rotor;Ramp;Reference;Simulink-PS Converter;Solver Configuration;SubSystem;Sum;Tail Length;Tail Rotor;Thr;Torque (N m);Translational Hard Stop;Unidirectional Clutch

BLOCKTYPE:
Aerodynamic Propeller;Flexible Shaft;Generic Engine;Ideal Force Sensor;Ideal Force Source;Ideal Torque Sensor;Ideal Translational Motion Sensor;Inertia;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;Outport;PS Constant;PS Gain;PS-Simulink Converter;Planetary Gear;Ramp;Scope;Simulink-PS Converter;Solver Configuration;Sum;Translational Hard Stop;Unidirectional Clutch


MODELNAME: HydraulicallyActuatedDrivelineClutch
PATH: examples/sdl/main/HydraulicallyActuatedDrivelineClutch.slx
DESCRIPTION: Hydraulically-Actuated Driveline Clutch
BLOCKTYPE_FREQUENCY: 1;1;1;2;1;2;3;1;4;2;2;1;1;4;2;1;2;1;2
CHECKSUM: 7B0080C710E91C0832EAA2F8AB1B7F7A
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Hydraulically-Actuated Driveline Clutch  1. Plot shaft speeds (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2006-2022 The MathWorks, Inc.

BLOCK:
Clutch;Constant Volume Chamber (IL);Engine;HRef Set;HRef Source;Inertia Load;Input;MRRef;MRRef Generic Engine;Motion Sensor;Mux;Orifice A;Orifice B;P;PS-Simulink Converter;Pressure Sensor (IL);Pressure Source (IL);R;Ramp;Reference;Scope;Simulink-PS Converter;Solver Configuration;Speed Engine;Speed Load;SubSystem;Sum;T;w

BLOCKTYPE:
Constant Volume Chamber (IL);Disc Friction Clutch;Generic Engine;Ideal Rotational Motion Sensor;Inertia;Local Restriction (IL);Mechanical Rotational Reference;Mux;Outport;PMIOPort;PS-Simulink Converter;Pressure Sensor (IL);Pressure Source (IL);Ramp;Reservoir (IL);Scope;Simulink-PS Converter;Solver Configuration;Sum


MODELNAME: HydromechanicalHoist
PATH: examples/sdl/main/HydromechanicalHoist.slx
DESCRIPTION: Hydromechanical Hoist
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;2;1;2;2;3;1;2;1;1;1;2;1;1;1;1;1;1;1;1;1;1;1;1
CHECKSUM: F072E66422D75AF7C00677B8920F588D
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Height is estimated using a sensor that measures the shaft speed. Hydromechanical Hoist  1. Plot payload height (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2012-2022 The MathWorks, Inc.

BLOCK:
20Hz Lowpass Filter;Cmd;Controller;Force Source;Height;Hydraulic Motor;MRRef;MRRef Motor;MTRef;Meas;Motion Sensor;Out;PID Controller;PS-Simulink Converter;Payload Mass;Payload Weight;Pipe;Position;Pr;Pressure Source;R;Radius;Reference;Reservoir (IL);Rope Damping;Rope Stiffness;Scope;Sensor Payload;Sensor Shaft;Shaft;Shaft to Rope;Simulink-PS Converter;Solver Configuration;SubSystem;Sum;p

BLOCKTYPE:
Constant;Flexible Shaft;Ideal Force Source;Ideal Rotational Motion Sensor;Ideal Translational Motion Sensor;Inport;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;Outport;PID 1dof;PMIOPort;PS Constant;PS Gain;PS Integrator;PS-Simulink Converter;Pipe (IL);Pressure Source (IL);Reservoir (IL);Rotational Mechanical Converter (IL);Scope;Simulink-PS Converter;Solver Configuration;Sum;TransferFcn;Translational Damper;Translational Spring;Wheel and Axle


MODELNAME: LimitedSlipDifferentialWithClutches
PATH: examples/sdl/main/LimitedSlipDifferentialWithClutches.slx
DESCRIPTION: Limited Slip Differential with Clutches
BLOCKTYPE_FREQUENCY: 2;3;1;2;1;2;8;3;8;4;5;2;6;4;2;2;10;2;5;8;23;1;1;3;2;1;1;8;1;6;2;1;1;5;1;1;2;2;4;1
CHECKSUM: CE317FB083A71CA43407B868B4EC9C27
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
The spring-damper connecting the sun-planet-bevel gears introduces a small amount of compliance to allow for when both clutches are locked at the same time. The road conditions for each wheel are specified by the coefficients that are supplied at port M. The road conditions for each wheel are specified by the coefficients that are supplied at port M. Limited Slip Differential with Clutches  1. Plot wheel speeds for both differentials (see code) 2. Plot shaft torques for both differentials (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2006-2022 The MathWorks, Inc.

BLOCK:
 Sensor(left) ; Sensor(right) ;A;B;C;D;Damper;Damper Left Axle;Damper Right Axle;Demux;Disk Friction Clutch ;Dry Tarmac;Engine Torque;Filter Magic Formula Coefficients Left;Filter Magic Formula Coefficients Right;From;Gain;Gearbox Ratio;Goto;I;Ice;In;Inertia;Inertia Left Axle;Inertia Right Axle ;Input Pinion Crown Gear;Integrator;L;Lag;Limited Slip Differential;Limited Slip Torque Source;M;MRR Damper Left Axle;MRRef;MRRef Damper Left Axle;MRRef Damper Right Axle;MRRef Torque Open;MRRef Torque Torsen;Mass;Measurements;Motion Sensor;Mux;Normal Force;O;Open Differential;Open Torque Source;Out;P;PS Abs;PS Add;PS Gain;PS Integrator;PS Subtract;PS-Simulink Converter;PS2S;Preload Pressure;Pressure per Unit Torque (Pa/Nm);R;Reference;Repeating Sequence;Results;Road Surface;S;Select Magic Formula Coefficients Left;Select Magic Formula Coefficients Right;Sensor Left;Sensor Right;Shaft LS;Shaft O;Simulink-PS Converter;Solver Configuration;Spring;Spring- Damper;SubSystem;Sum;Sun-Planet Bevel ;T;Tire Left;Tire Right;Tires Limited Slip Differential;Tires Open Differential;Torque Sensor;Torque to Pressure;trqO;trqT;vO;vT

BLOCKTYPE:
Constant;Demux;Differential;Disc Friction Clutch;First order lag filter;First-order lag supporting vector signals;From;Gain;Goto;Ideal Rotational Motion Sensor;Ideal Torque Sensor;Ideal Torque Source;Inertia;Inport;Integrator;Mass;Mechanical Rotational Reference;MultiPortSwitch;Mux;Outport;PMIOPort;PS Abs;PS Add;PS Constant;PS Gain;PS Integrator;PS Subtract;PS-Simulink Converter;Repeating table;Rotational Damper;Rotational Spring;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Step;Sum;Sun-Planet Bevel;Tire (Magic Formula);Torsional Spring-Damper


MODELNAME: ManipulatorWithUnbalancedLoad
PATH: examples/sdl/main/ManipulatorWithUnbalancedLoad.slx
DESCRIPTION: Manipulator with Unbalanced Load
BLOCKTYPE_FREQUENCY: 1;4;1;5;3;1;7;1;6;3;1;3;4;1;3;1;1;2;2;1;1;2;1
CHECKSUM: 0FB4B21E0CEA0685B0ED1B655F4B4B00
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Manipulator with Unbalanced Load  1. Plot arm rotation (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2015-2022 The MathWorks, Inc.

BLOCK:
20Hz Lowpass Filter;A;Angle Sensor ;C;Cmd;Command Angle;Controller;Half Angle;Harmonic Drive;J;Joint Angle;Load;MRRef;MRRef Source;Manipulator Arm;Meas;Motion Sensor;Mux;PID Controller;PS Add;PS-Simulink Converter;R;Random Noise;Reference;Rotation;Schematic;Scope;Sensor Load;Simulink-PS Converter;Solver Configuration;Sphi;SubSystem;Sum;Torque Source;Trq;Unbalanced Load;Universal Joint A;Universal Joint B;Variable Inertia;phi

BLOCKTYPE:
Harmonic Drive;Ideal Rotational Motion Sensor;Ideal Torque Source;Inport;Mechanical Rotational Reference;Mux;Outport;PID 1dof;PMIOPort;PS Add;PS Gain;PS Random Number;PS-Simulink Converter;Scope;Simulink-PS Converter;Sin;Solver Configuration;Step;Sum;TransferFcn;Unbalanced Load;Universal Joint;Variable Inertia


MODELNAME: ParallelHybridTransmission
PATH: examples/sdl/main/ParallelHybridTransmission.slx
DESCRIPTION: Parallel Hybrid Transmission
BLOCKTYPE_FREQUENCY: 1;1;1;4;10;5;1;10;2;1;5;3;4;1;3;7;13;2;2;1;2;8;1;1;6;1;2;1;4;5;1;2;2;1;1
CHECKSUM: C7BF0662CA0BDF8DF5F224C6FC606CA8
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Engine throttle demand has been set so that at the starting condition the combustion engine is providing just enough power to keep the vehicle moving at constant speed, and hence battery power is close to zero. The motor RPM demand is set to track the demanded vehicle speed. Parallel Hybrid Transmission  1. Plot power of powertrain components (see code) 2. Plot electrical losses of components (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2011-2022 The MathWorks, Inc.

BLOCK:
-;20Hz Lowpass Filter;Accelerate at t=2s;Acceleration level (m/s^2);Battery;Battery Charge (Ah);Battery Electrical Losses (kW);Calculations;Charge;Convert to wheel RPM;Current Sensor;DC Voltage Source;DC-DC Converter;Decelerate at t=12s;E;ERef;ERef High;ERef Low;Engine;Engine throttle demand;F;FC;From;Fuel Consumption (g);Gearbox;Goto;H;I;I^;Ideal DC-DC Voltage Converter;Integrator;Internal Resistance;Ki;Kp;L;Limits [-40,40];M;MRR;MRRef;Mechanical Rotational Reference;Motion Sensor;Motor;Motor & Drive;Mux;P;PS-Simulink Converter;PS-Simulink Converter ;PS2S;Power;Power (kW);R;RPM Sensor;Reference;Road Incline;Routing;Scopes;Sensor Dynamics;Sensor Fuel;Sensor Power;Shaft speeds (RPM);Simulink-PS Converter;Solver Configuration;Spd;Speed;Speed Command;Speed Controller;Stop acceleration at t=7s;Stop decelerationat t=17s;Strategy;SubSystem;Sum;T_ref;Terminator;Tire Left;Tire Right;V;Vehicle Body;Voltage Sensor;Wind Velocity;[-40,40];mps2kmh;rpm;rpm_ref;v

BLOCKTYPE:
Constant;Current Sensor;DC Voltage Source;Electrical Reference;From;Gain;Generic Engine;Goto;Ideal Rotational Motion Sensor;Ideal Transformer;Inport;Integrator;Mechanical Rotational Reference;Motor & Drive;Mux;Outport;PMIOPort;PS Constant;PS Gain;PS Integrator;PS Product;PS-Simulink Converter;Resistor;Saturate;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Step;Sum;Terminator;Tire (Magic Formula);TransferFcn;Vehicle Body;Voltage Sensor


MODELNAME: PistonEngineTestbed
PATH: examples/sdl/main/PistonEngineTestbed.slx
DESCRIPTION: Piston Engine Testbed
BLOCKTYPE_FREQUENCY: 1;3;3;3;3;9;1;3;3;3;3;1;1;1
CHECKSUM: 7E48D7D58E1DE73F9342426A01F548B3
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Piston Engine Testbed  1. Plot cylinder torques (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2004-2022 The MathWorks, Inc.

BLOCK:
Damper 4 Cyl;Damper 6 Cyl;Damper 8 Cyl;Engine 4 Cylinder;Engine 6 Cylinder;Engine 8 Cylinder;From;Goto;Inertia 4 Cylinder;Inertia 6 Cylinder;Inertia 8 Cylinder;MRRef;MRRef 4 Cyl;MRRef 6 Cyl;MRRef 8 Cyl;MRRef Load 4Cyl;MRRef Load 6Cyl;MRRef Load 8Cyl;Motion Sensor;Mux;PS-Simulink Converter;R;Reference;Sensor 4 Cyl;Sensor 6 Cyl;Sensor 8 Cyl;Simulink-PS Converter;Solver Configuration;Speeds;SubSystem;Throttle

BLOCKTYPE:
Constant;From;Goto;Ideal Rotational Motion Sensor;Inertia;Mechanical Rotational Reference;Mux;PMIOPort;PS-Simulink Converter;Piston Engine;Rotational Damper;Scope;Simulink-PS Converter;Solver Configuration


MODELNAME: PowerSplitHybridTransmission
PATH: examples/sdl/main/PowerSplitHybridTransmission.slx
DESCRIPTION: Power-Split Hybrid Transmission
BLOCKTYPE_FREQUENCY: 2;1;1;5;12;7;1;12;3;1;8;3;6;2;3;10;16;2;2;1;2;9;1;1;2;6;3;1;4;6;2;2;1;1
CHECKSUM: 0973D4989172F917194FE4090EF36E75
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Generator torque demand has been set so that at the starting condition the combustion engine is providing just enough power to keep the vehicle moving at constant speed, and hence battery power is close to zero. The engine RPM demand is set to 2000 rpm for good efficiency. Power-Split Hybrid Transmission  1. Plot power of powertrain components (see code) 2. Plot electrical losses of components (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2011-2022 The MathWorks, Inc.

BLOCK:
-;20Hz Lowpass Filter;Accelerate at t=2s;Acceleration level (m/s^2);Battery;Battery Charge (Ah);Battery electrical losses (kW);Calculations;Charge;Convert to wheel RPM;Current Sensor;DC Voltage Source;DC-DC Converter;Decelerate at t=12s;E;ERef;ERef High;ERef Low;Electrical Reference;Engine;Engine Management;Engine RPM demand;F;FC;From;Fuel consumption (g);G;Gen;Generator;Generator torque demand;Goto;H;I;I^;Ideal DC-DC Voltage Converter;Ideal Rotational Motion Sensor;Integrator;Internal Resistance;Ki;Kp;L;Limits [-40,40];M;MRR;MRRef;Mechanical Rotational Reference;Motion Sensor;Motor;Motor & Drive;Mux;P;PS-Simulink Converter;PS-Simulink Converter ;PS2S;Power;Power (kW);Power Split;R;RPM Sensor;Reference;Road Incline;Routing;Scopes;Sensor Fuel;Sensor Power;Sensor dynamics;Shaft speeds (RPM);Simulink-PS Converter;Solver Configuration;Spd;Speed;Speed Command;Speed Controller;Steady-state correction factor as proportional-only control;Stop acceleration at t=7s;Stop decelerationat t=17s;Strategy;SubSystem;Sum;T;T_ref;Tire Left;Tire Right;V;Vehicle Body;Voltage Sensor;Wind Velocity;[-40,40];[0,1];mps2kmh;rpm;rpm_dem;rpm_ref;v

BLOCKTYPE:
Constant;Current Sensor;DC Voltage Source;Electrical Reference;From;Gain;Generic Engine;Goto;Ideal Rotational Motion Sensor;Ideal Transformer;Inport;Integrator;Mechanical Rotational Reference;Motor & Drive;Mux;Outport;PMIOPort;PS Constant;PS Gain;PS Integrator;PS Product;PS-Simulink Converter;Planetary Gear;Resistor;Saturate;Scope;Simulink-PS Converter;Solver Configuration;Step;Sum;Tire (Magic Formula);TransferFcn;Vehicle Body;Voltage Sensor


MODELNAME: PowerWindowSystem
PATH: examples/sdl/main/PowerWindowSystem.slx
DESCRIPTION: Power Window System
BLOCKTYPE_FREQUENCY: 4;4;1;1;1;1;1;1;1;2;1;1;1;3;2;7;1;1;1;1;1;1;1;4;1;1;1;1;2;1;1
CHECKSUM: 227264B939981AEACE43630D61ABBCD9
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Copyright 2008-2022 The MathWorks, Inc.  Power Window System  1. Plot motor torque and cable drum speed (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example

BLOCK:
C;Cable D P;Cable Drum;Cable P1 P;Cable P2 P;Controlled Voltage Source;D;DC Motor;Damper Guideway P1 P;Damper Guideway P3 P;ERef;Force Source;Friction;From;Goto;Hard Stop;Height;Inductor;Inertia;Inertia Shaft;L;Lift Plate;MRRef;MTRef;MTRef Damper G P1 P;MTRef Damper G P3 P;Mass;Mechanism;Motion Sensor;P;PS2S;Pulley ;R;Reference;Repeating Sequence;Resistor;Rotational Electromechanical Converter;Shaft End P;Simulink-PS Converter;Solver Configuration;SubSystem;UpDown;V;V+;V-;W;Weight;Window;Worm Gear

BLOCKTYPE:
Belt Pulley;Cable;Controlled Voltage Source;Electrical Reference;From;Goto;Ideal Force Source;Ideal Translational Motion Sensor;Inductor;Inertia;Lever;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;Outport;PMIOPort;PS Constant;PS-Simulink Converter;Power Window Cable Mechanism;Repeating table;Resistor;Rope Drum;Rotational Electromechanical Converter;Rotational Free End;Rotational Friction;Scope;Simulink-PS Converter;Solver Configuration;Translational Damper;Translational Hard Stop;Worm Gear


MODELNAME: RatchetLeadscrewMechanism
PATH: examples/sdl/main/RatchetLeadscrewMechanism.slx
DESCRIPTION: Ratchet Leadscrew Mechanism
BLOCKTYPE_FREQUENCY: 1;1;1;1;2;1;1;2;2;1;1;1;2;1;1;2;1;1;1
CHECKSUM: 6302AB4D4312F0F641E65E8BEF77F784
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Ratchet Leadscrew Mechanism  1. Plot motion of mechanism (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2006-2022 The MathWorks, Inc.

BLOCK:
Bearing Friction;Force Source;Inertia Screw;Inertia Shaft;Leadscrew;Load(N);MRRef Bearing Friction;MRRef Velocity Source;MTRef;MTRef Force Source;Mass Nut;Motion Sensor;PS2S;Position;R;Reference;Sensor Mass;Shaft Damper;Shaft Spring;Simulink-PS Converter;Sine Wave;Solver Configuration;SubSystem;Unidirectional Clutch;Velocity Source;x

BLOCKTYPE:
Constant;Ideal Angular Velocity Source;Ideal Force Source;Ideal Translational Motion Sensor;Inertia;Leadscrew;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;Outport;PMIOPort;PS-Simulink Converter;Rotational Damper;Rotational Spring;Scope;Simulink-PS Converter;Sin;Solver Configuration;Unidirectional Clutch


MODELNAME: RavigneauxFourSpeedTransmission
PATH: examples/sdl/main/RavigneauxFourSpeedTransmission.slx
DESCRIPTION: Ravigneaux Four-Speed Transmission
BLOCKTYPE_FREQUENCY: 4;10;1;5;1;12;2;12;1;2;2;6;3;1;7;3;1;3;6;6;4;4;1;1;1;2;1;6;1;1;1
CHECKSUM: 3F9C8BD13AC61AAA56B3344992CE9F60
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
 Gear A B C D E Ratio R 0 0 1 1 0 -g1 1 0 1 0 1 0 g2 2 0 1 0 0 1 (g1+g2)/(1+g1) 3 1 1 0 0 0 1 4 1 0 0 0 1 g1 /(1+g1) g1: Ravigneaux ring (R)/large sun (SL) gear ratio g2: Ravigneaux ring (R)/small sun (SS) gear ratio 0 - Disengaged, 1 - Engaged  Clutch Schedule Ravigneaux Four-Speed Transmission  1. Plot speeds and efficiencies (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2007-2022 The MathWorks, Inc.

BLOCK:
A;Abs;B;Bearing Losses;Cl;Clutch A;Clutch B;Clutch C;Clutch D;Clutch E;Clutch Pressures;Clutch Schedule;Clutches Gear ;Clutches Gear N;Clutches Gear R;Constant;Divide;E;Engage Pressure;F;Filter;From;Gain;Gear;Gear Sequence;Goto;Ignore Transients;In;Inertia Carrier;Inertia Input;Inertia Large Sun;Inertia Ring;Inertia Small Sun;Integrator;Load Inertia;Log;MRRef;MRRef Bearing Losses;MRRef Clutch D;MRRef Clutch E;MRRef Load;MRRef Velocity Source;Motion Sensor;Mux;Out;P;PS-Simulink Converter;Prevent divide by zero;Product;Ravigneaux Gear;Reference;Results;S2PS;Scope;Select Clutch States;Sensor Input Shaft;Sensor Output Shaft;Simulink-PS Converter;Solver Configuration;Speed;SubSystem;Sum;T;Torque Sensor;Transmission;Velocity Source;Viscous Load;r;w

BLOCKTYPE:
Abs;Constant;Demux;Disc Friction Clutch;First-order lag supporting vector signals;From;Gain;Goto;Ideal Angular Velocity Source;Ideal Rotational Motion Sensor;Ideal Torque Sensor;Inertia;Inport;Integrator;Mechanical Rotational Reference;MinMax;MultiPortSwitch;Mux;Outport;PMIOPort;PS-Simulink Converter;Product;Ravigneaux 4-speed Transmission;Ravigneaux Gear;Repeating Sequence Stair;Rotational Damper;Scope;Simulink-PS Converter;Solver Configuration;Sum;Terminator


MODELNAME: SeriesHybridTransmission
PATH: examples/sdl/main/SeriesHybridTransmission.slx
DESCRIPTION: Series Hybrid Transmission
BLOCKTYPE_FREQUENCY: 2;1;1;5;12;7;1;12;3;1;8;3;6;2;3;10;16;2;2;1;2;9;1;2;6;3;1;4;6;2;2;1;1
CHECKSUM: FF73F7BFC4AEC29F9ECD9567B7EE0C92
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Generator torque demand has been set so that at the starting condition the combustion engine is providing just enough power to keep the vehicle moving at constant speed, and hence battery power is close to zero. The engine RPM demand is set to 2000 rpm for good efficiency. Series Hybrid Transmission  1. Plot power of powertrain components (see code) 2. Plot electrical losses of components (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2011-2022 The MathWorks, Inc.

BLOCK:
-;20Hz Lowpass Filter;Accelerate at t=2s;Acceleration level (m/s^2);Battery;Battery Charge (Ah);Battery electrical losses (kW);Calculations;Charge;Convert to wheel RPM;Current Sensor;DC Voltage Source;DC-DC Converter;Decelerate at t=12s;E;ERef;ERef High;ERef Low;Electrical Reference;Engine;Engine Management;Engine RPM demand;F;FC;From;Fuel consumption (g);G;Gen;Generator;Generator torque demand;Goto;H;I;I^;Ideal DC-DC Voltage Converter;Ideal Rotational Motion Sensor;Integrator;Internal Resistance;Ki;Kp;L;Limits [-40,40];M;MRR;MRRef;Mechanical Rotational Reference;Motion Sensor;Motor;Motor & Drive;Mux;P;PS-Simulink Converter;PS-Simulink Converter ;PS2S;Power;Power (kW);R;RPM Sensor;Reference;Road Incline;Routing;Scopes;Sensor Fuel;Sensor Power;Sensor dynamics;Shaft speeds (RPM);Simulink-PS Converter;Solver Configuration;Spd;Speed;Speed Command;Speed Controller;Steady-state correction factor as proportional-only control;Stop acceleration at t=7s;Stop decelerationat t=17s;Strategy;SubSystem;Sum;T;T_ref;Tire Left;Tire Right;V;Vehicle Body;Voltage Sensor;Wind Velocity;[-40,40];[0,1];mps2kmh;rpm;rpm_dem;rpm_ref;v

BLOCKTYPE:
Constant;Current Sensor;DC Voltage Source;Electrical Reference;From;Gain;Generic Engine;Goto;Ideal Rotational Motion Sensor;Ideal Transformer;Inport;Integrator;Mechanical Rotational Reference;Motor & Drive;Mux;Outport;PMIOPort;PS Constant;PS Gain;PS Integrator;PS Product;PS-Simulink Converter;Resistor;Saturate;Scope;Simulink-PS Converter;Solver Configuration;Step;Sum;Tire (Magic Formula);TransferFcn;Vehicle Body;Voltage Sensor


MODELNAME: ShaftWithTorsionalAndTransverseFlexibility
PATH: examples/sdl/main/ShaftWithTorsionalAndTransverseFlexibility.slx
DESCRIPTION: Shaft with Torsional and Transverse Flexibility
BLOCKTYPE_FREQUENCY: 2;8;8;1;2;5;3;2;10;2;2;5;1;1;1
CHECKSUM: FDB016B80EE8628ECCF15AE480105E1D
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
 Flexible Shaft with Transverse Bending LUMPED MASSES  Shaft with Torsional and Transverse Flexibility  1. Animate LUMPED PARAMETER transverse vibration results (see code) 2. Animate EIGENMODE transverse vibration results (see code) 3. View eigenmode shapes (see code) 4. View Campbell frequency analysis plot (see code) 5. Compare LUMPED PARAMETER and EIGENMODE steady-state responses (see code) 6. Explore simulation results using Simscape Results Explorer 7. Learn more about this example   Flexible Shaft with Transverse Bending EIGENMODES  Transverse bending response at the supports Copyright 2005-2022 The MathWorks, Inc.

BLOCK:
Angular velocities;Control;Damping Bearing;Forces;From;Goto;Ideal Angular Velocity Source;MRRef;MRRef Damping Bearing;Moments;Motion Sensor;PS-Simulink Converter;R;Ramp;Reference;Shaft speed;Signal ;Simulink-PS Converter;Solver Configuration;Speed Load;SubSystem;Sum;Translational velocities;flexShaft_eigen;flexShaft_lumpedMass;w

BLOCKTYPE:
Flexible Shaft;From;Goto;Ideal Angular Velocity Source;Ideal Rotational Motion Sensor;Mechanical Rotational Reference;Outport;PMIOPort;PS-Simulink Converter;Ramp;Rotational Damper;Scope;Simulink-PS Converter;Solver Configuration;Sum


MODELNAME: ShaftWithTorsionalFlexibility
PATH: examples/sdl/main/ShaftWithTorsionalFlexibility.slx
DESCRIPTION: Flexible Shaft
BLOCKTYPE_FREQUENCY: 1;1;2;1;2;1;4;1;3;3;1;2;4;2;1;1;1;3
CHECKSUM: D39DBF909CF5FC3421ECF284308B326E
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Flexible Shaft  1. Plot shaft speed (see code) 2. Plot twist in shaft compliance elements (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2005-2022 The MathWorks, Inc.

BLOCK:
Clutch;Control;Damper;Damping Bearing;MRRef;MRRef Damping Bearing;Motion Sensor;Mux;PS-Simulink Converter;Pressure;R;Ramp;Reference;Scope;Shaft Load;Shaft Motor;Simulink-PS Converter;Solver Configuration;Speed Load;Speed Motor;State;SubSystem;Sum;Torque Demand;Torque Motor;Torque Source;w

BLOCKTYPE:
Constant Torque Motor;Disc Friction Clutch;Flexible Shaft;Gain;Ideal Rotational Motion Sensor;Ideal Torque Source;Mechanical Rotational Reference;Mux;Outport;PMIOPort;PS Constant;PS-Simulink Converter;Ramp;Rotational Damper;Scope;Simulink-PS Converter;Solver Configuration;Sum


MODELNAME: SheetMetalFeeder
PATH: examples/sdl/main/SheetMetalFeeder.slx
DESCRIPTION: Sheet Metal Feeder
BLOCKTYPE_FREQUENCY: 2;2;2;2;2;1;1;2;2;1;4;1;1;3;3;2;3;16;1;1;2;2;1;14;2;2
CHECKSUM: E49CD4CDADF063A56C7384B1460ED2FF
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Sheet Metal Feeder  1. Plot speed and position (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2008-2022 The MathWorks, Inc.

BLOCK:
Brake;Chain Drive L;Chain Drive R;Clutch Brake;Clutch Driver;Clutch Pressures;Driver;Friction Belt Stock L;Friction Belt Stock R;From;Geartrain L;Geartrain R;Goto;Inertia Driver;Inertia Geartrain;MRRef;MRRef Clutch Brake;MRRef Torque Source;MTRef;Metal Stock;Motion Sensor;Mux;P;PS-Simulink Converter;Pressure;R;Ramp;Reference;Rotational Damper;S2PS;Scope;Sensor Driver;Sensor Geartrain;Sensor Stock;Solver Configuration;Sprocket to Belt L;Sprocket to Belt R;SubSystem;Sum;Torque;Torque Source;Worm Gear L;Worm Gear R

BLOCKTYPE:
Chain Drive;Disc Friction Clutch;From;Goto;Ideal Rotational Motion Sensor;Ideal Torque Source;Ideal Translational Motion Sensor;Inertia;Loaded-Contact Translational Friction;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;Mux;Outport;PMIOPort;PS Constant;PS-Simulink Converter;Ramp;Rotational Damper;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Sum;Wheel and Axle;Worm Gear


MODELNAME: ShipPropeller
PATH: examples/sdl/main/ShipPropeller.slx
DESCRIPTION: Ship propeller
BLOCKTYPE_FREQUENCY: 1;1;2;1;1;1;1;1;4;2;1;2;1;1;2;1;1;1;1;1;1;1;1;1
CHECKSUM: 90A5D4EA68C0FD366522F505F4BEC127
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Copyright 2021-2022 The MathWorks, Inc.  Ship Propeller  1. Plot propeller coeffcient maps (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example

BLOCK:
Bearing Damping;Ct;Current;Fr;Ideal Angular Velocity Source;Ideal Translational Motion Sensor;Ideal Translational Velocity Source;MRR;Mechanical Translational Reference;PS Product;PS Sign;PS-Simulink Converter;Propeller;Propeller Inertia;Ramp;Reference;Resistance;Resistant Force;Saturation;Ship;Ship Resistance;Ship speed;Ship velocity wrt current;Simulink-PS Converter;Solver Configuration;SubSystem;V^

BLOCKTYPE:
Ideal Angular Velocity Source;Ideal Force Source;Ideal Translational Motion Sensor;Ideal Translational Velocity Source;Inertia;Marine Propeller;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;PMIOPort;PS Constant;PS Gain;PS Lookup Table (1D);PS Math Function;PS Product;PS Sign;PS Subtract;PS-Simulink Converter;Ramp;Rotational Damper;Saturate;Scope;Simulink-PS Converter;Solver Configuration


MODELNAME: SimpleGear
PATH: examples/sdl/main/SimpleGear.slx
DESCRIPTION: Simple Gear
BLOCKTYPE_FREQUENCY: 4;4;2;2;1;2;3;2;4;10;4;1;1;1;1;1
CHECKSUM: BC46FF5B887441447ED82AD89D88A4B9
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Simple Gear  1. Plot speeds and torques (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2003-2022 The MathWorks, Inc.

BLOCK:
A;B;From;Gear;Goto;Ideal Rotational Motion Sensor;Inertia;MRR;Mechanical Rotational Reference;Motion sensor;Mux;PS-Simulink Converter;PS2S;Reference;Scope;Sensor(base);Sensor(follower);Simulink-PS Converter;Solver Configuration;SubSystem;T;Torque;Torque Sensor;Torque Source;Torque sensor;W

BLOCKTYPE:
From;Goto;Ideal Rotational Motion Sensor;Ideal Torque Sensor;Ideal Torque Source;Inertia;Mechanical Rotational Reference;Mux;Outport;PMIOPort;PS-Simulink Converter;Scope;Simple Gear;Simulink-PS Converter;Sin;Solver Configuration


MODELNAME: SimpsonThreeSpeedTransmission
PATH: examples/sdl/main/SimpsonThreeSpeedTransmission.slx
DESCRIPTION: Simpson Three-Speed Transmission
BLOCKTYPE_FREQUENCY: 2;1;2;1;1;2;1;3;1;5;2;6;4;1;2;2;4;1;1;1;4;1;1
CHECKSUM: B7EF36AE30AB5B1497AFF2DF06A35C96
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
g_f = 1/(N_2 - 1); g_r = (N_1-1)/(N_2-1) -1; g_f: Front planetary gear Ring/Sun gear ratio g_r: Rear planetary gear Ring/Sun gear ratio  Gear For Rev Int Rev Ratio R 0 1 0 1 -N_R 1 1 0 0 1 N_1 2 1 0 1 0 N_2 3 1 1 0 0 1 0 - Disengaged, 1 - Engaged  Clutch Schedule Simpson Three-Speed Transmission  1. Plot speeds of input and output shafts (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2012-2022 The MathWorks, Inc.

BLOCK:
B;Band Brake Int;Band Brake Intermediate;Band Brake Low Reverse;Band Brake R;Cl;Clutch F;Clutch Forward;Clutch R;Clutch Reverse;Clutch schedule;Control Signals;Demux;F;From;Goto;Inertia Ring;Inertia Sun;Input Speed;Input Torque;Load Damper;Load Inertia;MRRef;MRRef Load Damper;MRRef Torque Source;MRRef Unidirectional Clutch;Mechanical Rotational Reference;Motion Sensor;Mux;Output Speed;PS-Simulink Converter;Planetary Gear Front;Planetary Gear Rear;R;Reference;Repeating Sequence;Scope;Simulink-PS Converter;Solver Configuration;SubSystem;Torque Source;Transmission;Unidirectional Clutch;w

BLOCKTYPE:
Band Brake;Demux;Disc Friction Clutch;From;Goto;Ideal Rotational Motion Sensor;Ideal Torque Source;Inertia;Inport;Mechanical Rotational Reference;Mux;Outport;PMIOPort;PS Constant;PS-Simulink Converter;Planetary Gear;Repeating table;Rotational Damper;Scope;Simpsons Three-Speed Transmission;Simulink-PS Converter;Solver Configuration;Unidirectional Clutch


MODELNAME: SingleCylinderSparkIgnitionEngine
PATH: examples/sdl/main/SingleCylinderSparkIgnitionEngine.slx
BLOCKTYPE_FREQUENCY: 1;3;4;4;1;1;2;2;3;2;1;3;1;1;6;1;1;3
CHECKSUM: 55C422C134203EBA954EF8C65FF1F9CF
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Single Cylinder Spark Ignition Engine Copyright 2021-2022 The MathWorks, Inc.  1. Plot engine speed, torque, and power (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example

BLOCK:
AFR;Bus Selector;C;Engine Friction;Engine Inertia;ExVT;From;Goto;Ideal Rotational Motion Sensor;Ideal Torque Sensor;IgSw;InVT;Load Inertia;Mechanical Rotational Reference;Observation;Out Bus Element;PS Product;PS-Simulink Converter;R;Reference;SA;Scope;Simulink-PS Converter;Solver Configuration;Spark Ignition Engine;SubSystem;Thr

BLOCKTYPE:
BusSelector;Constant;From;Goto;Ideal Rotational Motion Sensor;Ideal Torque Sensor;Inertia;Mechanical Rotational Reference;Outport;PMIOPort;PS Product;PS-Simulink Converter;Rotational Damper;Scope;Simulink-PS Converter;Solver Configuration;Spark Ignition Engine;Step


MODELNAME: SteppingMechanismWithDetents
PATH: examples/sdl/main/SteppingMechanismWithDetents.slx
DESCRIPTION: Stepping Mechanism with Detents
BLOCKTYPE_FREQUENCY: 1;2;1;1;5;1;2;2;2;1;1;1;1;3;1;2
CHECKSUM: 0A7B2C89D0351AD2D3B47CD9ED7440B7
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Stepping Mechanism with Detents  1. Plot forces from detents (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2007-2022 The MathWorks, Inc.

BLOCK:
Detent ;Hard Stop;Input;Load Damper;Load Spring;MTRef;MTRef Detents;MTRef Load Damper;MTRef Velocity Source;Mass;Motion Sensor;Mux;P;PS-Simulink Converter;R;Reference;Scope;Simulink-PS Converter;Slider;Solver Configuration;Spring;SubSystem;Velocity;Velocity Source

BLOCKTYPE:
Constant;Ideal Translational Motion Sensor;Ideal Translational Velocity Source;Mass;Mechanical Translational Reference;Mux;Outport;PMIOPort;PS-Simulink Converter;Scope;Simulink-PS Converter;Solver Configuration;Translational Damper;Translational Detent;Translational Hard Stop;Translational Spring


MODELNAME: SuspensionSystemComparison
PATH: examples/sdl/main/SuspensionSystemComparison.slx
DESCRIPTION: Suspension System Comparison
BLOCKTYPE_FREQUENCY: 1;3;4;4;6;3;1;1;6;6;10;1;1;1;4;12;7;1;1;3;3;4;1;1;1;2;3;1;1;4;3;1;1
CHECKSUM: 6A5A8267FE14F393C65C629F44856D04
PRODUCT: MATLAB;Simscape;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Suspension System Comparison  1. Plot position of sprung masses (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2012-2022 The MathWorks, Inc.

BLOCK:
 ;2 * sqrt(M);B;C;Critical damping;Demux;Force Source;Goto;Gravitational Force;In;Input;K;M;MTRef;Mass;Motion Sensor;Mux;NL;Nonlinear Damper;Nonlinear Spring;PS-Simulink Converter;Position ;Product;Pulse Generator;Ramp;Rate Transition;Reference;SA;Sensor Sprung Mass NL;Sensor Sprung Mass SA;Sensor Sprung Mass Var;Shock Absorber;Simulink-PS Converter;Sine Wave;Solver Configuration;Spectrum Analyzer;Sprung Mass NL;Sprung Mass SA;Sprung Mass Var;Stiffness and damping;SubSystem;Sum;Tire Stiffness NL;Tire Stiffness SA;Tire Stiffness Var;Unsprung Mass NL;Unsprung Mass SA;Unsprung Mass Var;V;Variable Damper;Variable Spring;Variable shock absorber position (m);Variable stiffness;Vel;Velocity Source;Vibration Input;sqrt(k)

BLOCKTYPE:
Demux;DiscretePulseGenerator;From;Goto;Ideal Force Source;Ideal Translational Motion Sensor;Ideal Translational Velocity Source;Inport;Mass;Mass with Gravity;Mechanical Translational Reference;Mux;Nonlinear Translational Damper;Nonlinear Translational Spring;Outport;PMIOPort;PS Constant;PS Math Function;PS Product;PS-Simulink Converter;Product;Ramp;RateTransition;Scope;Shock Absorber;Simulink-PS Converter;Sin;Solver Configuration;SpectrumAnalyzer;Sum;Translational Spring;Variable Translational Damper;Variable Translational Spring


MODELNAME: ThresholdParameterTuning
PATH: examples/sdl/main/ThresholdParameterTuning.slx
BLOCKTYPE_FREQUENCY: 1;2;3;1;1;2;1;1
CHECKSUM: 7A9463CF017DCC4F0DD26621E869954F
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Threshold Parameter Tuning  1. Explore simulation results using Simscape results explorer 2. Learn more about this example Copyright 2023 The MathWorks, Inc.

BLOCK:
Input Damper;Input Inertia;Input Reference;Load Damper;Load Inertia;Load Reference;PS Step;PS Transfer Function;Reference;Simple Gear;Solver Configuration;Source Reference;Torque Source

BLOCKTYPE:
Ideal Torque Source;Inertia;Mechanical Rotational Reference;PS Step;PS Transfer Function;Rotational Damper;Simple Gear;Solver Configuration


MODELNAME: TireParameterAndPerformance
PATH: examples/sdl/main/TireParameterAndPerformance.slx
DESCRIPTION: Vehicle with Four-Wheel Drive
BLOCKTYPE_FREQUENCY: 2;2;5;4;1;2;3;5;7;1;4;1;2;5;1;1;4;1
CHECKSUM: F17BE60CCCB784EEFCF76BD7C75A5232
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Tire Parameterization and Performance  1. Fit Magic Formula parameters to experimental data using test harness (see code) 2. Estimate stopping distance (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2022 The MathWorks, Inc.

BLOCK:
Brake;Constant;Drive Torque;From;Front Slip;Goto;H;Incline;MTRef;NF;NR;PS Integrator;PS-Simulink Converter;Position Sensor;Rear Slip;Reference;Repeating Sequence;S;Simulink-PS Converter;Solver Configuration;Step;SubSystem;Test;Tire LF;Tire LR;Tire RF;Tire RR;Tire Slip;Torque Source;V;Vehicle Body;Vehicle Travel;W;Wind;X;b

BLOCKTYPE:
Constant;Disc Friction Clutch;From;Goto;Ideal Torque Source;Inport;Mechanical Rotational Reference;Outport;PMIOPort;PS Integrator;PS-Simulink Converter;Repeating table;Scope;Simulink-PS Converter;Solver Configuration;Step;Tire (Magic Formula);Vehicle Body


MODELNAME: TireParameterAndPerformanceHarness
PATH: examples/sdl/main/TireParameterAndPerformanceHarness.slx
BLOCKTYPE_FREQUENCY: 2;3;2;1;1;1;1;1;3;2;1;3;1;1
CHECKSUM: 04DB7C27EDF5055BFC4E5C66C0EEB1FE
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Tire Parameterization and Performance  1. Fit Magic Formula parameters to experimental data (see code) 2. Open main model 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2022 The MathWorks, Inc. Harness

BLOCK:
C;From;From Workspace;Front Slip;Goto;Ideal Angular Velocity Source;Ideal Force Sensor;Ideal Translational Velocity Source;Mechanical Rotational Reference;Mechanical Translational Reference;PS-Simulink Converter;R;Reference;S;Sensor Force;Simulink-PS Converter;Solver Configuration;SubSystem;Tire (Magic Formula);Tire Longitudinal Response

BLOCKTYPE:
From;FromWorkspace;Goto;Ideal Angular Velocity Source;Ideal Force Sensor;Ideal Translational Velocity Source;Mechanical Rotational Reference;Mechanical Translational Reference;PMIOPort;PS-Simulink Converter;Scope;Simulink-PS Converter;Solver Configuration;Tire (Magic Formula)


MODELNAME: TorqueConverterInTwoModeModeling
PATH: examples/sdl/main/TorqueConverterInTwoModeModeling.slx
DESCRIPTION: Torque Converter Two-Mode
BLOCKTYPE_FREQUENCY: 4;22;1;2;1;8;35;3;17;2;2;2;2;2;16;8;37;8;4;20;1;4;3;4;1;4;5;1;19;2;20;7;1;1;1
CHECKSUM: A419D6FA4CDBF7E57E11CA2E03F57AB3
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink;Stateflow
PRODUCT_BASECODE: LD
ANNOTATION:
Direct inverse Taylor expansion around threshold Taylor expansion around threshold Direct inverse Direct inverse Taylor expansion around threshold Taylor expansion around threshold Direct inverse Coast mode Drive mode Coast mode Drive mode Torque Converter in Two-Mode Modeling  1. Run and Plot input signals, converter torques and speeds 2. Open live script for Basic Lock-up simulation 3. Open live script for Drive Mode Test simulation 4. Open live script for Coast Mode Test simulation 5. Explore simulation results using Simscape Results Explorer 6. Learn more about this example Copyright 2020-2022 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;1/x;Angular Speed Sensor;Basic Lock-up;Brake;Bus Element Out;Bus Selector;C;Chart;Clutch Dynamics;Coast Mode Test;Constant;Converter Info;Converter Mode;Divide;Drive Mode Test;Friction;From;Gain;Goto;IC;ImpBrk;ImpSpdRpm;ImpTrq;Impeller;Impeller Damping;Impeller Driver;Impeller Inertia;Impeller Sensor;Impeller Speed;Impeller Torque;LUC;Lock-up Clutch;LucPres;Mechanical Rotational Reference;Mode String;PS-Simulink Converter;Product;R;Rate Transition;Reference;Relational Operator;Repeating Sequence Stair;Safe Positive Inverse;Shaft;Simulink-PS Converter;Solver Configuration;SpdDiff;Speed Difference;Speed Ratio;Step;String Constant;SubSystem;Subtract;Sum;Switch;Torque Converter;Torque Ratio;Torque Sensor;Torque Source;TurBrk;TurSpdRpm;TurTrq;Turbine;Turbine Damping;Turbine Driver;Turbine Inertia;Turbine Sensor;Turbine Speed;Turbine Torque;Variant Input Signals;brk;deltaSpdRpm;initialMode;mode;one;threshold;trq;two;x

BLOCKTYPE:
BusSelector;Constant;Demux;Disc Brake;Disc Friction Clutch;Display;From;Gain;Goto;Ideal Rotational Motion Sensor;Ideal Torque Sensor;Ideal Torque Source;Inertia;InitialCondition;Inport;Mechanical Rotational Reference;Outport;PMIOPort;PS-Simulink Converter;Product;RateTransition;RelationalOperator;Repeating Sequence Stair;Rotational Damper;S-Function;Safe Positive Inverse;Simulink-PS Converter;Solver Configuration;Step;StringConstant;Sum;Switch;Terminator;Torque Converter;TransferFcn


MODELNAME: TorsenDifferential
PATH: examples/sdl/main/TorsenDifferential.slx
DESCRIPTION: Torsen Differential
BLOCKTYPE_FREQUENCY: 2;3;1;2;8;3;8;4;4;2;6;4;2;2;10;2;5;8;19;2;8;1;6;2;1;2;5;1;1;2;2;4
CHECKSUM: 83EF037710A406D7CB51C06DCDB77D14
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
The road conditions for each wheel are specified by the coefficients that are supplied at port M. The road conditions for each wheel are specified by the coefficients that are supplied at port M. Torsen Differential  1. Plot wheel speeds for both differentials (see code) 2. Plot shaft torques for both differentials (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2006-2022 The MathWorks, Inc.

BLOCK:
 Sensor(left) ; Sensor(right) ;A;B;C;D;Damper;Damper Left Axle;Damper Right Axle;Demux;Dry Tarmac;Engine Torque;Filter Magic Formula Coefficients Left;Filter Magic Formula Coefficients Right;From;Gain;Gearbox ratio;Goto;Ice;In;Inertia;Inertia Left Axle;Inertia Right Axle ;Input Pinion Crown Gear;Integrator;L;M;MRRef;MRRef Damper Left;MRRef Damper Left Axle;MRRef Damper Right;MRRef Damper Right Axle;MRRef Torque Open;MRRef Torque Torsen;Mass;Measurements;Motion Sensor;Mux;Normal Force;Open Differential;Open Torque Source;Out;PS-Simulink Converter;PS2S;R;Reference;Repeating Sequence;Results;Road Surface;S;Select Magic Formula Coefficients Left;Select Magic Formula Coefficients Right;Sensor Left;Sensor Right;Shaft O;Shaft T;Simulink-PS Converter;Solver Configuration;Spring;SubSystem;Sum;Sun-Planet Worm Gear ;T;Tire Left;Tire Right;Tires Open Differential;Tires Torsen Differential;Torque Sensor;Torsen Differential;Torsen Torque Source;Worm Wheels;trqO;trqT;vO;vT

BLOCKTYPE:
Constant;Demux;Differential;First-order lag supporting vector signals;From;Gain;Goto;Ideal Rotational Motion Sensor;Ideal Torque Sensor;Ideal Torque Source;Inertia;Inport;Integrator;Mass;Mechanical Rotational Reference;MultiPortSwitch;Mux;Outport;PMIOPort;PS Constant;PS-Simulink Converter;Repeating table;Rotational Damper;Rotational Spring;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Step;Sum;Sun-Planet Worm Gear;Tire (Magic Formula)


MODELNAME: TransmissionFaultDetection
PATH: examples/sdl/main/TransmissionFaultDetection.slx
DESCRIPTION: Transmission Fault Detection
BLOCKTYPE_FREQUENCY: 1;3;2;1;36;3;6;1;1;7;2;7;1;2;8;31;1;7;1;8;1;34;10;2;1;6;1;1;1;1;1;4;1;1;7;1;7;1;1
CHECKSUM: FCBAEF4047A7BA0AFD016C20818A7FDB
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
 Clutch Schedule  Gear A B C D E F Ratio of wIn/wOut 7 0 1 0 0 1 1 g2/(1+g2) 6 1 1 0 0 0 1 g2(1+g1)/(g2(1+g1)+1) 5 1 1 1 0 0 0 1 4 0 1 1 0 0 1 g3(1+g1)/(g3(1+g1)-1) 3 1 0 1 0 0 1 (1+g1)/g1 2 0 0 1 0 1 1 (1+g1)(g3+g2)/(g1(1+g2)) 1 0 0 1 1 0 1 g3(1+g1)/g1 R 1 0 0 1 0 1 -g2(1+g1)/g1 0 - Disengaged, 1 - Engaged g1: Planetary ring/sun gear ratio g2: Ravigneaux ring/large sun gear ratio g3: Ravigneaux ring/small sun gear ratio -1 = No fault 0 = Unlocked fault 1 = Locked fault Clutch fault injection -1 = No fault 0 = Unlocked fault 1 = Locked fault Locked fault 0- Low certainty 1- High certainty  1. Train fault predictor by collecting clutch states : drive ratio data (see code) 2. Inject a fault: Locked clutch: A B C D E F Unlocked clutch: A B C D E F Clear all faults 3. Generate confusion matrix (see code) 4. Explore simulation results using Simscape Results Explorer 5. Learn more about this example  A B C D E F Unlocked fault Transmission Fault Detection Clutch Fault Prediction Copyright 2021-2022 The MathWorks, Inc.

BLOCK:
7-Speed Lepelletier;Abs;Actuator dynamics;B;Cl A;Cl B;Cl C;Cl D;Cl E;Cl F;Clutch A;Clutch B;Clutch C;Clutch D;Clutch E;Clutch F;Clutch Fault Prediction Matrix;Clutch fault injection;Clutch schedule;Clutch state override;Clutch state table;Clutches;Clutches Gear ;Clutches Gear N;Clutches Gear R;Commanded St;Constant;DR;DR ;DR N;DR table;DR_exp;Damper;Demux;Detect states with matching DR;Detected possible clutch states with faults;Diff;Divide;Drive ratio;Error Tol;Expected DR;Expected Drive Ratio wOut/wIn ;F;Fault Predictor;Fault frequency;Faults;From;Gain;Gear;Gear Command;Gear Commanded Clutch States;Goto;In;Inertia;Inertia PlaC;Inertia PlaR ;Inertia PlaS;Inertia RavC;Inertia RavR;Inertia RavSL;Inertia RavSS;Integrator;MRR;MRRef;MRRef Load;MRRef Source;Matching DR states;Measured DR;Memory;Motion Sensor;Multiply;Multiport Switch;Mux;Out;PS-Simulink Converter;Planetary Gear;Possible faulted clutch flags;Pr;Prediction;Prediction update;R;Ramp;Ratio;Ravigneaux Gear;Reference;Repmat;Rounding Function;Routing;Saturation;Select Clutch States;Simulink-PS Converter;Solver Configuration;Speed Base;Speed Follower;St;St Command;St command;St diff;St with faults;State to pressure;SubSystem;Subsystem;Subtract;Sum;Sum of Elements;Switch;Time step normalization;Transpose;Unexpected DR Flag;Vector Concatenate;Velocity Source;[A B C D E F];clutch_health;cmd_lookup;cmd_wFault;w;wIn;wOut;|Clutch command - states table|

BLOCKTYPE:
7-Speed Lepelletier;Abs;Compare To Constant;Concatenate;Constant;Demux;Disc Friction Clutch;Display;First-order lag supporting vector signals;From;Gain;Goto;Ideal Angular Velocity Source;Ideal Rotational Motion Sensor;Inertia;Inport;Integrator;Mechanical Rotational Reference;Memory;MultiPortSwitch;Mux;Outport;PMIOPort;PS-Simulink Converter;Planetary Gear;Product;Ramp;Ravigneaux Gear;Repeating Sequence Stair;Rotational Damper;Rounding;Saturate;Scope;Signum;Simulink-PS Converter;Solver Configuration;Sum;Switch;Transpose


MODELNAME: TransmissionTestbed
PATH: examples/sdl/main/TransmissionTestbed.slx
DESCRIPTION: Transmission Testbed
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;1;5;62;7;27;2;7;2;14;2;1;2;28;33;7;4;22;7;81;60;2;4;16;2;1;3;1;1;2;7;12;1;39;1;7;2
CHECKSUM: E46F165051FE376035AC4815895FBAAA
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
 Clutch Schedule  Gear A B C D E F Ratio 10 0 1 1 1 0 1 g2/(1+g2) 9 0 1 1 0 1 1 g2*(1+g4)/(g2*(1+g4)+g4) 8 0 1 0 1 1 1 g2*(1+g3)*(1+g4)/(g2*(1+g3)*(1+g4)+g4) 7 0 0 1 1 1 1 1 6 1 0 0 1 1 1 (1+g4)*(1+g1+g2*(1+g3))/((1+g4)*(1+g2*(1+g3))+g1) 5 1 0 1 0 1 1 (1+g1+g2)*(1+g4)/((1+g2)*(1+g4)+g1) 4 1 0 1 1 0 1 (1+g1+g2)/(1+g2) 3 1 0 1 1 1 0 (1+g1)*(1+g4)/(1+g1+g4) 2 1 1 1 1 0 0 g2*(1+g4)/(1+g2) 1 1 1 0 1 1 0 1+g4 R 1 1 0 1 0 1 -g2*g3*(1+g4)/(1+g2) 0 - Disengaged, 1 - Engaged g1: Planetary 1 ring/sun gear ratio g2: Planetary 2 ring/sun gear ratio g3: Planetary 3 ring/sun gear ratio g4: Planetary 4 ring/sun gear ratio  Clutch Schedule 0 - Disengaged, 1 - Engaged g1: Input planetary ring/sun gear ratio g2: Output planetary ring/sun gear ratio  Gear A B C D R Ratio 4 0 1 1 0 0 g1/(1+g1) 3 1 1 0 0 0 1 2 1 0 1 0 0 (g1+g2)/(1+g1) 1 1 0 0 1 0 g2 R 0 0 0 1 1 -g1  Clutch Schedule  Gear A B C D E Ratio 4 1 0 0 0 1 g1/(1+g1) 3 1 1 0 0 0 1 2 0 1 0 0 1 (g1+g2)/(1+g1) 1 0 1 0 1 0 g2 R 0 0 1 1 0 -g1 0 - Disengaged, 1 - Engaged g1: Ring/large sun gear ratio g2: Ring/small sun gear ratio  Clutch Schedule 0 - Disengaged, 1 - Engaged g1: Planetary ring/sun gear ratio g2: Ravigneaux ring/large sun gear ratio g3: Ravigneaux ring/small sun gear ratio  Gear A B C D E Ratio 6 0 1 0 0 1 g2/(1+g2) 5 1 1 0 0 0 g2/(g2+1/(1+g1)) 4 0 1 1 0 0 g3(1+g1)/(g3(1+g1)-1) 3 1 0 1 0 0 (1+g1)/g1 2 0 0 1 0 1 (1+g1)(g3+g2)/(g1(1+g2)) 1 0 0 1 1 0 g3(1+g1)/g1 R 1 0 0 1 0 -g2(1+g1)/g1 g1: Planetary ring/sun gear ratio g2: Ravigneaux ring/large sun gear ratio g3: Ravigneaux ring/small sun gear ratio 0 - Disengaged, 1 - Engaged  Gear A B C D E F Ratio 7 0 1 0 0 1 1 g2/(1+g2) 6 1 1 0 0 0 1 g2(1+g1)/(g2(1+g1)+1) 5 1 1 1 0 0 0 1 4 0 1 1 0 0 1 g3(1+g1)/(g3(1+g1)-1) 3 1 0 1 0 0 1 (1+g1)/g1 2 0 0 1 0 1 1 (1+g1)(g3+g2)/(g1(1+g2)) 1 0 0 1 1 0 1 g3(1+g1)/g1 R 1 0 0 1 0 1 -g2(1+g1)/g1  Clutch Schedule 0 - Disengaged, 1 - Engaged  Clutch Schedule g1: Planetary 1 ring/sun gear ratio g2: Planetary 2 ring/sun gear ratio g3: Planetary 3 ring/sun gear ratio g4: Planetary 4 ring/sun gear ratio  Gear A B C D E Ratio 8 1 0 0 1 1 g2/(1+g2) 7 1 0 1 1 0 (g2(1+g1))/(1+g2(1+g1)) 6 0 0 1 1 1 1 5 0 1 1 1 0 ((1+g3)(1+g4)+(g2*g4)(1+g1))/((1+g3)+(g2*g4)(1+g1)) 4 0 1 0 1 1 (1+g2+g3)/(1+g2) 3 0 1 1 0 1 ((1+g4)(1+g3))/(1+g3+g4) 2 1 1 0 0 1 (1+g1)/g1 1 1 1 1 0 0 (1+g4) R 1 1 0 1 0 -((1+g1)-g1*(1+g4))/((1+g2)/g2)  Clutch Schedule  Gear A B C D E F Ratio 9 0 1 0 1 1 0 (1+g4)/(1+g3+g4-(g3/(1-g2*g1))) 8 0 0 1 1 1 0 (1+g4)/(1+g3+g4) 7 1 0 0 1 1 0 (1+g4)/((1+g3)-g3/(1+g2)+g4) 6 1 0 1 0 1 0 (1+g4)/(1+g4+g3-(g3*g1)/(1+g1)) 5 1 1 0 0 1 0 1 4 1 0 0 0 1 1 (1+g4)/g4 3 1 1 0 0 0 1 ((1+g4)*(1+g3))/(g3*g4) 2 1 0 1 0 0 1 ((1+g4)*(1+g3)*(1+g1))/(g4*g3*g1) 1 1 0 0 1 0 1 ((1+g2)*(1+g3)*(1+g4))/(g3*g4) R 0 1 0 1 0 1 -((1-g1*g2)*(1+g3)*(1+g4))/(g3*g4) 0 - Disengaged, 1 - Engaged g1: Planetary 1 ring/sun gear ratio g2: Planetary 2 ring/sun gear ratio g3: Planetary 3 ring/sun gear ratio g4: Planetary 4 ring/sun gear ratio  Variant Subsystem 1) Add Subsystem or Model blocks as valid variant choices. 2) You cannot connect blocks at this level. At simulation, connectivity is automatically determinedbased on the active variant and port name matching. Transmission Testbed  1. Plot shaft speeds, ratios, and efficiencies (see code) 2. Select transmission type: 4-Speed: Ravigneaux, CR-CR 6-Speed Lepelletier 7-Speed Lepelletier 8-Speed 9-Speed 10-Speed 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2015-2022 The MathWorks, Inc.

BLOCK:
 Inertia RavR;10-Speed;4-Speed CR-CR;4-Speed Ravigneaux;6-Speed Lepelletier;7-Speed Lepelletier;8-Speed;9-Speed;A;Actuator dynamics;B;Br A;Br B;Br C;Br D;Brake A;Brake B;Brake C;Brake D;Cl A;Cl B;Cl C;Cl D;Cl E;Cl F;Cl R;Clutch A;Clutch B;Clutch C;Clutch D;Clutch E;Clutch F;Clutch Pressures;Clutch R;Clutch schedule;Clutches;Clutches Gear ;Clutches Gear N;Clutches Gear R;DC A;DC F;Damper;Demux;Divide;Dog Clutch A;Dog Clutch F;E;Efficiency;F;From;Gain;Gear;Goto;In;Inertia;Inertia Pla1R-Pla2S;Inertia Pla1S-Pla2R;Inertia Pla3S-Pla4S;Inertia Pla4S;Inertia PlaC;Inertia PlaInS;Inertia PlaOutC;Inertia PlaOutR-PlaInpC;Inertia PlaOutS;Inertia PlaR;Inertia PlaR ;Inertia PlaS;Inertia RavC;Inertia RavR;Inertia RavSL;Inertia RavSS;Integrator;Intermediate shaft;MRR;MRRef;MRRef Brake C;MRRef Brake D;MRRef Clutch C;MRRef Clutch D;MRRef Dog Clutch F;MRRef Load;MRRef Source;Motion Sensor;Out;PS-Simulink Converter;PSTerm Dog Clutch A X;PSTerm Dog Clutch F X;Pi;Planetary Gear;Planetary Gear ;Planetary Gear Input;Planetary Gear Output;Po;Power Sensor;Power Sensor Input;Power Sensor Output;Pr;R;Ratio;Ravigneaux Gear;Reference;Repeating Sequence Stair;Results;Rounding Function;Routing;Saturation;Select Clutch States;Simulink-PS Converter;Solver Configuration;Speed;Speed Base;Speed Follower;St;State to pressure;SubSystem;Sum;Switch;Transmission;Velocity Source;w;wIn;wOut

BLOCKTYPE:
10-Speed;4-Speed CR-CR;4-Speed Ravigneaux;6-Speed Lepelletier;7-Speed Lepelletier;8-Speed;9-Speed;Cone Clutch;Constant;Demux;Disc Friction Clutch;Dog Clutch;First-order lag supporting vector signals;From;Gain;Goto;Ideal Angular Velocity Source;Ideal Rotational Motion Sensor;Inertia;Inport;Integrator;Loaded-Contact Rotational Friction;Mechanical Rotational Reference;MultiPortSwitch;Outport;PMIOPort;PS Terminator;PS-Simulink Converter;Planetary Gear;Product;Ramp;Ravigneaux Gear;Repeating Sequence Stair;Rotational Damper;Rotational Power Sensor;Rounding;Saturate;Scope;Simulink-PS Converter;Solver Configuration;Sum;Switch


MODELNAME: TwoModeHybridTransmission
PATH: examples/sdl/main/TwoModeHybridTransmission.slx
DESCRIPTION: Two Mode Hybrid Transmission
CHECKSUM: 1332C3D4634B9CD92BA86E2FFEB5E576
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Permanent Magnet Synchronous Motor Permanent Magnet Synchronous Motor Shifts between fixed gears are denoted by G taking fractional values. For example when using power-split mode 1 to shift from 1st to 2nd gear, G is 1.5. ref_engine_rpm This is a very simple strategy that moves between the transmission modes as a function of demanded speed. It is only valid during acceleration, the switching conditions and generator torque demands requiring modification during deceleration.  Gear/Mode Cl 1 Cl 2 Cl 3 Cl 4 Input Split 1 0 0 0 Compound Split 0 1 0 0 1 1 0 0 1 2 1 1 0 0 3 0 1 0 1 4 0 1 1 0  Clutch Schedule Two Mode Hybrid Transmission  1. Plot speeds of shafts and vehicle (see code) 2. Plot gear ratio of the transmission (see code) 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2011-2022 The MathWorks, Inc.

BLOCK:
;-;0.01 second lag;0.1 second lag;1+R;1-R1*R;1/R;1<-->input-split;1st gear;20Hz Lowpass Filter;2<-->compound-split(MGA<0);2nd gear;A;Abs;Acceleration level (m/s^2);B;Battery;Battery Losses (kW);Battery charge (Ah);Bus Creator;Bus Selector;CL;Calculations;Charge;Cl;Clutch ;Clutches;Convert to wheel RPM;Correction for final drive ratio;Current Sensor;D;DC Voltage Source;DC-DC Converter;Damper;Demux;Determine MGA and engine rpm demands to achieve MGB speed of 10000 rpm;Determine MGB and engine rpm demands to achieve MGB speed of 10000 rpm;Determine MGB and engine rpm demands to achieve engine speed of 6000 rpm;E;ERef;ERef High;ERef Low;En;Enable;Enable clutch ;Engine;F;Fcn;Final Drive Ratio;From;Fuel consumption (g);G;G1<->PS;G2<->PS2(MGA<0);Gain;Gains;Gear;Gear state;Gear state G;Gearbox ratio;Goto;H;I;I^;Ideal DC-DC Voltage Converter;Ideal Rotational Motion Sensor;In;Inertia Carrier;Inertia MA;Inertia MB;Integrator;Internal Resistance;Ki;Ki lookup table;Kp;Kp lookup table;L;Lag;Launch power split;Launch<->G;Left tire;Limits [-40,40];Limits [0,1];Lowpass Filter;MA;MB;MGA;MGA_mode;MGB;MGB_mode;MRR;MRRef;MRRef Clutch ;Meas RPM;Meas rpm;Mechanical Rotational Reference;Mode;Mot A;Mot B;Motion Sensor;Motor & Drive;Motor Control;Motor-Generator A;Motor-Generator B;Mux;Out;P;PS-Simulink Converter;PS-Simulink Converter ;PS2(MGA<0)<->PS2(MGA>0);PS2(MGA>0)<->PS2(ENG=6000);PS2S;PS<->G;Planetary Gear ;Planetary gear #3 ratio;Power;Power (kW);Product;R;R1*R;RPM Control;RPM Sensor;Ref RPM;Ref Thr;Ref Trq;Ref rpm;Reference;Right tire;Road Incline;Routing;Scopes;Sensor;Sensor lag;Set rpm demand equal to rpm measurement if not in speed control mode.;Shaft speeds (RPM);Shift 0->;Shift state;Simulink-PS Converter;Solver Configuration;Spd;Speed;Speed Command;Speed Controller;Start acceleration at t=2s;Strategy;SubSystem;Subsystem;Sum;Switch between speed and torque control modes.;T;T_ref;Terminator;Throttle;Throttle Control;Transmission;Tref;Trigger;U/D;Up;V;Vehicle Body;Voltage Source;Vs;W to kW;Wind Velocity;[-40,40];[0,1];compound-split(MGA<0)<-->compound-split(MGA>0);compound-split(MGA>0)<-->compound-split(ENG=6000);control;dG;engine_mode;i;mode;mps2kmh;o;ref_MGA_rpm;ref_MGA_torque;ref_MGB_rpm;ref_MGB_torque;ref_engine_rpm;ref_engine_throttle;rpm;rpm_dem;rpm_ref;u;v;wA;wB;wE;w_ref;w_ref->w_A;w_ref->w_E;y;z

BLOCKTYPE:
Abs;BusCreator;BusSelector;Constant;Current Sensor;DC Voltage Source;Demux;Disc Friction Clutch;Electrical Reference;EnablePort;Fcn;First-order lag supporting vector signals;From;Gain;Generic Engine;Goto;Ideal Rotational Motion Sensor;Ideal Transformer;Inertia;Inport;Integrator;LookupNDDirect;Mechanical Rotational Reference;Motor & Drive;Mux;Outport;PMIOPort;PS Constant;PS Gain;PS Integrator;PS Product;PS-Simulink Converter;Planetary Gear;Product;Resistor;Rotational Damper;Saturate;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Step;Sum;Switch;Terminator;Tire (Magic Formula);TransferFcn;TriggerPort;UnitDelay;Vehicle Body;Voltage Sensor

BLOCKTYPE_FREQUENCY:
1;4;4;85;1;1;1;4;5;7;19;4;33;41;1;26;4;1;3;62;16;6;8;2;11;55;25;2;2;1;2;10;3;13;1;1;3;9;1;7;1;1;38;6;1;2;4;1;3;1;1


MODELNAME: TwoSpeedTransmission
PATH: examples/sdl/main/TwoSpeedTransmission.slx
DESCRIPTION: Two-Speed Transmission
BLOCKTYPE_FREQUENCY: 4;1;3;4;3;4;2;2;1;2;1;4;1;2;8;4;4;2;2;2;4;1;7;5
CHECKSUM: CEE3EF9F0AB7DAAABF427F25C2255571
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Two-Speed Transmission  1. Plot shaft speeds (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2003-2022 The MathWorks, Inc.

BLOCK:
A;B;Brake;Clutch Brake;Clutch High Gear;Clutch Low Gear;Clutch Pressures;Clutch Schedule;Clutches High Gear;Clutches Low Gear;Clutches Neutral;Damper Axle;Damper Drive Shaft;Demux;Drive Torque;From;G;Gain;Gear;Gear High;Gear Low;Goto;High;Inertia Drive Shaft;Inertia Output Shaft;Low;MRRef;MRRef Damper Axle;MRRef Source;Motion Sensor;Multiport Switch;Mux;PS-Simulink Converter;PS2S;Pressure;Reference;Sensor Drive;Sensor Output;Simulink-PS Converter;Solver Configuration;Speed;Speeds and Torques;Step;SubSystem;Sum;Tests;Torque;Torque Sensor;Torque Source;tD;tO;wD;wO

BLOCKTYPE:
Constant;Demux;Disc Friction Clutch;From;Gain;Goto;Ideal Rotational Motion Sensor;Ideal Torque Sensor;Ideal Torque Source;Inertia;Inport;Mechanical Rotational Reference;MultiPortSwitch;Mux;Outport;PMIOPort;PS-Simulink Converter;Rotational Damper;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Step;Sum


MODELNAME: VariableRatioGear
PATH: examples/sdl/main/VariableRatioGear.slx
DESCRIPTION: Variable Ratio Gear
BLOCKTYPE_FREQUENCY: 2;2;2;1;2;3;1;1;4;2;2;1;1;2;1;1;1;1
CHECKSUM: DF963B9ADBE508FF39ABE57243B96806
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Variable Ratio Gear  1. Plot shaft speeds (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2003-2022 The MathWorks, Inc.

BLOCK:
A;B;From;Goto;Inertia Base;Inertia Follower;MRR;MRRef;Motion Sensor;Mux;PS-Simulink Converter;Ramp;Ratio;Reference;Rotational Power Sensor;Scope;Sensor Base;Sensor Follower;Simulink-PS Converter;Solver Configuration;SubSystem;Sum;Torque;Torque Source;Variable Ratio Gear;r

BLOCKTYPE:
From;Goto;Ideal Rotational Motion Sensor;Ideal Torque Source;Inertia;Mechanical Rotational Reference;Mux;Outport;PMIOPort;PS-Simulink Converter;Ramp;Rotational Power Sensor;Scope;Simulink-PS Converter;Sin;Solver Configuration;Sum;Variable Ratio Transmission


MODELNAME: VehicleFourWheelDriveTestbed
PATH: examples/sdl/main/VehicleFourWheelDriveTestbed.slx
DESCRIPTION: Four-Wheel Drive Testbed
BLOCKTYPE_FREQUENCY: 6;2;2;1;4;24;5;1;12;1;1;21;5;4;1;4;1;2;19;47;1;2;1;1;1;1;1;1;1;1;5;7;1;4;4;1;4;1;1;1
CHECKSUM: 5970DFA9FE4A7B9E03E1579232A60064
PRODUCT: MATLAB;Simscape;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Shaft torque applies pressure to the clutch pack locking the two shafts together. Wheel position is converted by the lookup table to an integer that indicates the road condition. The road condition integer is used to select a set of Magic Formula coefficients that correspond to tire behavior on that surface. Four-Wheel Drive Testbed  1. Plot speeds of tires and vehicle (see code) 2. Test center differential options (see code) 3. Test front, rear differential options (see code) 4. Front differential: Open, Torsen 5. Rear differential: Open, Torsen 6. Ctr. differential: Open, Viscous, Lockup, Shaft 7. Explore simulation results using Simscape Results Explorer 8. Learn more about this example Copyright 2014-2022 The MathWorks, Inc.

BLOCK:
AL;AR;Center Differential;Clutch Pack;Conn;D;Damper;Demux;Differential;Driveshaft Inertia;Dry;Dry Tarmac;Engine;F;Filter MF Coeff LF;Filter MF Coeff LR;Filter MF Coeff RF;Filter MF Coeff RR;From;Front Differential;Front Tires;Gain;Gearbox;Goto;H;I;Ice;In;Input Pinion Crown Gear;Integrator;LF;LR;Lag;Limit;Lockup;MRRef;Mux;N;NF;NR;Nonlinear Damper;O;Open;Out;PS Abs;PS Gain;PS Integrator;PS Subtract;PS-Simulink Converter;Position to Surface LF;Position to Surface LR;Position to Surface RF;Position to Surface RR;R;RF;RR;Rear Differential;Rear Tires;Reference;Road;S;Select Coeff;Select Coeff LF;Select Coeff LR;Select Coeff RF;Select Coeff RR;Select MF Coefficients;Selector;Shaft;Simulink-PS Converter;Snow;Solver Configuration;SubSystem;Subsystem;Sum;Sun-Planet Worm Gear ;Surface;Throttle;Tire Left;Tire Right;Torque Converter;Torque Sensor;Torsen;Torsional Spring-Damper;Trq to P;V;Vehicle;Vehicle Body;Viscous;W;Wet;Wet Tarmac;Wind and Incline;Worm Wheels;b;kph2mps;mL;mR;pos;spd;v x;wX

BLOCKTYPE:
Constant;Demux;Differential;Disc Friction Clutch;First-order lag supporting vector signals;From;Gain;Generic Engine;Goto;Ideal Torque Sensor;Inertia;Inport;Integrator;Lookup_n-D;Mechanical Rotational Reference;MultiPortSwitch;Mux;Nonlinear Rotational Damper;Outport;PMIOPort;PS Abs;PS Gain;PS Integrator;PS Subtract;PS-Simulink Converter;Ramp;Rotational Damper;Saturate;Scope;Selector;Simple Gear;Simulink-PS Converter;Solver Configuration;Sum;Sun-Planet Worm Gear;Testing Surface;Tire (Magic Formula);Torque Converter;Torsional Spring-Damper;Vehicle Body


MODELNAME: VehicleInSimscapeDrivelineAndSimulink
PATH: examples/sdl/main/VehicleInSimscapeDrivelineAndSimulink.slx
DESCRIPTION: Vehicle in Simscape(TM) Driveline(TM) and Simulink(R)
BLOCKTYPE_FREQUENCY: 1;1;2;8;2;1;1;1;1;1;1;1;2;1;1;1;2;1;1;1;2;2;2;1
CHECKSUM: 9A978EBB1DD0C2DB45FF6BA5C9263F7A
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Vehicle in Simscape Driveline and Simulink  1. Plot vehicle speed (see code) 2. Configure friction in Final Drive gear of Simscape Driveline model: No Losses, Constant Efficiency, Load-Dependent Efficiency 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example 5. Learn more about modeling physical networks  Simulink Model  Simscape Driveline Model Copyright 2004-2022 The MathWorks, Inc.

BLOCK:
Engine Inertia;Engine Torque;Engine inertia;Equivalent Vehicle Mass;Final Drive;Final Drive ;Final Drive Annotation;Final Drive Ratio;First-order filter;Front Tire;Goto;MTRef;Mux;Net Force;Net torque;PS-Simulink Converter;Product;Rear Tire;Reference;Road Incline;Rotational Acceleration;Sensing;Simscape Driveline;Simulink;Simulink-PS Converter;Solver Configuration;Speed;SubSystem;Tire Hub Velocity;Torque Source;Torque to Force;Transfer Fcn;Transmission;Transmission ;Transmission Ratio;Vehicle Body;Vehicle Velocity (km/hr);Wind Speed;Wind resistance;mps to kmph;v_sdl;v_sl

BLOCKTYPE:
Constant;Fcn;From;Gain;Goto;Ideal Torque Source;Inertia;Inport;Integrator;Mechanical Rotational Reference;Mux;PMIOPort;PS Constant;PS-Simulink Converter;Product;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Step;Sum;Tire (Simple);TransferFcn;Vehicle Body


MODELNAME: VehicleWithDualClutchTransmission
PATH: examples/sdl/main/VehicleWithDualClutchTransmission.slx
DESCRIPTION: Vehicle with Dual Clutch Transmission
CHECKSUM: 6D20238A350BF02004D20590C5541B88
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink;Stateflow
PRODUCT_BASECODE: LD
ANNOTATION:
 Shift linkage  Shift linkage  Shift linkage  Shift linkage  Shift linkage  Shaft inertia split evenly between the two Inertia blocks Slip speed at odd or even clutch Linkage positions (mm) Linkage positions (mm) Slip speed at odd or even clutch Slip speed at odd or even clutch Linkage positions (mm) Linkage positions (mm) Slip speed at odd or even clutch Slip speed at odd or even clutch Linkage positions (mm) Synchronizers are not explicitly modeled as the dog clutches have the Torque transmission model parameter set to Friction clutch approximation. This doesnt require that the dog teeth line up to engage. Shift demand is provided for a gearbox upto 10 gears The max gear allowed can be set in the model properties GrMax variable Vehicle with Dual Clutch Transmission Copyright 2008-2023 The MathWorks, Inc.  1. Select controller: open loop, closed loop 2. Plot speeds of vehicle and engine (see code) 3. Configure solver: Variable-Step, Fixed Step (see code) 4. Explore simulation results using Simscape Results Explorer 5. Learn more about this example

BLOCK:
; Demux ; SFunction ; Terminator ;0.5s delay;1 if not shifting;1-D Lookup Table;1/(0.18s+1) to allow for engine lag;1/t_shift;>locking pressure;Abs;Actuator ;Actuator 1 demand;Actuator 2 demand;Actuator 3 demand;Actuator 4 demand;Actuator 5 demand;Add;And;Angular speed sensor;Axle inertia;B;Bus Creator;Bus Selector;C;CL1->CL2 if Up and odd, or Down and even;CL2->CL1 if Down and odd, or Up and even;Closed loop;Clutch 1 locked;Clutch 1 open;Clutch 2 locked;Clutch 2 open;Cmd;Complete;Constant;Create;Create a 1/2s pulse if not engaged and the next gear number changes;Create pulse if next gear number changes and CL1 is not engaged;Create pulse if next gear number changes and CL2 is not engaged;Creator;Ctrl;DCT;DCTCmd;Damper;Diff;Discrete-Time Integrator;Disengage;Dog clutch ;Dog clutch 1 linkage force;Dog clutch 2 linkage force;Dog clutch 3 linkage force;Dog clutch 4 linkage force;Dog clutch 5 linkage force;Dual Clutch Transmission;Enable;Enable CL;Eng;EngSpd;Engage;Engine;Engine Management;Engine Mount Damping;Engine Mount Stiffness;Engine speed sensor;Even clutch;Even clutch pressure;Even gears;Even shaft inertia;F;Final Drive Ratio;Force Source;From;FromPlant;Gdem;Gear;Gear ;Gear 1 inertia;Gear 2 inertia;Gear 3 inertia;Gear 4 inertia;Gear 5 inertia;Gear Shift;Gear number;Gear select;Gear shift demands;Gear state;GearState;Goto;GrSt;Idle rpm reference demand;In Bus Element;Inertia Half C;Inertia Half C ;Inertia Half R;Info;Inhibit idle speed controller if THdem>0.;Input Shaft;Intermediate shaft inertia;Inverse clutch model;Inverse engine map;Kp;Launch controller;Launch if 0.;Linkage on;Lock CL1 if odd;Lock CL2 if even;Lock clutch ;Logical Operator;MRRef;Mass;Measurement;Mechanical Translational Reference;Mux;NG;Next gear;NextGear;Normalized throttle;Not engaged if < 2bar;Not engaged if < 2bar ;Not slipping;Odd clutch;Odd clutch pressure;Odd gears;Odd shaft inertia;Off;Open loop;Out;Out Bus Element;Output Shaft;P;P1dem;P2dem;PS-Simulink Converter;Pedal;Pressure dynamics ;Product;Pulse;Pulse sign;Pulses;R;Ramp;Rate Transition;Reduced pressure;Reference;Resetting clock;Road incline;S;Scope;Sensor dynamics;SensorOutput;ShftCmplt;Shift CL1 to CL;Shift CL2 to CL;Shift completed;Shift state;Signed pulse;Simulink-PS Converter;Slip;Slip Sensor Even;Slip Sensor Odd;Solver Configuration;Speed sensor;Spring;SubSystem;Sum;Switch;Target;Tdem;Terminator;Tire LF;Tire LR;Tire RF;Tire RR;Tmax;To force (N) ;ToPlant;Transmission Controller;Trq;Trq2P;TrqDem;UpDown;VehSpd;Vehicle;Vehicle Body;Wait 1s to ensure current gear state updated;Wind speed;ZOH;Zero-Order Hold;[-0.02,0.02];[0,1];delG;fcn;mph;nG;p;pedal;rpm;rpm2rad/s;t;throttle;trq_demand;z;~E

BLOCKTYPE:
Abs;BusCreator;BusSelector;Compare To Constant;Constant;Delay;Demux;Disc Friction Clutch;DiscreteIntegrator;DiscreteTransferFcn;Dog Clutch;EnablePort;Fcn;From;Gain;Generic Engine;Goto;Ideal Force Source;Ideal Rotational Motion Sensor;Inertia;Inport;Inverse clutch model;Inverse engine map;Logic;Lookup_n-D;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;Mux;Outport;PMIOPort;PS Constant;PS-Simulink Converter;Product;Ramp;RateTransition;Rotational Damper;Rotational Spring;S-Function;Saturate;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Step;Sum;Switch;Terminator;Tire (Magic Formula);TransferFcn;UnitDelay;Vehicle Body;ZeroOrderHold

BLOCKTYPE_FREQUENCY:
7;22;9;10;38;4;1;2;2;1;5;5;15;89;15;1;77;5;3;13;73;1;1;5;8;5;1;5;2;66;22;2;9;16;8;10;3;3;1;6;1;6;8;1;1;13;11;3;4;3;4;1;3


MODELNAME: VehicleWithFourSpeedTransmission
PATH: examples/sdl/main/VehicleWithFourSpeedTransmission.slx
DESCRIPTION: Vehicle with Four-Speed Transmission
BLOCKTYPE_FREQUENCY: 11;1;2;5;1;1;6;3;1;6;7;8;1;2;3;1;18;3;2;2;2;1;1;1;3;7;1;3;1;2;1;1;1
CHECKSUM: FA1C29F07BDAB80C06742E139094354F
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink;Stateflow
PRODUCT_BASECODE: LD
ANNOTATION:
Threshold Calculation  Gear A B C D R Ratio R 0 0 0 1 1 -g1 1 1 0 0 1 0 g2 2 1 0 1 0 0 (g1+g2)/(1+g1) 3 1 1 0 0 0 1 4 0 1 1 0 0 g1 /(1+g1) g1: Input planetary ring/sun gear ratio g2: Output planetary ring/sun gear ratio 0 - Disengaged, 1 - Engaged  Clutch Schedule Vehicle with Four-Speed Transmission  1. Plot speeds of shafts and vehicle (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2003-2022 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ;A;Br;Brk;Cl;Clutch A;Clutch B;Clutch C;Clutch D;Clutch Pressures;Clutch R;Clutch Schedule;Clutches Gear ;Clutches Gear N;Clutches Gear R;Coasting;ComputeThreshold;Constant;Data Type Conversion;Double-Shoe Brake;Driver Inputs;Engine;From;Full Throttle;Gain;Gear;Goto;Gradual Acceleration;Hard Braking;In;Inertia Impeller;Inertia Input Carrier Output Ring;Inertia Input Shaft;Inertia Input Sun;Inertia Output Carrier Input Ring;Inertia Output Shaft;Inertia Output Sun;Input Planetary Gear ;Integrator;InterpDown;InterpUp;Lowpass Filter;MRRef;MRRef Clutch C;MRRef Clutch D;Out;Output Planetary Gear;PS-Simulink Converter;Passing Maneuver;Po;Ramp;Reference;Repeating Sequence;Road Incline;Scope;Select Clutch States;Shift Logic;Simulink-PS Converter;Solver Configuration;Step;SubSystem;Sum;Thr;Throttle;Tire Left;Tire Right;Tire Slip;Torque Converter;Transmission;Vehicle Body;Vehicle Speed;VehicleSpeed;Wind Velocity;down_th;f;up_th;v

BLOCKTYPE:
Constant;DataTypeConversion;Demux;Disc Friction Clutch;Double-Shoe Brake;First-order lag supporting vector signals;From;Gain;Generic Engine;Goto;Inertia;Inport;Integrator;Lookup_n-D;Mechanical Rotational Reference;MultiPortSwitch;Outport;PMIOPort;PS Constant;PS-Simulink Converter;Planetary Gear;Ramp;Repeating table;S-Function;Scope;Simulink-PS Converter;Solver Configuration;Step;Sum;Tire (Magic Formula);Torque Converter;TriggerPort;Vehicle Body


MODELNAME: VehicleWithFourWheelDrive
PATH: examples/sdl/main/VehicleWithFourWheelDrive.slx
DESCRIPTION: Vehicle with Four-Wheel Drive
BLOCKTYPE_FREQUENCY: 2;2;1;1;1;1;2;1;3;72;4;5;1;1;1;1;3;1;4;4;4;4;1;1
CHECKSUM: 1D77EE380A72032E4F76044D4617F786
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
This subsystem contains the tire models used for the model variants. Each block above is a subsystem and must contain consistent port connection types. Note that the Tire (Simple) block does not slip, and therefore does not normally accept a normal force input or send an output of slip. In this case, the ports were added to maintain consistency.  This subsystem contains the tire models used for the model variants. Each block above is a subsystem and must contain consistent port connection types. Note that the Tire (Simple) block does not slip, and therefore does not normally accept a normal force input or send an output of slip. In this case, the ports were added to maintain consistency.  This subsystem contains the tire models used for the model variants. Each block above is a subsystem and must contain consistent port connection types. Note that the Tire (Simple) block does not slip, and therefore does not normally accept a normal force input or send an output of slip. In this case, the ports were added to maintain consistency.  This subsystem contains the tire models used for the model variants. Each block above is a subsystem and must contain consistent port connection types. Note that the Tire (Simple) block does not slip, and therefore does not normally accept a normal force input or send an output of slip. In this case, the ports were added to maintain consistency.  Vehicle with Four-Wheel Drive  1. Plot speeds of engine and vehicle (see code) 2. Configure tires: (see code) Simple, Friction Parameterized, Magic Formula 3. Explore simulation results using Simscape Results Explorer 4. Learn more about this example Copyright 2004-2022 The MathWorks, Inc.

BLOCK:
A;Constant;Driveshaft Inertia;Engine;Friction Parameterized;From;Front Differential;Gearbox;Goto;H;Incline;LF Slip;LR Slip;Left Front;Left Rear;Magic Formula;N;NF;NR;PS Gain;PS-Simulink Converter;RF Slip;RR Slip;Ramp;Rear Differential;Reference;Right Front;Right Rear;S;Saturation;Simple;Simulink-PS Converter;Solver Configuration;SubSystem;Terminator;Test - Hill;Throttle;Tire (Friction Parameterized);Tire (Magic Formula);Tire (Simple);Torque Converter;V;Vehicle Body;Vehicle Speed;W;Wind;b

BLOCKTYPE:
Constant;Differential;From;Generic Engine;Goto;Inertia;Inport;Mechanical Rotational Reference;Outport;PMIOPort;PS Gain;PS-Simulink Converter;Ramp;Saturate;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Terminator;Tire (Friction Parameterized);Tire (Magic Formula);Tire (Simple);Torque Converter;Vehicle Body


MODELNAME: VehicleWithManualTransmission
PATH: examples/sdl/main/VehicleWithManualTransmission.slx
DESCRIPTION: Vehicle with Manual Transmission
CHECKSUM: C4F98DF9DD5D42070F02A9BE2898BE28
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink;Stateflow
PRODUCT_BASECODE: LD
ANNOTATION:
The clutch normal force F is determined by the clutch spring compression. Depressing the clutch pedal reduces clutch spring compression and hence the clutch force. When the clutch plate displacement is less than -3mm, the clutch force is zero, and it is fully disengaged. Dashboard Input Abstracted gearbox model. Gear lever forces are turned via the limited integrator into positions. Division by lever travel (xMax) gives SIX signals in the range corresponding to the SIX gears. The dot product with the ratios vector gives a signal that corresponds to ratio of the selected gear, or zero if no gear is selected. If no gear is selected, then the clutch is disengaged to represent neutral. x x x x  Manual  Auto Driver Auto/Manual Copyright 2008-2022 The MathWorks, Inc. Vehicle with Manual Transmission  1. Plot driver inputs (see code) 2. Plot shaft speeds (see code) 3. Configure transmission: Abstract, Detailed 4. Compare results with abstract and detailed variants (see code) 5. Explore simulation results using Simscape Results Explorer 6. Learn more about this example

BLOCK:
; Demux ; SFunction ; Terminator ;1/t_shift;1/xMax;A;Abs;Abstract;AccPed;AccPedalGui;Accelerator Pedal;Add;B;Ball-Spring Force;Ball-Spring Force old;Brake;Brake Pedal;BrkFac;BrkP;BrkPed;BrkPress Factor;BrkPressGui;BrkReq;BrkRq;Bus Creator;Bus Selector;Clutch;Clutch Control;Clutch Damper;Clutch Pedal Linkage;Clutch Spring;Cone Clutch;Constant;Counter Gear;D;D/U;Delay;Detailed;Differential Gear;Disc Brake;Discrete-Time Integrator;Dog Clutch;Dot Product;Driver;Drvr Man\Auto;Enable;Engine;F;Fcn;Foot Lever;Force Sensor;Force Source;From;G;G1+;G1-;G1neg;G1pos;G2+;G2-;G2neg;G2pos;G3+;G3-;G3neg;G3pos;G4+;G4-;G4neg;G4pos;G5+;G5-;G5neg;G5pos;G6+;G6-;G6neg;G6pos;Gain;Gear;Gear ;Gear Control;Gear Lever;Gear Ratio;Gear Request;Gear Shifter;GearSt;Gearbox Schematic;Goto;Gr;GrChange;GrDwn;GrNTrans;GrReq;GrShift;GrSt;GrState;GrSwitch;GrSynch;GrUp;H;Inertia;Input Shaft Damper;Input Shaft Inertia;Integrator;Integrator [0,xMax];KI;Kp;Left Tire;Lower Limit;MRRef Engine;MRRef Input Shaft Damper;MRRef Input Shart Damper;MRRef Output Shaft Damper;MTRef;MTRef Clutch Force;MTRef Clutch Spring ;MTRef Foot Lever;MTRef Pedal;MTRef Release Lever;MTRef Withdrawal Damper;MTRef Withdrawal Lever;ManDrv;Mass;Mechanical Rotational Reference;Mux;N;Neutral;Ntl;O;Output Shaft Damper;Output Shaft Inertia;PI control;PS Add;PS-Simulink Converter;Pedal Return Spring;Pedal Stops;PreGr;PreGrSt;Pressure Plate Mass;Product;Radio Button;Ratio;Ratios;Reference;Release Lever;Resetting clock;Right Tire;Road Incline;S;S2PS;Saturation;Scope;Shft;ShftCmplt;Shift Complete;Shift completed;Signal Editor;Simulink-PS Converter;Solver Configuration;Stateflow;SubSystem;Switch;Synch;Synch+;Synch-;SynchF;SynchNeg;SynchPos;Synchro;Synchroniser;Synchronizer ;Terminator;Thr;ThrFac;ThrRaw;ThrReq;ThrRq;Throttle;Transmission;Unit Delay;V;Variable Ratio Transmission;VehVel;Vehicle Body;Vehicle Speed;VelSP;Wind Velocity;Withdrawal Bushing Mass;Withdrawal Damper;Withdrawal Lever;[0,1];delG;error;hold;mph;pedal;pid;t;thrfac;xMax/(fMax*t)

BLOCKTYPE:
Abs;BusCreator;BusSelector;Cone Clutch;Constant;CustomTuningWebBlock;Delay;Demux;Disc Brake;DiscreteIntegrator;Dog Clutch;DotProduct;EnablePort;Fcn;From;Gain;Generic Engine;Goto;Ideal Force Sensor;Ideal Force Source;Inertia;Inport;Integrator;Lever;Loaded-Contact Rotational Friction;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;Mux;Nonlinear Translational Spring;Outport;PMIOPort;PS Add;PS Constant;PS Lookup Table (1D);PS-Simulink Converter;Product;RadioButtonGroup;Rotational Damper;S-Function;Saturate;Scope;SignalEditor;Simple Gear;Simulink-PS Converter;Solver Configuration;Sum;Switch;Terminator;Tire (Magic Formula);Translational Damper;Translational Hard Stop;Translational Spring;UnitDelay;Variable Ratio Transmission;Vehicle Body

BLOCKTYPE_FREQUENCY:
6;2;7;4;19;2;10;1;1;1;4;1;1;22;59;11;1;43;1;5;5;64;2;3;2;6;5;11;1;1;75;18;4;2;8;1;1;1;4;1;5;3;1;5;9;1;7;21;2;2;2;1;1;3;1;1


MODELNAME: WinchWithBrake
PATH: examples/sdl/main/WinchWithBrake.slx
DESCRIPTION: Winch with Brake
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;1;1;1;2;1;5;1;1;1;1;1;1;1;1;1;1;1;1;1
CHECKSUM: B9951E3550614CF20749ADC06D4727D8
PRODUCT: MATLAB;Simscape;Simscape Driveline;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
Winch with Brake  1. Plot position of load and motor power (see code) 2. Explore simulation results using Simscape Results Explorer 3. Learn more about this example Copyright 2012-2022 The MathWorks, Inc.

BLOCK:
Brake;C;Cable Damping;Cable Stiffness;DC Motor;DC Voltage;ERef;Force;Friction;Gear;Inductor;Inertia;Load Mass;Load Weight;MRRef;MTRef;Motion Sensor;P;PS-Simulink Converter;Position;R;Reference;Resistor;Rotational Electromechanical Converter;Sensor Mass;Simulink-PS Converter;Sliding Friction;Solver Configuration;Spool to Cable;SubSystem;V+;V-

BLOCKTYPE:
DC Voltage Source;Double-Shoe Brake;Electrical Reference;Ideal Translational Motion Sensor;Inductor;Inertia;Loaded-Contact Translational Friction;Mass;Mechanical Rotational Reference;Mechanical Translational Reference;Outport;PMIOPort;PS Constant;PS-Simulink Converter;Resistor;Rotational Electromechanical Converter;Rotational Friction;Scope;Simple Gear;Simulink-PS Converter;Solver Configuration;Step;Translational Damper;Translational Spring;Wheel and Axle


MODELNAME: WindTurbineDrivelineWithVibrations
PATH: examples/sdl/main/WindTurbineDrivelineWithVibrations.slx
DESCRIPTION: Wind Turbine Driveline with Vibrations
BLOCKTYPE_FREQUENCY: 3;5;1;2;4;9;1;4;1;1;7;2;3;2;1;2;1;21;2;1;2;2;2;2;1;1;1;2;1;4;1;1;2;3;1
CHECKSUM: 679104B2AF458BE9B706EEEE4E3AE821
PRODUCT: MATLAB;Simscape;Simscape;Simscape Driveline;Simscape Driveline Documentation;Simulink
PRODUCT_BASECODE: LD
ANNOTATION:
 Wind Turbine Driveline With Rotor Dynamics  1. Explore model behavior in live script 2. Plot controlled wind turbine response (see code) 3. Adjust transverse vibration model: None, Lumped mass, Static eigenmode, Speed-dependent eigenmode 4. Animate transverse vibration results (see code) 5. View mode shapes (see code) 6. View Campbell frequency analysis plot (see code) 7. Compare vibration model computational efficiency and response prediction (see code) 8. Open model workspace to explore parameters (see definition script) 9. Explore simulation results using Simscape Results Explorer 10. Learn more about this example Copyright 2022-2023 The MathWorks, Inc.

BLOCK:
0 Pa;AND;Avoid Divide-by-Zero;B;Brake;Brake Pressure;Braking region;Connection Port;Controlled Generator;Cut in Threshold;Cut-out;Disc Brake;Divide;Drivetrain Losses;Enable;F;Feather Blades;From;G;Generator Torque;Goto;GreaterThan;Ideal Rotational Motion Sensor;Ideal Torque Source;Lumped mass;Mechanical Rotational Reference;Merge;NOT;PID Controller;PS Switch;PS-Simulink Converter;Pitch;Pitch Controller;Pitch Threshold;Pitch_In;Pitch_Out;Positive Rotation;Product;R;RPM;Rate Limiter;Rated Power;Rated Turbine Speed;Reference;Region ;Repeating Sequence;Rigid;Rotational Power Sensor;Rotational Velocity Sensor;Rotor + Hub;Saturation;Scheduled Ki;Scheduled Kp;Scope;Shaft;Simulink-PS Converter;Solver Configuration;Speed Error;Speed-dependent eigenmodes;Static eigenmodes;SubSystem;Switch;Transfer Fcn;Turbine Speed;V;Wind;rpm_to_rad_s;v_cut_out;v_wind;w

BLOCKTYPE:
Compare To Constant;Constant;Disc Brake;EnablePort;Flexible Shaft;From;Gain;Goto;Ideal Rotational Motion Sensor;Ideal Torque Source;Inport;Logic;Lookup_n-D;Mechanical Rotational Reference;Merge;Outport;PID 1dof;PMIOPort;PS Constant;PS Switch;PS-Simulink Converter;Product;RateLimiter;RelationalOperator;Repeating table;Rotational Damper;Rotational Power Sensor;Saturate;Scope;Simulink-PS Converter;Solver Configuration;Sum;Switch;TransferFcn;Wind Turbine


MODELNAME: ArchitecturalADCBasedSerDes
PATH: examples/serdes/main/ArchitecturalADCBasedSerDes.slx
ANNOTATION: SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager
BLOCKTYPE_FREQUENCY: 1;1;3;1;8;9;21;1;2;2;1;1;1;1;13;16;24;3;2;1;1;2;1
CHECKSUM: 935596DBE31FB3979DE15D6343C6CD4B
PRODUCT: DSP System Toolbox;Embedded Coder;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: SX
DESCRIPTION:
Serdes Toolbox template for a TX and RX, each for code generation as IBIS-AMI dual model (both Init_Returns_Impulse and GetWave_Exists). 

BLOCK:
 Demux ; SFunction ; Terminator ;ADC;ADC_EQ;ADC_EQDFEtap;ADC_EQSNR;ADC_EQTapWeights;Analog Channel;Array Plot;Bridge;CTLE;CTLEConfigSelect;CTLEMode;Configuration;DFE;DFEtap read;Data Store Write;Data Store Write Center;Data Store Write Lower;Data Store Write Upper;Delay;Demux;Event Listener;Eye Diagram;FFE;FFEMode;FFETapWeights;Gain read;Histogram;IBIS-AMI clock_times;ImpulseIn;ImpulseOut;In;Init;Initialize Function;LF;MATLAB Function;MBZ;MBZConfigSelect;MBZMode;NF;NFConfigSelect;NFMode;Noise;NoiseNoisePSD;NoisePSD read;Out;PAM4_CenterThreshold;PAM4_LowerThreshold;PAM4_UpperThreshold;PD;PassThrough;Reference;Rx;RxFFE;RxImpulseIn;RxImpulseOut;SNR write;SatAmp;SatAmpMode;SaturatingAmplifier;Stimulus;SubSystem;TX_AMP;TX_AMPGain;TX_AMPMode;TapWeights read;Tx;TxImpulseIn;TxImpulseOut;VCO;VGA;VGAGain;WaveIn;WaveOut

BLOCKTYPE:
AnalogChannel;ArrayPlot;CTLE;Configuration;Constant;DataStoreRead;DataStoreWrite;Delay;Demux;EventListener;EyeDiagramBlock;FFE;Histogram;IBIS_clock;Inport;MATLABSystem;Outport;PassThrough;S-Function;SaturatingAmplifier;Stimulus;Terminator;VGA


MODELNAME: DualSummingNodeSerdes
PATH: examples/serdes/main/DualSummingNodeSerdes.slx
CHECKSUM: 6447BBBD31DA50117AA7DF0D1DE28289
PRODUCT: DSP System Toolbox;Embedded Coder;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: SX
DESCRIPTION:
Serdes Toolbox template for a TX and RX, each for code generation as IBIS-AMI dual model (both Init_Returns_Impulse and GetWave_Exists). 

ANNOTATION:
 $W_k: \textrm{tap weight at index k}$ $D[n]: \textrm{Data symbol value (-1, -1/3, 1/3, 1)}$ $E_m: \textrm{sign of error (-1 or 1)}$ $\mu: \textrm{adaptation step-size}$ $n: \textrm{sample index}$ $m \textrm{: constellation level$ $k: \textrm{tap weight index (1, 2, 3 or 4)}$   $W_k[n] = W_k[n-1] + \mu \cdot (D[n-k]) \cdot E_m[n] \cdot (D[n] ==m)$  Sign-Sign LMS Governing equation:  $V_{\text{AUX}_m}[n]: \textrm{Auxiliary sample reference voltage for symbol m}$ $E_m[n]: \textrm{sign of error (-1 or 1)}$ $\mu: \textrm{adaptation step-size}$ $n: \textrm{sample index}$ $m \textrm{: constellation level$   $V_{\text{AUX}_m}[n] = V_{\text{AUX}_m}[n-1] + \mu \cdot (1) \cdot E_m[n] \cdot (D[n] ==m)$  Sign-Sign LMS governing equation: Convert from a half-rate clock to a full-rate AMI clock Odd Samplers Even Samplers Decision Retimer Adapted Controls Clock Simplified Block Diagram  AND  Symmetric data transition detector  Symmetric data transition detector  XOR  XOR Bang-Bang Phase Detector Data[n-1] | Edge | Data[n] | Edge Sample is ------------------------------------------------------------- + | + | + | + | - | + | + | + | - | Early + | - | - | Late - | + | + | Late - | - | + | Early - | + | - | - | - | - | SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager

BLOCK:
 ; Demux ; Ground ; SFunction ; Terminator ; VREF +;ADAPT;AMI Clock Generation;AND;Abs;Add;Add Constant;Analog Channel;CTLE;CTLEConfigSelect;CTLEMode;Cast To Double;Compare To Constant;Compare To Zero;Configuration;Constant;DFE_analog;Data ;Data Type Conversion;Decision;Delay;Demux;Divide;DualSummingNodeDFECDR;DualSummingNodeDFECDRTapWeights;E_m[n] * (D[n] == m);Event Listener;Eye Diagram;FFE;FFEMode;FFETapWeights;From;Gain;Gain read;Goto;IBIS-AMI clock_times;Ignore tap zero;ImpulseIn;ImpulseOut;In;Init;Initialize Function;LF;LMS Update;Less Than;MATLAB Function;MBZ;MBZConfigSelect;MBZMode;Mean;Multiply;Multiport Switch;Mux;NF;NFConfigSelect;NFMode;NOT;NXOR;Noise;NoiseNoisePSD;NoisePSD read;Out;PAM4_CenterThreshold;PAM4_LowerThreshold;PAM4_UpperThreshold;PD_analog;PassThrough;Polynomial;Product;Reference;Relational Operator;Rx;RxImpulseIn;RxImpulseOut;SatAmp;SatAmpMode;SaturatingAmplifier;Selector;Sign;Stimulus;SubSystem;Subsystem;Sum;Sum even;Sum odd;Sum of Elements;Symbol Voltage to index;TX_AMP;TX_AMPGain;TX_AMPMode;Tap LMS;TapWeights write;Trigger;Triggered Subsystem;Tx;TxImpulseIn;TxImpulseOut;VCO;VGA;VGAGain;VREF +1/;VREF -;VREF -1/;VREF LMS;Vector Concatenate;WaveIn;WaveOut;[0, 1, 2, 3] -> [-1, -1/3, 1/3, 1];aux;aux ;aux to data;ck_div;clk;clock time;d;data;data ;decision;delay;delay ;dly;edge ;en;enable generator;error;half-delay 1.;in;o;out;sel;t;tap ;taps;time;u;ud;v;vth;vth_aux;vth_data;w;w_in;w_out_even;w_out_odd

BLOCKTYPE:
Abs;AnalogChannel;Bias;CTLE;Compare To Constant;Compare To Zero;Concatenate;Configuration;Constant;DataStoreRead;DataStoreWrite;DataTypeConversion;Delay;Demux;EventListener;EyeDiagramBlock;FFE;From;Gain;Goto;Ground;IBIS_clock;Inport;Logic;MATLABSystem;Mean;MultiPortSwitch;Mux;Outport;PassThrough;Polyval;Product;RelationalOperator;S-Function;SaturatingAmplifier;Selector;SerDesInit;Signum;Stimulus;Sum;Terminator;TriggerPort;VGA;Variable Selector;dsp.simulink.LMSUpdate

BLOCKTYPE_FREQUENCY:
2;1;2;3;6;2;4;1;31;7;15;3;10;11;2;3;1;33;10;22;1;1;91;6;10;2;3;1;79;3;7;20;16;4;1;6;2;2;1;7;4;17;1;1;5


MODELNAME: SerdesClockRecovery
PATH: examples/serdes/main/SerdesClockRecovery.slx
ANNOTATION: SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager
BLOCKTYPE_FREQUENCY: 1;1;1;4;4;8;3;2;1;1;7;10;3;10;1;3;2;1;3;3
CHECKSUM: 374F9197AB96F054FAE7911FC361F1EE
PRODUCT: Embedded Coder;MATLAB;Mixed-Signal Blockset;SerDes Toolbox;Simulink
PRODUCT_BASECODE: SX
DESCRIPTION:
Serdes Toolbox template for a TX and RX, each for code generation as IBIS-AMI dual model (both Init_Returns_Impulse and GetWave_Exists). 

BLOCK:
 Demux ; SFunction ; Terminator ;Analog Channel;Bang-Bang Loop Filter;CTLE;CTLEConfigSelect;CTLEMode;Clock Generator;Configuration;DFE_CDR;DFE_CDRPhase;DFE_CDRTapWeights;Event Listener;Eye Diagram;Fall Signal Sampler;Filter Select ;First Order Mueller-Muller Loop Filter;Hogg-Chu Loop Filter;IBIS-AMI clock_times;ImpulseIn;ImpulseOut;In;Init;Initialize Function;Latch;Loop Filter Output;MATLAB Function;MATLAB System;Mode;Out;Phase write;PhaseOffset;Reference;ReferenceOffset;Rise Signal Sampler;Rx;RxImpulseIn;RxImpulseOut;Scope;Second Order Mueller-Muller Loop Filter;Stimulus;SubSystem;TapWeights read;TapWeights write;Tx;TxImpulseIn;TxImpulseOut;Unit Delay;WaveIn;WaveOut;Zero Crossing Detector;u;y

BLOCKTYPE:
AnalogChannel;CTLE;Configuration;Constant;DataStoreRead;DataStoreWrite;Demux;EventListener;EyeDiagramBlock;IBIS_clock;Inport;MATLABSystem;ManualSwitch;Outport;PassThrough;S-Function;Scope;Stimulus;Terminator;UnitDelay


MODELNAME: adding_tx_ffe_params
PATH: examples/serdes/main/adding_tx_ffe_params.slx
ANNOTATION: Copyright 2019-2023 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;2;2;2;2;2;1;1;6;2;6;1;2;1;2
CHECKSUM: D3EFCB7EBC4CE06D10BE1D99A3CEDA18
PRODUCT: Embedded Coder;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: SX
BLOCK:
 Demux ; SFunction ; Terminator ;Analog Channel;Configuration;Event Listener;Eye Diagram;FFE;FFEMode;FFETapWeights;ImpulseIn;ImpulseOut;In;Init;Initialize Function;MATLAB Function;Out;PT;PassThrough;Reference;Rx;RxImpulseIn;RxImpulseOut;Stimulus;SubSystem;Tx;TxImpulseIn;TxImpulseOut;WaveIn;WaveOut

BLOCKTYPE:
AnalogChannel;Configuration;Constant;DataStoreRead;DataStoreWrite;Demux;EventListener;EyeDiagramBlock;FFE;Inport;MATLABSystem;Outport;PassThrough;S-Function;Stimulus;Terminator


MODELNAME: cancel_xtalk
PATH: examples/serdes/main/cancel_xtalk.slx
ANNOTATION: SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager
BLOCKTYPE_FREQUENCY: 1;1;2;4;2;2;1;5;1;7;1;2;1;2
CHECKSUM: 03AEA71678A4F447DC8889D1F91724DC
PRODUCT: Embedded Coder;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: SX
BLOCK:
 Demux ; SFunction ; Terminator ;Analog Channel;Configuration;Event Listener;Eye Diagram;ImpulseIn;ImpulseOut;In;Init;Initialize Function;MATLAB Function;Out;PassThrough;Reference;Rx;RxImpulseIn;RxImpulseOut;Stimulus;SubSystem;Tx;TxImpulseIn;TxImpulseOut;WaveIn;WaveOut;XtalkCancel;XtalkCancelDelay;XtalkCancelGain

BLOCKTYPE:
AnalogChannel;Configuration;DataStoreRead;DataStoreWrite;Demux;EventListener;EyeDiagramBlock;Inport;MATLABSystem;Outport;PassThrough;S-Function;Stimulus;Terminator


MODELNAME: dqs_clock_forward
PATH: examples/serdes/main/dqs_clock_forward.slx
ANNOTATION: SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager Copyright 2023 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;2;2;2;3;2;1;1;8;7;1;3;1;3
CHECKSUM: 342C8582681E13C7CDF00EA340C9CD18
PRODUCT: Embedded Coder;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: SX
BLOCK:
 Demux ; SFunction ; Terminator ;Analog Channel;Clock Times;ClockDetect;Configuration;DQS Clock Detection;DQSCK;DQS_Preamble;Event Listener;Eye Diagram;ImpulseIn;ImpulseOut;Init;Initialize Function;MATLAB Function;Out;PreAmble;Reference;Rx;RxImpulseIn;RxImpulseOut;Stimulus;Strobe_or_Clock;SubSystem;Tx;TxImpulseIn;TxImpulseOut;WaveIn;WaveOut;clockTime;clockValid;unEqWaveIn

BLOCKTYPE:
AnalogChannel;Configuration;Constant;DataStoreRead;DataStoreWrite;Demux;EventListener;EyeDiagramBlock;IBIS_clock;Inport;Outport;PassThrough;S-Function;Stimulus;Terminator


MODELNAME: eyeMeasurementExampleModel_1Eye
PATH: examples/serdes/main/eyeMeasurementExampleModel_1Eye.slx
ANNOTATION: SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager
BLOCKTYPE_FREQUENCY: 1;1;1;1;6;1;4;12;2;2;1;1;1;6;2;9;1;2;2;1;2;1
CHECKSUM: 071B2AE2F2FEC9929476E970BA8FC84E
PRODUCT: Embedded Coder;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: SX
BLOCK:
 Demux ; SFunction ; Terminator ;Analog Channel;Bus Selector;CTLE;CTLEConfigSelect;CTLEMode;CTLESliceSelect;Configuration;Constant;DFECDR;DFECDRMode;DFECDRPhase;DFECDRPhaseOffset;DFECDRReferenceOffset;DFECDRTapWeights;Event Listener;Eye 3: DFE;Eye Diagram;Gain;ImpulseIn;ImpulseOut;In;Init;Initialize Function;MATLAB Function;Out;PAM4_CenterThreshold;PAM4_LowerThreshold;PAM4_UpperThreshold;PAM_Thresholds;Reference;Rx;RxImpulseIn;RxImpulseOut;Stimulus;SubSystem;Tx;TxImpulseIn;TxImpulseOut;WaveIn;WaveOut;clockbus2clocktime

BLOCKTYPE:
AnalogChannel;BusSelector;CTLE;Configuration;Constant;DFECDR;DataStoreRead;DataStoreWrite;Demux;EventListener;EyeDiagramBlock;EyeMeasurement;Gain;Inport;MATLABSystem;Outport;Rx;S-Function;SerDesInit;Stimulus;Terminator;Tx


MODELNAME: eyeMeasurementExampleModel_3Eye
PATH: examples/serdes/main/eyeMeasurementExampleModel_3Eye.slx
ANNOTATION: SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager
BLOCKTYPE_FREQUENCY: 1;1;1;1;6;1;4;12;2;2;1;3;1;6;2;9;1;2;2;1;2;1
CHECKSUM: 0EFFAC700E49C9C92A09A519E11CE241
PRODUCT: Embedded Coder;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: SX
BLOCK:
 Demux ; SFunction ; Terminator ;Analog Channel;Bus Selector;CTLE;CTLEConfigSelect;CTLEMode;CTLESliceSelect;Configuration;Constant;DFECDR;DFECDRMode;DFECDRPhase;DFECDRPhaseOffset;DFECDRReferenceOffset;DFECDRTapWeights;Event Listener;Eye 1: Channel;Eye 2: CTLE;Eye 3: DFE;Eye Diagram;Gain;ImpulseIn;ImpulseOut;In;Init;Initialize Function;MATLAB Function;Out;PAM4_CenterThreshold;PAM4_LowerThreshold;PAM4_UpperThreshold;PAM_Thresholds;Reference;Rx;RxImpulseIn;RxImpulseOut;Stimulus;SubSystem;Tx;TxImpulseIn;TxImpulseOut;WaveIn;WaveOut;clockbus2clocktime

BLOCKTYPE:
AnalogChannel;BusSelector;CTLE;Configuration;Constant;DFECDR;DataStoreRead;DataStoreWrite;Demux;EventListener;EyeDiagramBlock;EyeMeasurement;Gain;Inport;MATLABSystem;Outport;Rx;S-Function;SerDesInit;Stimulus;Terminator;Tx


MODELNAME: eyeMeasurementInDFECDRExampleModel
PATH: examples/serdes/main/eyeMeasurementInDFECDRExampleModel.slx
ANNOTATION: SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager
BLOCKTYPE_FREQUENCY: 1;2;1;1;6;1;4;12;2;2;1;1;1;6;2;9;1;2;2;1;2;1
CHECKSUM: 04F0485C5B5B05DA290DD2E804204C77
PRODUCT: Embedded Coder;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: SX
BLOCK:
 Demux ; SFunction ; Terminator ;Analog Channel;Bus Selector;CTLE;CTLEConfigSelect;CTLEMode;CTLESliceSelect;Configuration;Constant;DFECDR;DFECDRMode;DFECDRPhase;DFECDRPhaseOffset;DFECDRReferenceOffset;DFECDRTapWeights;Event Listener;Eye Diagram;Eye Measurement;Gain;ImpulseIn;ImpulseOut;In;Init;Initialize Function;MATLAB Function;Out;PAM4_CenterThreshold;PAM4_LowerThreshold;PAM4_UpperThreshold;PAM_Thresholds;Reference;Rx;RxImpulseIn;RxImpulseOut;Stimulus;SubSystem;Tx;TxImpulseIn;TxImpulseOut;WaveIn;WaveOut;clockbus2clocktime

BLOCKTYPE:
AnalogChannel;BusSelector;CTLE;Configuration;Constant;DFECDR;DataStoreRead;DataStoreWrite;Demux;EventListener;EyeDiagramBlock;EyeMeasurement;Gain;Inport;MATLABSystem;Outport;Rx;S-Function;SerDesInit;Stimulus;Terminator;Tx


MODELNAME: pcie5_ibis_txrx
PATH: examples/serdes/main/pcie5_ibis_txrx.slx
ANNOTATION: SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager
BLOCKTYPE_FREQUENCY: 1;1;1;1;8;1;4;12;3;2;1;1;1;9;3;11;3;2;1;3
CHECKSUM: EEDBA374CCE86EA7A8A9A69F6ECE4DF5
PRODUCT: Embedded Coder;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: SX
BLOCK:
 Demux ; SFunction ; Terminator ;Analog Channel;Bus Selector;CTLE;CTLEConfigSelect;CTLEMode;ConfigSelect;Configuration;Constant;DFECDR;DFECDRMode;DFECDRPhase;DFECDRPhaseOffset;DFECDRReferenceOffset;DFECDRTapWeights;Event Listener;Eye Diagram;FFE;FFEMode;FFETapWeights;Gain;ImpulseIn;ImpulseOut;In;Init;Initialize Function;MATLAB Function;Out;PAM4_CenterThreshold;PAM4_LowerThreshold;PAM4_UpperThreshold;PAM_Thresholds;Reference;Rx;RxImpulseIn;RxImpulseOut;Stimulus;SubSystem;TapWeightsIn;TapWeightsOut;Tx;TxImpulseIn;TxImpulseOut;WaveIn;WaveOut;clockbus2clocktime

BLOCKTYPE:
AnalogChannel;BusSelector;CTLE;Configuration;Constant;DFECDR;DataStoreRead;DataStoreWrite;Demux;EventListener;EyeDiagramBlock;FFE;Gain;Inport;MATLABSystem;Outport;S-Function;SerDesInit;Stimulus;Terminator


MODELNAME: rx_decision_time
PATH: examples/serdes/main/rx_decision_time.slx
ANNOTATION: SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager Copyright 2023 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;1;1;6;1;4;12;2;2;1;1;7;3;10;2;1;2;1;2
CHECKSUM: E26A2C19A1C94CA55B5BF550E530AEB1
PRODUCT: Embedded Coder;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: SX
BLOCK:
 Demux ; SFunction ; Terminator ;Analog Channel;Bus Selector;CTLE;CTLEConfigSelect;CTLEMode;Configuration;Constant;DFECDR;DFECDRMode;DFECDRPhase;DFECDRPhaseOffset;DFECDRReferenceOffset;DFECDRTapWeights;Event Listener;Eye Diagram;Gain;ImpulseIn;ImpulseOut;In;Init;Initialize Function;MATLAB Function;Out;PAM4_CenterThreshold;PAM4_LowerThreshold;PAM4_UpperThreshold;PAM_Thresholds;Reference;Rx;RxImpulseIn;RxImpulseOut;SatAmp;SatAmpMode;SaturatingAmplifier;Stimulus;SubSystem;Tx;TxImpulseIn;TxImpulseOut;WaveIn;WaveOut;clockbus2clocktime

BLOCKTYPE:
AnalogChannel;BusSelector;CTLE;Configuration;Constant;DFECDR;DataStoreRead;DataStoreWrite;Demux;EventListener;EyeDiagramBlock;Gain;Inport;MATLABSystem;Outport;S-Function;SaturatingAmplifier;SerDesInit;Stimulus;Terminator


MODELNAME: TrackLevelFusionOfRadarAndLidarDataInSimulink
PATH: examples/shared_driving_fusion_lidar/main/TrackLevelFusionOfRadarAndLidarDataInSimulink.slx
BLOCKTYPE_FREQUENCY: 1;1;1;4;1;10;3;15;4;9;4;1;5;1;1;3;1;1;1;1;1;4
CHECKSUM: 435995E546562C9D0402154E3E2ACF5F
PRODUCT_BASECODE: DR;TF;LP
ANNOTATION:
Lidar Tracking Algorithm  Lidar Tracking with Conventional JPDA Tracker  Performance Analysis  Tracking Performance Analysis with GOSPA Metric Radar Tracking Algorithm  Radar Tracking with GM-PHD Extended Object Tracker  Scenario and Sensor Simulation  Scenario and Sensor Simulation Track Level Fusion  Radar and Lidar Track Fusion  Track-Level Fusion of Radar and Lidar Data in Simulink

BLOCK:
 ; Demux ; SFunction ; Terminator ;Bounding Box Detector;Calculate Detectability;Constant;Convert To Object Track;Delay;Detection Concatenation;From;Fused Tracks;GOSPA Visualization;Generalized Optimal Subpattern Assignment Metric;Goto;Ground Truth Reader;Joint Probabilistic Data Association Multi Object Tracker;Lidar Detection Preprocessing;Lidar Point Cloud;Lidar Point Cloud Generator;Lidar Tracking Algorithm;Lidar Tracks;Performance Analysis;Point Cloud;Probability Hypothesis Density Tracker;Radar Detection Generator;Radar Detection Preprocessing;Radar Detections;Radar Tracking Algorithm;Radar Tracks;Reference;Scenario Reader;Scenario Time;Scenario and Sensor Simulation;SegInfo;Sensor Configuration Reader;SubSystem;Track Concatenation;Track Level Fusion;Track-To-Track Fuser;Tracks;Visualization;allTracks;detectableTracksInput;dets;detsOut;egoPose;lidarDets;objTracks;positionIndices;preProcessedDets;radarTracks

BLOCKTYPE:
BusCreator;Constant;Delay;Demux;DigitalClock;From;Goto;Inport;MATLABSystem;Outport;S-Function;Scope;Terminator;driving.scenario.internal.ScenarioReader;fusion.simulink.trackFuser;fusion.simulink.trackGOSPAMetric;fusion.simulink.trackerJPDA;fusion.simulink.trackerPHD;lidarPointCloudGenerator;matlabshared.tracking.internal.DetectionConcatenation;matlabshared.tracking.internal.TrackConcatenation;radarDetectionGenerator

PRODUCT:
Automated Driving Toolbox;Lidar Toolbox Documentation;MATLAB;Sensor Fusion and Tracking Toolbox;Simulink


MODELNAME: TrackVehiclesSimulinkExample
PATH: examples/shared_driving_fusion_lidar/main/TrackVehiclesSimulinkExample.slx
BLOCKTYPE: Constant;Delay;Demux;Inport;MATLABSystem;Outport;S-Function;Terminator;fusion.simulink.trackerJPDA
BLOCKTYPE_FREQUENCY: 1;1;1;2;4;4;1;1;1
CHECKSUM: F98A61E619DCE75444A818D8555C6502
PRODUCT: Computer Vision Toolbox;MATLAB;Sensor Fusion and Tracking Toolbox;Simulink
PRODUCT_BASECODE: DR;TF;LP
ANNOTATION:
Copyright 2019-2020 The MathWorks, Inc.  Visualization Recorded Data Readers Tracking Algorithm Lidar Segmentation and Clustering  Track Vehicles Using Lidar Data: From Point Cloud To Track List

BLOCK:
 Demux ; SFunction ; Terminator ;Bounding Box Detector;Calculate Detectability;Constant;Delay;Image Data Reader;Info;Lidar Data Reader;Out;Reference;SubSystem;Tracker;Visualization;allTracks;detectableTracksInput;positionIndices


MODELNAME: GPSNoiseModel
PATH: examples/shared_gps/main/GPSNoiseModel.slx
ANNOTATION: © Copyright 2021 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;2;2;1;2;1;5;4;6;1;1
CHECKSUM: DB33BE347BA12F4C73B39DDC7EA162B8
PRODUCT: MATLAB;Simulink;UAV Toolbox
PRODUCT_BASECODE: TF;NV;UV
BLOCK:
 Demux ; SFunction ; Terminator ; X Position; X Velocity; Y Position; Y Velocity; Z Position; Z Velocity;Altitude;Convert Local to Geodetic;GPS;GPS Course;GPS Groundspeed;Longitude/ Latude;Mux;Rate Transition;Reference;Selector;SubSystem;Transpose;Velocity;u;y

BLOCKTYPE:
Demux;Inport;Math;Mux;Outport;RateTransition;S-Function;Scope;Selector;Sin;Terminator;fusion.internal.simulink.gpsSensor


MODELNAME: uavGPSModel
PATH: examples/shared_gps/main/uavGPSModel.slx
ANNOTATION: © Copyright 2021 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 2;1;4;1;1;1;2;2;1;1;1;2;4;1;1;2;1
CHECKSUM: B5A474B1E905FBAC0B70F8ECD8CD7890
PRODUCT: MATLAB;Simulink;UAV Toolbox
PRODUCT_BASECODE: TF;NV;UV
BLOCK:
 Demux ; SFunction ; Terminator ;Bus Creator;Bus Selector;Constant;Convert Local to Geodetic;GPS;Height Position;Height Velocity;Multirotor Guidance Model;Mux;Rate Transition;Reference;Selector;Sine Wave;SubSystem;To Workspace;Transpose;u;y

BLOCKTYPE:
BusCreator;BusSelector;Constant;Demux;Guidance Model;Inport;Math;Mux;Outport;RateTransition;S-Function;Scope;Selector;Sin;Terminator;ToWorkspace;fusion.internal.simulink.gpsSensor


MODELNAME: DualSummingNodeSerdes
CHECKSUM: A7FE50C04CFF3F7841FCE6ABDBBBEFB8
PRODUCT: DSP System Toolbox;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: ES;AM;SX
PATH:
examples/shared_hdlv_serdes_mixed/projects/src/dual_summing_node_hdl_proj/models/DualSummingNodeSerdes.slx

ANNOTATION:
 $W_k: \textrm{tap weight at index k}$ $D[n]: \textrm{Data symbol value (-1, -1/3, 1/3, 1)}$ $E_m: \textrm{sign of error (-1 or 1)}$ $\mu: \textrm{adaptation step-size}$ $n: \textrm{sample index}$ $m \textrm{: constellation level$ $k: \textrm{tap weight index (1, 2, 3 or 4)}$   $W_k[n] = W_k[n-1] + \mu \cdot (D[n-k]) \cdot E_m[n] \cdot (D[n] ==m)$  Sign-Sign LMS Governing equation:  $V_{\text{AUX}_m}[n]: \textrm{Auxiliary sample reference voltage for symbol m}$ $E_m[n]: \textrm{sign of error (-1 or 1)}$ $\mu: \textrm{adaptation step-size}$ $n: \textrm{sample index}$ $m \textrm{: constellation level$   $V_{\text{AUX}_m}[n] = V_{\text{AUX}_m}[n-1] + \mu \cdot (1) \cdot E_m[n] \cdot (D[n] ==m)$  Sign-Sign LMS governing equation: Convert from a half-rate clock to a full-rate AMI clock Odd Samplers Even Samplers Decision Retimer Adapted Controls Clock Simplified Block Diagram  AND  Symmetric data transition detector  Symmetric data transition detector  XOR  XOR Bang-Bang Phase Detector Data[n-1] | Edge | Data[n] | Edge Sample is ------------------------------------------------------------- + | + | + | + | - | + | + | + | - | Early + | - | - | Late - | + | + | Late - | - | + | Early - | + | - | - | - | - | SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager

BLOCK:
 ; Demux ; Ground ; SFunction ; Terminator ; VREF +;ADAPT;AMI Clock Generation;AND;Abs;Add;Add Constant;Analog Channel;CTLE;CTLEConfigSelect;CTLEMode;Cast To Double;Compare To Constant;Compare To Zero;Configuration;Constant;DFE_analog;Data ;Data Type Conversion;Decision;Delay;Demux;Divide;DualSummingNodeDFECDR;DualSummingNodeDFECDRTapWeights;E_m[n] * (D[n] == m);Event Listener;Eye Diagram;FFE;FFEMode;FFETapWeights;From;Gain;Gain read;Goto;IBIS-AMI clock_times;Ignore tap zero;ImpulseIn;ImpulseOut;In;Init;Initialize Function;LF;LMS Update;Less Than;MATLAB Function;MBZ;MBZConfigSelect;MBZMode;Mean;Multiply;Multiport Switch;Mux;NF;NFConfigSelect;NFMode;NOT;NXOR;Noise;NoiseNoisePSD;NoisePSD read;Out;PAM4_CenterThreshold;PAM4_LowerThreshold;PAM4_UpperThreshold;PD_analog;PassThrough;Polynomial;Product;Reference;Relational Operator;Rx;RxImpulseIn;RxImpulseOut;SatAmp;SatAmpMode;SaturatingAmplifier;Selector;Sign;Stimulus;SubSystem;Subsystem;Sum;Sum even;Sum odd;Sum of Elements;Symbol Voltage to index;TX_AMP;TX_AMPGain;TX_AMPMode;Tap LMS;TapWeights write;Trigger;Triggered Subsystem;Tx;TxImpulseIn;TxImpulseOut;VCO;VGA;VGAGain;VREF +1/;VREF -;VREF -1/;VREF LMS;Vector Concatenate;WaveIn;WaveOut;[0, 1, 2, 3] -> [-1, -1/3, 1/3, 1];aux;aux ;aux to data;ck_div;clk;clock time;d;data;data ;decision;delay;delay ;dly;edge ;en;enable generator;error;half-delay 1.;in;o;out;sel;t;tap ;taps;time;u;ud;v;vth;vth_aux;vth_data;w;w_in;w_out_even;w_out_odd

BLOCKTYPE:
Abs;AnalogChannel;Bias;CTLE;Compare To Constant;Compare To Zero;Concatenate;Configuration;Constant;DataStoreRead;DataStoreWrite;DataTypeConversion;Delay;Demux;EventListener;EyeDiagram;FFE;From;Gain;Goto;Ground;IBIS_clock;Inport;Logic;MATLABSystem;Mean;MultiPortSwitch;Mux;Outport;PassThrough;Polyval;Product;RelationalOperator;S-Function;SaturatingAmplifier;Selector;SerDesInit;Signum;Stimulus;Sum;Terminator;TriggerPort;VGA;Variable Selector;dsp.simulink.LMSUpdate

BLOCKTYPE_FREQUENCY:
2;1;2;3;6;2;4;1;31;7;15;3;10;11;2;3;1;33;10;22;1;1;91;6;10;2;3;1;79;3;7;20;16;4;1;6;2;2;1;7;4;17;1;1;5


MODELNAME: DualSummingNodeSerdes_bitAccurate
BLOCKTYPE_FREQUENCY: 2;1;2;2;3;4;2;1;1;11;2;7;15;1;2;12;2;3;1;29;6;18;1;1;78;1;10;3;67;3;4;4;16;6;1;3;2;2;1;8;6;18;1;1
CHECKSUM: 505467B681C0788BBFE2360D15A1B14C
PRODUCT: DSP System Toolbox;Fixed-Point Designer;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: ES;AM;SX
PATH:
examples/shared_hdlv_serdes_mixed/projects/src/dual_summing_node_hdl_proj/models/DualSummingNodeSerdes_bitAccurate.slx

ANNOTATION:
Convert from a half-rate clock to a full-rate AMI clock Odd Samplers Even Samplers Decision Retimer Adapted Controls Clock Simplified Block Diagram  AND  Symmetric data transition detector  Symmetric data transition detector  XOR  XOR Bang-Bang Phase Detector Data[n-1] | Edge | Data[n] | Edge Sample is ------------------------------------------------------------- + | + | + | + | - | + | + | + | - | Early + | - | - | Late - | + | + | Late - | - | + | Early - | + | - | - | - | - | vth_aux SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager 131072

BLOCK:
 ; Demux ; Ground ; SFunction ; Terminator ;ADAPT;AMI Clock Generation;Abs;Add;Add Constant;Analog Channel;Bit Concat;Bit-accurate Tap DAC;CTLE;CTLEConfigSelect;CTLEMode;Compare To Constant;Compare To Zero;Configuration;Constant;DES;DFE_analog;Data ;Data Type Conversion;Decision;Delay;Demux;Deserializer;DualSummingNodeDFECDR;DualSummingNodeDFECDRTapWeights;Event Listener;Eye Diagram;FFE;FFEMode;FFETapWeights;Flip;From;Gain;Gain read;Goto;IBIS-AMI clock_times;ImpulseIn;ImpulseOut;In;Init;Initialize Function;LF;Less Than;MATLAB Function;MBZ;MBZConfigSelect;MBZMode;Multiply;Multiport Switch;NF;NFConfigSelect;NFMode;NXOR;Noise;NoiseNoisePSD;NoisePSD read;Out;PAM4_CenterThreshold;PAM4_LowerThreshold;PAM4_UpperThreshold;PD_analog;PassThrough;Polynomial;Product;Reference;Relational Operator;Rx;RxImpulseIn;RxImpulseOut;SatAmp;SatAmpMode;SaturatingAmplifier;Selector;Sign;Stimulus;SubSystem;Subsystem;Sum;Sum even;Sum odd;Sum of Elements;TX_AMP;TX_AMPGain;TX_AMPMode;TapWeights write;Trigger;Triggered Subsystem;Tx;TxImpulseIn;TxImpulseOut;Unit Delay;VCO;VGA;VGAGain;Vector Concatenate;WaveIn;WaveOut;[0, 1, 2, 3] -> [-1, -1/3, 1/3, 1];adapt;asmpl;asmpls;aux;aux ;ck_div;clk;clock time;data;data ;decision;delay;delay ;div_clk;dlev;dly;dsmpl;dsmpls;edge ;in;out;sel;t;tap ;taps;time;u;ud;ufix2 -> dbl;v;vlev;vth;vth_aux;vth_data;w_in;w_out_even;w_out_odd

BLOCKTYPE:
Abs;AnalogChannel;Bias;Bit Concat;CTLE;Compare To Constant;Compare To Zero;Concatenate;Configuration;Constant;DSPFlip;DataStoreRead;DataStoreWrite;DataTypeConversion;Delay;Demux;EventListener;EyeDiagram;FFE;From;Gain;Goto;Ground;IBIS_clock;Inport;Logic;MATLABSystem;MultiPortSwitch;Outport;PassThrough;Polyval;Product;RelationalOperator;S-Function;SaturatingAmplifier;Selector;SerDesInit;Signum;Stimulus;Sum;Terminator;TriggerPort;UnitDelay;VGA


MODELNAME: DualSummingNodeSerdes_bitAccurate_for_export
BLOCKTYPE_FREQUENCY: 2;1;2;2;3;4;2;1;1;11;2;7;15;1;2;12;2;3;1;29;6;18;1;1;78;1;10;3;67;3;4;4;16;6;1;3;2;2;1;8;6;18;1;1
CHECKSUM: 95D187C838155E41DD6E0CF922B24FF0
PRODUCT: DSP System Toolbox;Fixed-Point Designer;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: ES;AM;SX
PATH:
examples/shared_hdlv_serdes_mixed/projects/src/dual_summing_node_hdl_proj/models/DualSummingNodeSerdes_bitAccurate_for_export.slx

ANNOTATION:
Convert from a half-rate clock to a full-rate AMI clock Odd Samplers Even Samplers Decision Retimer Adapted Controls Clock Simplified Block Diagram  AND  Symmetric data transition detector  Symmetric data transition detector  XOR  XOR Bang-Bang Phase Detector Data[n-1] | Edge | Data[n] | Edge Sample is ------------------------------------------------------------- + | + | + | + | - | + | + | + | - | Early + | - | - | Late - | + | + | Late - | - | + | Early - | + | - | - | - | - | vth_aux SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager 131072

BLOCK:
 ; Demux ; Ground ; SFunction ; Terminator ;ADAPT;AMI Clock Generation;Abs;Add;Add Constant;Analog Channel;Bit Concat;Bit-accurate Tap DAC;CTLE;CTLEConfigSelect;CTLEMode;Compare To Constant;Compare To Zero;Configuration;Constant;DES;DFE_analog;Data ;Data Type Conversion;Decision;Delay;Demux;Deserializer;DualSummingNodeDFECDR;DualSummingNodeDFECDRTapWeights;Event Listener;Eye Diagram;FFE;FFEMode;FFETapWeights;Flip;From;Gain;Gain read;Goto;IBIS-AMI clock_times;ImpulseIn;ImpulseOut;In;Init;Initialize Function;LF;Less Than;MATLAB Function;MBZ;MBZConfigSelect;MBZMode;Multiply;Multiport Switch;NF;NFConfigSelect;NFMode;NXOR;Noise;NoiseNoisePSD;NoisePSD read;Out;PAM4_CenterThreshold;PAM4_LowerThreshold;PAM4_UpperThreshold;PD_analog;PassThrough;Polynomial;Product;Reference;Relational Operator;Rx;RxImpulseIn;RxImpulseOut;SatAmp;SatAmpMode;SaturatingAmplifier;Selector;Sign;Stimulus;SubSystem;Subsystem;Sum;Sum even;Sum odd;Sum of Elements;TX_AMP;TX_AMPGain;TX_AMPMode;TapWeights write;Trigger;Triggered Subsystem;Tx;TxImpulseIn;TxImpulseOut;Unit Delay;VCO;VGA;VGAGain;Vector Concatenate;WaveIn;WaveOut;[0, 1, 2, 3] -> [-1, -1/3, 1/3, 1];adapt;asmpl;asmpls;aux;aux ;ck_div;clk;clock time;data;data ;decision;delay;delay ;div_clk;dlev;dly;dsmpl;dsmpls;edge ;in;out;sel;t;tap ;taps;time;u;ud;v;vlev;vth;vth_aux;vth_data;w_in;w_out_even;w_out_odd

BLOCKTYPE:
Abs;AnalogChannel;Bias;Bit Concat;CTLE;Compare To Constant;Compare To Zero;Concatenate;Configuration;Constant;DSPFlip;DataStoreRead;DataStoreWrite;DataTypeConversion;Delay;Demux;EventListener;EyeDiagram;FFE;From;Gain;Goto;Ground;IBIS_clock;Inport;Logic;MATLABSystem;MultiPortSwitch;Outport;PassThrough;Polyval;Product;RelationalOperator;S-Function;SaturatingAmplifier;Selector;SerDesInit;Signum;Stimulus;Sum;Terminator;TriggerPort;UnitDelay;VGA


MODELNAME: multipath_adc
PATH: examples/shared_hdlv_serdes_mixed/projects/src/multipath_adc_proj/models/multipath_adc.slx
BLOCKTYPE_FREQUENCY: 1;2;1;4;1;1;2;1;1;2;1
CHECKSUM: 94DDAFA1B76815913F8E6524FD3FD3B2
PRODUCT: Embedded Coder;HDL Verifier;MATLAB;Mixed-Signal Blockset;Simulink
PRODUCT_BASECODE: ES;AM;SX
BLOCK:
ADC;Add Constant;Interleaved ADC;Multiply;Reference;SubSystem;Terminator;Waveform Generator;clk;gain;gain cal;in;in_sel;offset;offset cal;random noise;ready;samples;sampling clock

BLOCKTYPE:
Bias;Constant;Gain;Inport;MATLABSystem;ManualSwitch;Outport;RandomNumber;SignalGenerator;Terminator;WaveformGenerator


MODELNAME: circuit_CTLE_svdpi
PATH: examples/shared_hdlv_serdes_mixed/projects/src/serdes_ctle_proj/models/circuit_CTLE_svdpi.slx
ANNOTATION: SerDes IBIS-AMI Manager SerDes IBIS-AMI Manager
BLOCKTYPE_FREQUENCY: 1;2;1;1;4;2;8;2;2;1;1;8;2;6;1;3;2;1;3;1
CHECKSUM: 4E85D7B41F8A00A6FF359DFC9B28681C
PRODUCT: Embedded Coder;HDL Verifier;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: ES;AM;SX
BLOCK:
 Demux ; SFunction ; Terminator ;Analog Channel;Bus Selector;CDR;CDRPhase;CDRPhaseOffset;CDRReferenceOffset;CTLE;CTLE_core;ConfigSelect;Configuration;Constant;Event Listener;Eye Diagram;Gain;ImpulseIn;ImpulseOut;In;Init;Initialize Function;MATLAB Function;Out;PAM4_CenterThreshold;PAM4_LowerThreshold;PAM4_UpperThreshold;PAM_Thresholds;Reference;Rx;RxImpulseIn;RxImpulseOut;Stimulus;SubSystem;Terminator;Trigger;Triggered Subsystem;Tx;TxImpulseIn;TxImpulseOut;WaveIn;WaveOut;clockbus;clockbus2clocktime;write_clock_times

BLOCKTYPE:
AnalogChannel;BusSelector;CDR;Configuration;Constant;DataStoreRead;DataStoreWrite;Demux;EventListener;EyeDiagramBlock;Gain;Inport;MATLABSystem;Outport;PassThrough;S-Function;SerDesInit;Stimulus;Terminator;TriggerPort


MODELNAME: spec_CTLE
PATH: examples/shared_hdlv_serdes_mixed/projects/src/standalone_ctle_proj/models/spec_CTLE.slx
BLOCKTYPE: Constant;Demux;Inport;MATLABSystem;ManualSwitch;Outport;S-Function;SignalConversion;Step;Terminator
BLOCKTYPE_FREQUENCY: 1;1;5;3;1;1;1;1;1;2
CHECKSUM: F86CF31671DB79C0EC2EA2DFDB7752B0
PRODUCT: HDL Verifier;MATLAB;SerDes Toolbox;Simulink
PRODUCT_BASECODE: ES;AM;SX
BLOCK:
 Demux ; SFunction ; Terminator ;AC Response;CTLE_core;Constant;DC Response;PRBS Gen.;Signal Conversion;Step;SubSystem;Terminator;boost;cfg_sel;in;input_switch;logger;out


MODELNAME: ScenarioINSExampleSimulinkModel
PATH: examples/shared_ins/main/ScenarioINSExampleSimulinkModel.slx
ANNOTATION: © Copyright 2020, The MathWorks, Inc.
BLOCK: Bus Selector;Constant;INS;Reference;Scenario Reader;Terminator
BLOCKTYPE_FREQUENCY: 1;1;6;1;1
CHECKSUM: 40C7A40FD018AF4E2F8DE8EC512E0F41
PRODUCT: Automated Driving Toolbox;MATLAB;Simulink
PRODUCT_BASECODE: DR;TF;NV;RA;UV
BLOCKTYPE:
BusSelector;Constant;Terminator;driving.scenario.internal.ScenarioReader;fusion.internal.simulink.insSensor


MODELNAME: soc_dcdc_buck_arm_ref
PATH: examples/shared_mcb_soc_c2b/main/soc_dcdc_buck_arm_ref.slx
ANNOTATION: Copyright 2021 The MathWorks, Inc. Communication Interface - Target
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;2;1;1;1;1
CHECKSUM: 99A71063CE7E3EEAF70BB0C1A2EBBBD0
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Simulink
PRODUCT_BASECODE: C2;MT;HW
BLOCK:
Gain;IPC_msg_in;IPC_msg_out;Interprocess Data Read;Interprocess Data Write;Reference;Step;Terminator;UDP Receive;UDP Send;Variant Sink;Variant Source

BLOCKTYPE:
Gain;Inport;Interprocess Data Read;Interprocess Data Write;Outport;Step;Terminator;VariantSink;VariantSource;codertarget.armM4.blocks.UdpReceive;codertarget.armM4.blocks.UdpSend


MODELNAME: soc_dcdc_buck_c28x_ref
PATH: examples/shared_mcb_soc_c2b/main/soc_dcdc_buck_c28x_ref.slx
BLOCKTYPE_FREQUENCY: 2;1;2;5;3;18;1;1;1;9;1;2;2;1;5;1;1;1;3;1;3
CHECKSUM: 87EB271E34D7CB0A02740B5812D8B097
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Simulink;SoC Blockset
PRODUCT_BASECODE: C2;MT;HW
ANNOTATION:
Ideal ADC in sim, so no offset Ideal ADC in sim, so no offset  Controller  Copyright 2021 The MathWorks, Inc. Active load is always ON to stay in CCM  Voltage Mode Control  Copyright 2021 The MathWorks, Inc.

BLOCK:
ADC error scaling;ADC offset error in HW;ADC_EOC_Event;Add;Asynchronous Task Specification;Clamp;Compare To Zero;Constant;Controller;Current ADC Read - ADCC;Data_In;Data_Out;Duty Ratio;Err;Gain;I Gain;I gain;IPC_msg;I_fbk;I_sense;Igain;Inport;Integrator;Interprocess Data Read;Interprocess Data Write;Logical Operator;Out;P Gain;P gain;PI controller;PI_out;PWM Write;PWM compare;Product;Reference;Relational Operator;Saturation;Saturation_out;SubSystem;Sum;Switch;System Initialize;System Terminate;Terminator;Trigger;Unit Delay;V_fbk;V_sense;Voltage ADC Read ADCC;Vout;Vout1Ref;Vref_pu;u;y

BLOCKTYPE:
ADC Read;AsynchronousTaskSpecification;Compare To Zero;Constant;Gain;Inport;Interprocess Data Read;Interprocess Data Write;Logic;Outport;PWM Write;Product;RelationalOperator;Saturate;Sum;Switch;System Initialize;System Terminate;Terminator;TriggerPort;UnitDelay


MODELNAME: soc_dcdc_buck_host
PATH: examples/shared_mcb_soc_c2b/main/soc_dcdc_buck_host.slx
DESCRIPTION: Control and Logic Design with Simulink(R) and Stateflow(R)
BLOCK: Constant;Out;Output ;Reference;Scope;Terminator;UDP Read;UDP Write;Voltage Graph;Voltage Set
BLOCKTYPE: Constant;DashboardScope;DisplayBlock;KnobBlock;Outport;Scope;Terminator;UDP Read;UDP Write
BLOCKTYPE_FREQUENCY: 1;1;1;1;1;1;1;1;1
CHECKSUM: 3DEA7646B5CA0E2D8983A6C746620C9E
PRODUCT: Embedded Coder;MATLAB;Simulink;Simulink Coder;SoC Blockset
PRODUCT_BASECODE: C2;MT;HW
ANNOTATION:
 Network Managed DC-DC Power Converter - Host Model  Copyright 2021 The MathWorks, Inc.  Choose Start from the Simulation menu to run the model. Use the Knob to change the Voltage value and observe the updated value at Output 


MODELNAME: soc_dcdc_buck_target
PATH: examples/shared_mcb_soc_c2b/main/soc_dcdc_buck_target.slx
BLOCKTYPE_FREQUENCY: 2;1;2;1;1;2;1;4;1;6;2;2;2;5;3;1;2;2;1;2;4;2
CHECKSUM: 5038C94170EABEF5088235E2519F70FC
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Simscape;Simscape Electrical;Simulink
PRODUCT_BASECODE: C2;MT;HW
EXTERNALFILE_REFERENCE: soc_dcdc_buck_arm_ref.slx___Model_Block___soc_dcdc_buck_c28x_ref.slx___Model_Block___
ANNOTATION:
board value is 4.8uH  Network Managed DC-DC Power Converter - Target Model Comunication Interface Arm Cortex-M4  Copyright 2021 The MathWorks, Inc. Controller in C28x CPU1

BLOCK:
ADC C4 and C5 Peripheral;ADC Interface;ADC_EOC_Event;Band-Limited Op-Amp;C;C4+C5+C;Current Sensor;DC-DC Buck Plant;Diode;Electrical Reference;Gain;ILFB;ILFB_Volts;Inductor;Interprocess Data Channel;Isense;MOSFET;Model;PR;PS-Simulink Converter;PWM;PWM Interface;PWM_Complementary;R;Reference;Simulink-PS Converter;Solver Configuration;Source;SubSystem;Task Manager;Terminator;VMC;Voltage;Voltage Sensor;VoutFB;Vout_FB;Vsense;trig


MODELNAME: soc_dcdc_pwr_conv
PATH: examples/shared_mcb_soc_c2b/main/soc_dcdc_pwr_conv.slx
BLOCKTYPE_FREQUENCY: 2;2;1;2;1;1;2;1;4;1;7;2;2;2;10;3;1;1;3;2;2;1;2;3;2
CHECKSUM: 92C20B32510FD99FDA91F0330AC7EC02
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Simscape;Simscape Electrical;Simulink
PRODUCT_BASECODE: C2;MT;HW
EXTERNALFILE_REFERENCE: soc_dcdc_pwr_conv_c28x_ref.slx___Model_Block___soc_dcdc_pwr_conv_cla_ref.slx___Model_Block___
ANNOTATION:
board value is 4.8uH  Control Law Accelerator in DC-DC Power Conversion  Copyright 2022 The MathWorks, Inc. Controller in CLA Data Logging in CPU

BLOCK:
ADC C4 and C5 Peripheral;ADC Interface;ADC Read;ADC_EOC_Event;Band-Limited Op-Amp;C;C4+C5+C;CLA Task Manager;CPU ;Current Sensor;DC-DC Buck Plant;Diode;Electrical Reference;Gain;ILFB;ILFB_Volts;In;Inductor;Interprocess Data Channel;Isense;MOSFET;PR;PS-Simulink Converter;PWM;PWM ;PWM Interface;PWM Write;PWM_Complementary;R;Rate Transition;Reference;Simulink-PS Converter;Solver Configuration;Source;SubSystem;Task Manager;Terminator;VMC;Voltage;Voltage Sensor;VoutFB;Vout_FB;Vsense;trig;trigger;~PWM

BLOCKTYPE:
ADC Interface;ADC Read;Band-Limited Op-Amp;Capacitor;Current Sensor;DC Voltage Source;Diode;Electrical Reference;Gain;Inductor;Inport;Interprocess Data Channel;MOSFET (Ideal, Switching);ModelReference;Outport;PS-Simulink Converter;PWM Interface;PWM Write;RateTransition;Resistor;Simulink-PS Converter;Solver Configuration;Task Manager;Terminator;Voltage Sensor


MODELNAME: soc_dcdc_pwr_conv_c28x_ref
PATH: examples/shared_mcb_soc_c2b/main/soc_dcdc_pwr_conv_c28x_ref.slx
BLOCKTYPE_FREQUENCY: 1;2;2;3;6;1;1;1;1;3;1;1;1;1;1;3;1;1;1
CHECKSUM: 115DF275735C3E783116CFA50E0E6092
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Simulink
PRODUCT_BASECODE: C2;MT;HW
ANNOTATION:
Ideal ADC in sim, so no offset  CPU1 for Current Protection and Data Logging Active load is always ON to stay in CCM  Copyright 2022 The MathWorks, Inc.

BLOCK:
ADC error scaling;ADC offset error in HW;Add;Asynchronous Task Specification;Cast To Single;Constant;Current Protection;Data Transfer;Data Type Conversion;Gain;IPC_msg;I_fbk;I_sense;In;Interprocess Data Read;Interprocess Data Write;Memory Copy;Mux;Reference;Relational Operator;Step;SubSystem;System Initialize;System Terminate;Terminator;Trigger;V_ref;Variant Source;ePWM;msg

BLOCKTYPE:
AsynchronousTaskSpecification;Constant;DataTypeConversion;Gain;Inport;Interprocess Data Read;Interprocess Data Write;Memory Copy;Mux;Outport;RelationalOperator;Step;Sum;System Initialize;System Terminate;Terminator;TriggerPort;VariantSource;ePWM Type 1-4


MODELNAME: soc_dcdc_pwr_conv_cla_ref
PATH: examples/shared_mcb_soc_c2b/main/soc_dcdc_pwr_conv_cla_ref.slx
ANNOTATION: Ideal ADC in sim, so no offset Voltage Mode Control Copyright 2022 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;2;5;1;1;3;15;1;1;1;8;2;2;1;4;2;1;1;3;1;1;1
CHECKSUM: 8F8634C1CBC8C869826446F75B6AD230
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Simulink;SoC Blockset
PRODUCT_BASECODE: C2;MT;HW
BLOCK:
ADC;ADC error scaling;ADC offset error in HW;ADC_EOC_Event;Add;Asynchronous Task Specification;Clamp;Compare To Zero;Constant;Controller;Data Type Conversion;Demux;Duty Ratio;Err;Gain;I Gain;I gain;IPC_msg;Igain;Integrator;Interprocess Data Read;Interprocess Data Write;Logical Operator;Out;P Gain;P gain;PI controller;PI_out;PWM compare;Product;Reference;Relational Operator;Saturation;Saturation_out;SubSystem;Sum;Switch;Terminator;Trigger;Unit Delay;V_fbk;V_ref;V_sense;Variant Sink;Variant Source;Vout;Vout1Ref;Vref_pu;ePWM_;u;y

BLOCKTYPE:
ADC Type 3-5;AsynchronousTaskSpecification;Compare To Zero;Constant;DataTypeConversion;Demux;Gain;Inport;Interprocess Data Read;Interprocess Data Write;Logic;Outport;Product;RelationalOperator;Saturate;Sum;Switch;Terminator;TriggerPort;UnitDelay;VariantSink;VariantSource;ePWM Type 1-4


MODELNAME: soc_dyno_cpu1_speedcontrol
PATH: examples/shared_mcb_soc_c2b/main/soc_dyno_cpu1_speedcontrol.slx
CHECKSUM: 23AAB6BCA25857FC29A4CCD077B455EA
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Motor Control Blockset;Simulink
PRODUCT_BASECODE: C2;MT;HW
ANNOTATION:
Enable inverter in CPU1 Enable inverter in CPU2  Enable ADC offset calibration only when motor is not loaded and not rotating due to external factors for inverter connected with CPU1 of LaunchXL-28379D System Outputs Fast Serial Data Monitoring (32-bit) Current Measurements Heartbeat LED 1 Hz  Speed Control of Motor 1 in CPU1  Copyright 2022 The MathWorks, Inc.

BLOCK:
ADC;ADC Read;ADC for inverter in cpu;ADC_A_IN;ADC_B;ADC_B_IN;ADC_C;ADC_C_IN;AND;Abs;Action Port;Add;Asynchronous Task Specification;Bias;Bus Creator;Bus Selector;Byte Pack;CPU2LogData;Calculate ADC Offset ;Calculate Phase Currents;Calculate position and speed;Clarke Transform;Closed Loop;Constant;Counter Limited;Current Control;Current_Controllers;DC component removal;DQ Limiter;DRV Enable;DRV Enable forCPU2 inverter;DRV830x Enable;Data;Data Store Memory;Data Store Read;Data Store Write;Data Type Conversion;Data_Conditioning_Tx;Data_Log;Data_Logging;Data_Type;Data_Type_Fixed_Point;Data_Type_Float;Data_out;Data_width;Default ADC Offset;Delay to start motor;Demux;Desired Speed;Digital Output;Discrete PI Controller with anti-windup & reset;Divide;Dummy;Duty;Duty Cycle (Va);Duty Cycles;EnClosedLoop;Enable;EnablePWM;Enable_PWM;End;Estimator Select;EstimatorSelect;Event Listener;Flux Observer;For Iterator;For Iterator Subsystem;From;Gain;Get ADC Voltage;Get Currents;Goto;Ground;Grounding the SPI clockfor the DRV830x;Grounding the SPI clockfor the DRV830x1 inverter ;Hardware Init;Heartbeat LED;IIR Filter;IPC_sigSel_refTorq;IPC_sigSel_refTorq_EnMtr;I_fb;I_ref;Ia;Iab_ADC;Iab_meas_PU;Id;Id_Ref;IdqRef_PU;Idq_Ref;Idq_ref_PU;If;If Action Subsystem;In;Index Vector;InputSignals;Interprocess Data Write;Inverse Park Transform;Inverter;Inverter Driver Peripherals;Inverter Enable;Inverter ON;Inverter Signals;Inverting / Non-inverting Current measurement amplifier;Iq;Iq_Ref(A);Iq_ref;Iteration;Ki;Kp;Logical Operator;Memory;Merge;Mux;NOT;N_fb;N_ref;OpenLoopSwitch;Open_Loop_Control;Out;Output Scaling;PI_Controller_Id;PI_Controller_Iq;PI_Controller_Speed;PMSM Torque Estimator;PU_Conversion;PWM Write;PWM_;PWM_A;PWM_B;PWM_C;PWM_Duty;PWM_Duty_Cycles;PWM_Enable;Park Transform;Pm;Pos_PU;Pos_PU_Out;Position;Position Generator;Position/Speed;Q17 per unit conversion;RED_LED;RT;Rate Limiter;Rate Limiter for FO;Rate Limiter for SMO;Rate Transition;RefSpeed;Reference;Reference signals;Resetting SPI clock drive;RunTimeMeasurement;SCI Data Transmission;SCI Transmit;SCI_Tx;Saturation;Scope;Selector;SigIN;SigOUT;Signal Select;SignalSelect;Sine-Cosine Lookup;Slew Rate;Sliding Mode Observer;Space Vector Generator;Speed;Speed Control;Speed Measurement;SpeedRef;SpeedSig;Speed_Meas_PU;Speed_Ref;Speed_Ref_PU;Speed_Ref_Selector;Speedfb;Start;Step;SubSystem;Sum;Switch;Switch Case;Terminator;Tm;Trigger;Unit Delay;VI_fb;VIdq;VIdq_debug;V_ref;Vd_ref;Vq_OpenLoop;Vq_ref;While Iterator;While Iterator Subsystem;Width;Zero_Cancellation;debug_data;elect2mech;idq_ref;speed_PU;stop

BLOCKTYPE:
ADC Read;ADC Type 3-5;Abs;ActionPort;ArithShift;AsynchronousTaskSpecification;Bias;BusCreator;BusSelector;Byte pack;C28x SCI Transmit;Clarke Transform;Constant;Counter Limited;DQ Limiter;DataStoreMemory;DataStoreRead;DataStoreWrite;DataTypeConversion;Demux;EnablePort;EventListener;F2837x GPIO Digital Output;Flux Observer;ForIterator;From;Gain;Goto;Ground;IIR Filter;If;Inport;Interprocess Data Write;Inverse Park Transform;Logic;Memory;Merge;MultiPortSwitch;Mux;Outport;PID 1dof;PMSM Torque Estimator;PWM Modulation;PWM Write;Park Transform;Position Generator;Product;RateLimiter;RateTransition;Saturate;Scope;Selector;Sine-Cosine Lookup;Sliding Mode Observer;Speed Measurement;Step;Sum;Switch;SwitchCase;System Outputs;Terminator;TriggerPort;UnitDelay;WhileIterator;Width

BLOCKTYPE_FREQUENCY:
2;4;2;12;1;1;2;3;3;1;1;1;40;1;1;3;4;7;10;9;2;1;7;1;1;10;7;10;1;3;4;95;1;1;10;2;4;2;16;66;3;1;1;3;1;1;2;2;11;1;2;1;1;1;1;3;9;13;2;1;1;1;3;1;1


MODELNAME: soc_dyno_cpu2_torquecontrol
PATH: examples/shared_mcb_soc_c2b/main/soc_dyno_cpu2_torquecontrol.slx
CHECKSUM: 516377DB2B81CD5945947AF2E9537A07
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Motor Control Blockset;Simulink
PRODUCT_BASECODE: C2;MT;HW
ANNOTATION:
Enable inverter in CPU2  Enable ADC offset calibration only when motor is not loaded and not rotating due to external factors for inverter connected with CPU1 of LaunchXL-28379D System Outputs Subsystem Current Measurements Copyright 2022 The MathWorks, Inc.

BLOCK:
ADC;ADC_B_IN;ADC_C_IN;Action Port;Add;Asynchronous Task Specification;Bus Creator;Bus Selector;Byte Pack;Calculate ADC Offset ;Calculate Phase Currents;Calculate position and speed;Clarke Transform;Closed Loop;Constant;Current Control;Current_Controllers;DC component removal;DQ Limiter;DRV Enable;Data Store Memory;Data Store Read;Data Store Write;Data Type Conversion;Data_Conditioning;Data_Conditioning_Tx;Data_Log;Data_Type;Data_Type_Fixed_Point;Data_Type_Float;Default ADC Offset;Demux;Digital Output;Discrete PI Controller with anti-windup & reset;Divide;Duty;Duty Cycle (Va);Duty Cycles;EnClosedLoop;Enable;EnablePWM;Estimator Select;EstimatorSelect;Event Listener;Flux Observer;For Iterator;For Iterator Subsystem;From;Gain;Get ADC Voltage;Get Currents;Goto;Hardware Init;IIR Filter;IPC;IPC Data Transmission;I_fb;I_ref;Ia;Iab_ADC;Iab_meas_PU;Id;Id_ref;Idq_Ref;Idq_ref;Idq_ref_PU;If;If Action Subsystem;In;Index Vector;InputSignals;Interprocess Data Read;Inverse Park Transform;Inverter;Inverter Driver Peripherals;Inverter Enable;Inverter ON;Inverter Signals;Inverting / Non-inverting Current measurement amplifier;Iq;Iq_Ref(A);Ki;Kp;Logical Operator;Memory;Memory Copy;Merge;Mux;NOT;Out;Output Scaling;PI_Controller_Id;PI_Controller_Iq;PMSM Torque Estimator;PU_Conversion;PWM Write;PWM_;PWM_A;PWM_B;PWM_C;PWM_Duty;PWM_Duty_Cycles;PWM_Enable;Park Transform;Pos_PU;Position;Position/Speed;Power;Q17 per unit conversion;RT;Rate Transition;Reference;Reference Commands;SCI_Tx;Selector;SigIN;SigOUT;SigToLog;Signal Select;SignalSelect;Sine-Cosine Lookup;Sliding Mode Observer;Space Vector Generator;Speed;Speed Measurement;Speedfb;SubSystem;Sum;Switch;Switch Case;System Initialize;Terminator;Torque;Trigger;Unit Delay;VI_fb;VIdq;VIdq_debug;V_ref;Variant Source;Vd_ref;Vq_ref;debug_data;elect2mech;idq_ref;signal_sel;speed_PU;stop

BLOCKTYPE:
ActionPort;ArithShift;AsynchronousTaskSpecification;BusCreator;BusSelector;Byte pack;Clarke Transform;Constant;DQ Limiter;DataStoreMemory;DataStoreRead;DataStoreWrite;DataTypeConversion;Demux;EnablePort;EventListener;F2837x GPIO Digital Output;Flux Observer;ForIterator;From;Gain;Goto;IIR Filter;If;Inport;Interprocess Data Read;Inverse Park Transform;Logic;Memory;Memory Copy;Merge;MultiPortSwitch;Mux;Outport;PID 1dof;PMSM Torque Estimator;PWM Modulation;PWM Write;Park Transform;Product;RateTransition;Selector;Sine-Cosine Lookup;Sliding Mode Observer;Speed Measurement;Step;Sum;Switch;SwitchCase;System Initialize;System Outputs;Terminator;TriggerPort;UnitDelay;VariantSource

BLOCKTYPE_FREQUENCY:
7;1;1;2;2;1;1;21;1;3;4;7;8;9;2;1;2;1;1;7;6;7;3;3;62;1;1;7;2;4;1;1;10;48;2;1;1;3;1;2;7;1;1;1;1;1;7;3;1;1;1;3;1;1;2


MODELNAME: soc_dyno_top
PATH: examples/shared_mcb_soc_c2b/main/soc_dyno_top.slx
BLOCKTYPE_FREQUENCY: 4;2;2;6;5;2;1;7;1;1;18;1;2;3;18;6;9;2;2;1;2;2;2;2;5
CHECKSUM: D7938242C10148A159BFD02F9C9756DD
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Motor Control Blockset;Simulink;SoC Blockset
PRODUCT_BASECODE: C2;MT;HW
EXTERNALFILE_REFERENCE: soc_dyno_cpu1_speedcontrol.slx___Model_Block___soc_dyno_cpu2_torquecontrol.slx___Model_Block___
ANNOTATION:
Scaling Scaling  Motor 2 shaft is mechanically coupled with Motor 1 and follows the speed of Motor 1. Motor 1 is loaded by Motor 2. Input 0 voltage till Motor 2 torque control is enabled.  Fow switching PWMs, change PWM Interface block output mode parameter to &quot;switching&quot;. Mux all 6 PWM signals instead of 3 and change inverter variant subsystem to SwitchingInverter  Fow switching PWMs, change PWM Interface block output mode parameter to &quot;switching&quot;. Mux all 6 PWM signals instead of 3 and change inverter variant subsystem to SwitchingInverter  Speed Control of Motor 1 in CPU1 IPC Channel CPU1 PWM Channel for Motor 2 CPU2 ADC Channel for CPU2 Plant- Motor1 and Motor2 coupled ADC and SCI Peripheral sim CPU1 PWM Channel Motor 1  Torque Control of Motor 2 in CPU2  Copyright 2022 The MathWorks, Inc.

BLOCK:
ADC Channel;ADC Interface;ADC Read;ADC_B;ADC_B_IN;ADC_C;ADC_C_IN;ADC_Int_CPU;Add;Average-Value Inverter;Constant;Current Control;Data Type Conversion;Demux;Duty_abc;EnMtr2TrqCtrl;EoCEvent;From;Gain;Get_PU;Goto;IIR Filter;Interprocess Data Channel ;Motor1 and Motor2 coupled;Mtr1 Inverter;Mtr2 Inverter;Mux;PWM;PWM Channel;PWM Interface;PhaseCurr;Processor Vref is 3V;RT;Rate Transition;Reference;Saturation;Scale to Vref/2 (+-1.5V) of processor;Selector;Sensor_Measurements;Sim_fb;Speed Control;SubSystem;Surface Mount PMSM;Switch;Task Manager;Task Manager for CPU;Terminator;Vabc;Vin;duty;motor1_duty;motor2_duty;sim_fb_dyno;sim_fb_motor;start;trig;~1.65V in ADC counts

BLOCKTYPE:
ADC Interface;ADC Read;Average Value Inverter;Constant;DataTypeConversion;Demux;From;Gain;Goto;IIR Filter;Inport;Interprocess Data Channel;ModelReference;Mux;Outport;PWM Interface;RateTransition;Saturate;Selector;Step;Sum;Surface Mount PMSM;Switch;Task Manager;Terminator


MODELNAME: soc_pmsm_cpu1_ref
PATH: examples/shared_mcb_soc_c2b/main/soc_pmsm_cpu1_ref.slx
BLOCKTYPE_FREQUENCY: 1;10;2;2;1;3;3;11;1;1;2;2;12;1;1;4;1;2;3;6;1;1;1;1
CHECKSUM: 8856116122786FDECDB6AB5057D8CC0E
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Motor Control Blockset;Simulink;SoC Blockset
PRODUCT_BASECODE: C2;MT;HW
ANNOTATION:
This filter is required to correct DC offset, which helps to estimate position more accurately. Direction decides value of open loop speed demand En Closed loop  Copyright 2020 The MathWorks, Inc.  Speed Control and Position Estimator in CPU 1

BLOCK:
 ;Abs;Calculate position and speed;Constant;Data Type Conversion;Demux;Direction;Discrete PI Controller with anti-windup & reset;EnClosedLooop;EnClosedLoop;Flux Observer;Gain;High pass filter;IIR Filter;IPC Read;IPC Write;IdqRef_PU;In;InputSignals;Iq_Pos_EnClosed;Iq_ref;Ki;Kp;Logical Operator;Mux;N_fb;N_ref;Open_Loop_Control;Out;PI_Controller_Speed;Pos;Pos_PU;Position Generator;Position/Speed;Rate Transition;Reference;Speed Control;Speed Measurement;Speed_Meas_PU;Speed_Ref;Speed_Ref_Selector;Speed_ref;Step;SubSystem;Sum;Switch;System Initialize;System Outputs;System Terminate;Unit Delay;VI_fb;Zero_Cancellation;elect2mech;rpm2PU;spd_Ref;spd_ref;speed_PU

BLOCKTYPE:
Abs;Constant;DataTypeConversion;Demux;Flux Observer;Gain;IIR Filter;Inport;Interprocess Data Read;Interprocess Data Write;Logic;Mux;Outport;PID 1dof;Position Generator;RateTransition;Speed Measurement;Step;Sum;Switch;System Initialize;System Outputs;System Terminate;UnitDelay


MODELNAME: soc_pmsm_cpu2_ref
PATH: examples/shared_mcb_soc_c2b/main/soc_pmsm_cpu2_ref.slx
BLOCKTYPE_FREQUENCY: 2;4;1;1;1;15;1;1;2;2;4;3;3;1;2;5;4;5;2;36;1;1;1;1;3;2;7;25;2;1;3;1;2;1;1;7;3;1;2;1;4;1
CHECKSUM: FD4FB152129A01AB18560B51A2488864
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Motor Control Blockset;Simulink;SoC Blockset
PRODUCT_BASECODE: C2;MT;HW
ANNOTATION:
1 is added since counter starts from 0 Update midpoint offset Step1- ADC calibration pwm System Outputs HW Driver Blocks  Copyright 2020 The MathWorks, Inc.  Current Control in CPU2

BLOCK:
10 counts;ADC;ADC MidPoint Calibration;ADC Read B;ADC Read C;Action Port;Add;Asynchronous Task Specification;Calculate Phase Currents;Clarke Transform;Closed Loop;Constant;Counter Free-Running;Current Control;Current Sense Gain;Current_Controllers;DQ Limiter;Data Store Memory;Data Store Read;Data Store Write;Data Type Conversion;Data_Type;Data_Type_Fixed_Point;Data_Type_Float;Demux;Detect Change;Discrete PI Controller with anti-windup & reset;Divide;Duty Cycles;EnClosedLoop;EnPWM;Enable;Equal;From;Get_ADC_Volt;Goto;IPC;IPC Read;IPC Write;I_fb;I_ref;Iab_ADC;Iab_meas_PU;Id;Idq;Idq_Ref;Idq_ref_PU;If;If Action Subsystem;In;Inverse Park Transform;Iq;Ki;Kp;Logical Operator;Memory;Mux;NOT;One_by_Two;Out;Output Scaling;PI_Controller_Id;PI_Controller_Iq;PU_Conversion;PWM;PWM Write;PWM_Duty_Cycles;Park Transform;Pos_PU;Q17 per unit conversion;Reference;Sine-Cosine Lookup;Space Vector Generator;SubSystem;Subsystem;Sum;Switch;System Outputs;Terminator;Trigger;Unit Delay;VI_IPC;VI_fb;V_ref;Vabc_ref;VandI;Variant Source;Vd_OpenLoop;Vd_ref;Vq_OpenLoop;Vq_ref;debug_terminator;duty;enclosed

BLOCKTYPE:
ADC Read;ActionPort;ArithShift;AsynchronousTaskSpecification;Clarke Transform;Constant;Counter Free-Running;DQ Limiter;DataStoreMemory;DataStoreRead;DataStoreWrite;DataTypeConversion;Demux;Detect Change;EnablePort;From;Gain;Goto;If;Inport;InportShadow;Interprocess Data Read;Interprocess Data Write;Inverse Park Transform;Logic;Memory;Mux;Outport;PID 1dof;PWM Modulation;PWM Write;Park Transform;Product;RelationalOperator;Sine-Cosine Lookup;Sum;Switch;System Outputs;Terminator;TriggerPort;UnitDelay;VariantSource


MODELNAME: soc_pmsm_dualcpu_foc
PATH: examples/shared_mcb_soc_c2b/main/soc_pmsm_dualcpu_foc.slx
BLOCKTYPE_FREQUENCY: 2;1;1;4;6;1;2;3;4;6;2;6;1;1;1;20;2;6;1;1;2;2;6;21;18;1;7;3;1;1;4;24;2;2;7;1;2;1;2;12;3
CHECKSUM: F9424912B95E050CD2EC9845F8202F28
PRODUCT_BASECODE: C2;MT;HW
EXTERNALFILE_REFERENCE: soc_pmsm_cpu1_ref.slx___Model_Block___soc_pmsm_cpu2_ref.slx___Model_Block___
ANNOTATION:
2.5 percent of motor torque is roughly added as the difference in torque experienced by Motor shaft. This is done to include iron losses and other real world values in the motor. When you use estimated or known motor parameters, start with zero Load torque (set this value to zero)  Scaling  saturation block to limit Vo from 0 to 3.3 without affecting gain and impedence  saturation block to limit Vo from 0 to 3.3 without affecting gain and impedence  saturation block to limit Vo from 0 to 3.3 without affecting gain and impedence TI Motor DRV (8305) Plant Scaling 2.5 percent of motor torque is roughly added as the difference in torque experienced by Motor shaft. This is done to include iron losses and other real world values in the motor. When you use estimated or known motor parameters, start with zero Load torque (set this value to zero) Note:Negative load has to be given to Simscape PMSM to consume power   1) Add Subsystem or Model blocks as valid variant choices. 2) You cannot connect blocks at this level. At simulation, connectivity is automatically determined, based on the active variant and port name matching.  Field-Oriented Control on Dual CPU Processor CPU1 PWM Channel IPC Channel CPU2 Plant ADC Channel  Copyright 2020 The MathWorks, Inc.

BLOCK:
100Ohm;1KOhm;1KOhm_;50*gain_;50K*gain;50K*gain_;50KOhm*gain;5KOhm;5KOhm_;A;ADC Channel;ADC Interface;Add;Average;Average or Switching;Average-Value Inverter;B;Bus Selector;C;Conn;Constant;Current Control;Current Sensor;Current sense;Data Type Conversion;Demux;Diode;Duty_Cycles;Duty_abc;Electrical Reference;EoCEvent;Feedbacks_sim;Gain;Get_PU;Grounded Neutral;Ia;Ib;Ic;Ideal Rotational Motion Sensor;Ideal Torque Source;In;Interprocess Data Channel ;Inverter;Inverter and Motor;Load_Profile (Torque);Load_Trq;MOSFET (Ideal, Switching);Mechanical Rotational Reference;Mechanical to Electrical Position;Mux;Op-Amp;PMSM;PS-Simulink Converter;PWM;PWM Channel;PWM Interface;PWM_GatePulses;Phase Splitter;Phase Voltage Sensor (Three-Phase);PhaseCurr;Processor Vref is 3V;R;RT;Rate Transition;Reference;SN;SO;SP;Saturation;Scale to Vref/2 (+-1.5V) of processor;Selector;Sensor_Measurements;Sim_fb;Simulink-PS Converter;Solver Configuration;Source;Speed Control;SubSystem;Surface Mount PMSM;Switching;Task Manager ;Terminator;Vabc;Vin;Vo_shuntAmplifier;Voltage Sensor;Vref;counts;duty;ground;start;trig;~;~1.65V in ADC counts

BLOCKTYPE:
ADC Interface;Average Value Inverter;BusSelector;Capacitor;Constant;Current Sensor (Three-Phase);DC Voltage Source;DataTypeConversion;Demux;Diode;Electrical Reference;Gain;Grounded Neutral (Three-Phase);Ideal Rotational Motion Sensor;Ideal Torque Source;Inport;Interprocess Data Channel;MOSFET (Ideal, Switching);Mechanical Rotational Reference;Mechanical to Electrical Position;ModelReference;Mux;Op-Amp;Outport;PMIOPort;PMSM;PS-Simulink Converter;PWM Interface;Phase Splitter;Phase Voltage Sensor (Three-Phase);RateTransition;Resistor;Saturate;Selector;Simulink-PS Converter;Solver Configuration;Sum;Surface Mount PMSM;Task Manager;Terminator;Voltage Sensor

PRODUCT:
C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Motor Control Blockset;Simscape;Simscape Electrical;Simulink;SoC Blockset


MODELNAME: soc_pmsm_singlecpu_foc
PATH: examples/shared_mcb_soc_c2b/main/soc_pmsm_singlecpu_foc.slx
BLOCKTYPE_FREQUENCY: 2;1;1;4;6;1;2;3;4;6;2;6;1;1;1;20;6;1;1;1;2;6;21;18;1;7;3;1;1;4;24;2;2;7;1;2;1;1;12;3
CHECKSUM: E0BCB613D6ADC03A870D42F14CC81A13
PRODUCT_BASECODE: C2;MT;HW
EXTERNALFILE_REFERENCE: soc_pmsm_singlecpu_ref.slx___Model_Block___
ANNOTATION:
2.5 percent of motor torque is roughly added as the difference in torque experienced by Motor shaft. This is done to include iron losses and other real world values in the motor. When you use estimated or known motor parameters, start with zero Load torque (set this value to zero)  Scaling  saturation block to limit Vo from 0 to 3.3 without affecting gain and impedence  saturation block to limit Vo from 0 to 3.3 without affecting gain and impedence  saturation block to limit Vo from 0 to 3.3 without affecting gain and impedence TI Motor DRV (8305) Plant Scaling 2.5 percent of motor torque is roughly added as the difference in torque experienced by Motor shaft. This is done to include iron losses and other real world values in the motor. When you use estimated or known motor parameters, start with zero Load torque (set this value to zero). Note:Negative load has to be given to Simscape PMSM to consume power   1) Add Subsystem or Model blocks as valid variant choices. 2) You cannot connect blocks at this level. At simulation, connectivity is automatically determined, based on the active variant and port name matching.  Fow switching PWMs, change PWM Interface block output mode parameter to &quot;switching&quot;. Mux all 6 PWM signals instead of 3 and change inverter variant subsystem to SwitchingInverter Controller ADC Channel  Copyright 2020 The MathWorks, Inc.  Field Oriented Control In Single CPU Plant PWM Channel

BLOCK:
100Ohm;1KOhm;1KOhm_;50*gain_;50K*gain;50K*gain_;50KOhm*gain;5KOhm;5KOhm_;A;ADC Channel;ADC Interface;Add;Average;Average or Switching;Average-Value Inverter;B;Bus Selector;C;Conn;Constant;Control Algorithm;Counts;Current Sensor;Current sense;Data Type Conversion;Demux;Diode;Duty_Cycles;Duty_abc;Electrical Reference;EoCEvent;Feedbacks_sim;Gain;Get_PU;Grounded Neutral;Ia;Ib;Ic;Ideal Rotational Motion Sensor;Ideal Torque Source;In;Inverter;Inverter and Motor;Load_Profile (Torque);Load_Trq;MOSFET (Ideal, Switching);Mechanical Rotational Reference;Mechanical to Electrical Position;Mux;Op-Amp;PMSM;PS-Simulink Converter;PWM;PWM Channel;PWM Interface;PWM_GatePulses;Phase Splitter;Phase Voltage Sensor (Three-Phase);PhaseCurr;Processor Vref is 3V;R;RT;Rate Transition;Reference;SN;SO;SP;Saturation;Scale to Vref/2 (+-1.5V) of processor;Selector;Sensor_Measurements;Sim_fb;Simulink-PS Converter;Solver Configuration;Source;SubSystem;Surface Mount PMSM;Switching;Task Manager;Terminator;Vabc;Vin;Vo_shuntAmplifier;Voltage Sensor;Vref;duty;ground;start;trig;~;~1.65V in ADC counts

BLOCKTYPE:
ADC Interface;Average Value Inverter;BusSelector;Capacitor;Constant;Current Sensor (Three-Phase);DC Voltage Source;DataTypeConversion;Demux;Diode;Electrical Reference;Gain;Grounded Neutral (Three-Phase);Ideal Rotational Motion Sensor;Ideal Torque Source;Inport;MOSFET (Ideal, Switching);Mechanical Rotational Reference;Mechanical to Electrical Position;ModelReference;Mux;Op-Amp;Outport;PMIOPort;PMSM;PS-Simulink Converter;PWM Interface;Phase Splitter;Phase Voltage Sensor (Three-Phase);RateTransition;Resistor;Saturate;Selector;Simulink-PS Converter;Solver Configuration;Sum;Surface Mount PMSM;Task Manager;Terminator;Voltage Sensor

PRODUCT:
C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Motor Control Blockset;Simscape;Simscape Electrical;Simulink;SoC Blockset


MODELNAME: soc_pmsm_singlecpu_ref
PATH: examples/shared_mcb_soc_c2b/main/soc_pmsm_singlecpu_ref.slx
CHECKSUM: DBB544A039B5AE947BB03BBF032C19CD
PRODUCT: C2000 Microcontroller Blockset;Embedded Coder;MATLAB;Motor Control Blockset;Simulink;SoC Blockset
PRODUCT_BASECODE: C2;MT;HW
ANNOTATION:
1 is added since counter starts from 0 Update midpoint offset Step1- ADC calibration This filter introduces pole and zero cancellation happens in speed loop  This filter is required to correct DC offset, which helps to estimate position more accurately. Current Measurements Position & Speed Measurements if any one has a significant differene, then currents are raising Downside, if noise is more this might not work, so not enabling  safe 1 sample delay Check if current sensing is right, else stay in open loop  Logic to stay in open loop in case of wrong sampling Speed crosses 20% switch to closed loop Pos from estimator Ramp or sensed motor position pwm HW Driver Blocks En Closed loop  Permanent Magnet Synchronous Motor Field Oriented Control  Copyright 2020 The MathWorks, Inc.

BLOCK:
 ;10 counts;10%of rated speed in +/- driection;ADC;ADC MidPoint Calibration;ADC Read;AND;Abs;Action Port;Add;Asynchronous Task Specification;Calculate Phase Currents;Calculate position and speed;Clarke Transform;Close;Closed Loop;Constant;Counter Free-Running;Current Control;Current Sense Gain;Current_Controllers;DQ Limiter;Data Store Memory;Data Store Read;Data Store Write;Data Type Conversion;Data_Type;Data_Type_Fixed_Point;Data_Type_Float;Delay;Demux;Detect Change;Detect Decrease;Direction;Discrete PI Controller with anti-windup & reset;Divide;Duty Cycles;En;EnClosedLoop;EnClsdLoop;EnPWM;Enable;Equal;Flux Observer;From;Gain;Get_ADC_Volt;Goto;GreaterThan;High pass filter;IIR Filter;I_fb;I_ref;Iab_ADC;Iab_meas_PU;Id;Idq;IdqRef_PU;Idq_Ref;Idq_ref_PU;If;If Action Subsystem;In;Input Scaling;InputSignals;Inverse Park Transform;Inverter ON;Iq;Iq_ref;Ki;Kp;Logical Operator;Memory;Minus;Mux;NOT;N_fb;N_ref;One_by_Two;Open_Loop_Control;Out;Output Scaling;PI_Controller_Id;PI_Controller_Iq;PI_Controller_Speed;PU_Conversion;PWM;PWM Write;PWM_Duty_Cycles;Park Transform;Pos;Pos_PU;Position Generator for open loop;Position/Speed;Q17 per unit conversion;RT;Reference;Sine-Cosine Lookup;Space Vector Generator;Speed Control;Speed Measurement;Speed_Meas_PU;Speed_Ref;Speed_Ref_Selector;Speed_fb;Speed_ref;Step;SubSystem;Subsystem;Sum;Switch;System Initialize;System Terminate;Terminator;Trigger;Unit Delay;VI_fb;V_ref;Vabc_ref;Variant Source;Vd_OpenLoop;Vd_ref;Vq_OpenLoop;Vq_ref;Zero_Cancellation;cur;debug_terminator;elect2mech;rpm2PU;spd_Ref;speed_PU;start;y

BLOCKTYPE:
ADC Read;Abs;ActionPort;ArithShift;AsynchronousTaskSpecification;Clarke Transform;Constant;Counter Free-Running;DQ Limiter;DataStoreMemory;DataStoreRead;DataStoreWrite;DataTypeConversion;Delay;Demux;Detect Change;Detect Decrease;EnablePort;Flux Observer;From;Gain;Goto;IIR Filter;If;Inport;InportShadow;Inverse Park Transform;Logic;Memory;Mux;Outport;PID 1dof;PWM Modulation;PWM Write;Park Transform;Position Generator;Product;RateTransition;RelationalOperator;Sine-Cosine Lookup;Speed Measurement;Step;Sum;Switch;System Initialize;System Outputs;System Terminate;Terminator;TriggerPort;UnitDelay;VariantSource

BLOCKTYPE_FREQUENCY:
2;2;4;1;1;1;29;2;1;2;2;4;5;1;6;1;1;4;1;6;7;6;3;2;55;1;1;7;2;9;42;3;1;3;1;1;2;3;3;1;1;2;11;9;1;1;1;3;1;7;1


MODELNAME: IMUFusionSimulinkModel
PATH: examples/shared_positioning/main/IMUFusionSimulinkModel.slx
BLOCKTYPE_FREQUENCY: 1;2;3;2;1;1;2;2;1;2;1;1
CHECKSUM: 9F4609A6005AEC4B278F4DC445FA72EB
PRODUCT: Computer Vision Toolbox;Deep Learning Toolbox;MATLAB;Navigation Toolbox;Simulink
PRODUCT_BASECODE: TF;NV
ANNOTATION:
 IMU Sensor Fusion With Simulink This example shows how to generate and fuse IMU sensor data using Simulink® . You can accurately model the behavior of an accelerometer, a gyroscope, and a magnetometer and fuse their outputs to compute orientation. © Copyright 2019, The MathWorks, Inc. The Magnetic Field parameter on the IMU is set to [ 27.5550, -2.4169, -16.0849 ] uT. The magnetic declination at this point on the Earth is 4.7 degrees. The Gyroscope Bias should equal the Constant offset bias on the IMUs gyroscope parameter. angular velocity with gyroscope bias bias corrected angular velocity The error in orientation should equal the declination at this location. estimated orientation relative to Magnetic North orientation relative to True North

BLOCK:
 Demux ; SFunction ; Terminator ;AHRS;Angular Velocity;Gyroscope Bias;IMU;Integrate Angular Velocity;Linear Acceleration;MATLAB Function;Orientation Error;Radians to Degrees;Reference;SubSystem;Subtract;av;q;u;v;y

BLOCKTYPE:
Constant;Demux;Inport;Outport;RadiansToDegrees;RandomNumber;S-Function;Scope;Sum;Terminator;fusion.simulink.ahrsfilter;fusion.simulink.imuSensor


MODELNAME: doublePendulumIMU
PATH: examples/shared_positioning/main/doublePendulumIMU.slx
BLOCKTYPE_FREQUENCY: 2;4;2;4;6;1;24;4;26;6;2;1;1;2;6;4;2;1;2
CHECKSUM: 54DA168F6A443C605F9452214AB23FB2
PRODUCT: MATLAB;Navigation Toolbox;Simscape;Simscape Multibody;Simulink
PRODUCT_BASECODE: TF;NV
ANNOTATION:
Inputs to the IMU are in the ENU (East-North-Up) frame. Inputs to the IMU are in the ENU (East-North-Up) frame. Double Pendulum Link 1  © Copyright 2023, The MathWorks, Inc.  Double Pendulum Link 2

BLOCK:
Bus Element Out;Constant;Demux;Gain;Generate input data for the IMU block;Ground truth IMU data;IMU ;IMU attached to link ;Link ;Mechanism Configuration;PS-Simulink Converter;Rate Transition;Reference;Revolute Joint ;SensorFrame;Solver Configuration;SubSystem;Subtract;Terminator;Transformation for rotation about Z;Transpose;Vector Concatenate;World Frame;WorldFrame

BLOCKTYPE:
Brick Solid;Concatenate;Constant;Demux;Gain;Mechanism Configuration;Outport;PMIOPort;PS-Simulink Converter;RateTransition;Revolute Joint;Rigid Transform;Solver Configuration;Sum;Terminator;Transform Sensor;Transpose;World Frame;fusion.simulink.imuSensor


MODELNAME: PickPlaceWorkflowSimulinkMobileArm
PATH: examples/shared_robotics_ros/main/PickPlaceWorkflowSimulinkMobileArm.slx
BLOCKTYPE_FREQUENCY: 1;5;9;1;9;2;5;1;3;11;2;7;43;1;2;32;4;2;2;5;1;1;9;2;7;1;1;2;1;13;1;7;2;1;1;2;1
CHECKSUM: DEBB9D903F8F16852F1C0B5B9684BA99
PRODUCT_BASECODE: RO;RR
ANNOTATION:
Control Motion with Pure Pursuit Send Commands to Gazebo via ROS Update Behaviors Given Distance to Goal Mobile Manipulator Mobile Robot Robot Manipulator Stream third-person view camera Get current mobile robot position in map Get current robot arm and gripper configuration  Copyright 2021 The MathWorks, Inc. Copyright 2021-2022 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Add;Angular Velocity;Blank Message;Bus Assignment;Bus Selector;Check Distance To Goal;Constant;Deep Learning Object Detector;Derivative;Detect object;Detect objects;Detected object;Display;Divide;Dot Product;Enable;Extract gripper configuration;Extract robot configuration;From;Generate trajectory and move robot arm to target pose;Get Husky robot position in world;Get Transform;Goto;Increment Value;Inverse Kinematics;Less Than;Linear Velocity;Logical Operator;MATLAB Function;Main Scheduler;Mobile Robot Scheduler;NOT;Out;Plan path;Pose Extraction;Position (X,Y,Yaw);Product;Publish;Pure Pursuit;Read Image;Read Point Cloud;Reference;Reshape;Robot Arm Scheduler;Saturation;Selector;Sqrt;Stop Simulation;SubSystem;Subscribe;Subtract;Switch;Terminator;Third-person camera;Time to completion;Timer;Track reference path;Transform Trajectory;Trigger;Unit Delay;Zero-Velocity At Goal;angularVelocityOutput;atGoal;bboxes;cameraTransf;currentArmPose;currentJointConfig;currentJoints;currentPose;detectedObject;distToGoal;endPickPlace;getGoal;goal;gripperState;initialArmPose;isPath;jointAccelerations;jointRef;jointStates;jointVelocities;labeledImg;labels;linearVelocityOutput;mapMatrix;model_states;msg;msg ;navigationGoal;objectResults;packageTrajectory;points;pose;pose ;poseCurrent;poseTarget;position;requestDetect;requestFollowPath;requestMove;requestPlanPath;reset;rgbImg;robotGoal;tRef;targetArmPose;task;taskActive;timer output;wayPoints;waypoints;y

BLOCKTYPE:
BusAssignment;BusSelector;Constant;Deep Learning Object Detector;Demux;Derivative;Display;DotProduct;EnablePort;From;Get Transform;Goto;Inport;Inverse Kinematics;Logic;Outport;Product;ROS Blank Message;ROS Publish;ROS Subscribe;RelationalOperator;Reshape;S-Function;Saturate;Selector;Sqrt;Stop;Sum;Switch;Terminator;TriggerPort;UnitDelay;VideoViewer;nav.slalgs.internal.PurePursuit;robotics.slcore.internal.block.TransformTrajSys;ros.slros.internal.block.ReadImage;ros.slros.internal.block.ReadPointCloud

PRODUCT:
Aerospace Toolbox;Computer Vision Toolbox;Embedded Coder;MATLAB;Navigation Toolbox;ROS Toolbox;Robotics System Toolbox;Simulink;Stateflow


MODELNAME: shapeTracingController
PATH: examples/shared_robotics_ros/main/shapeTracingController.slx
BLOCKTYPE_FREQUENCY: 1;2;2;1;1;1;12;9;1;1;1;1;1;5;1;1
CHECKSUM: 686E7BD373269DB5F2F15FBE179B91A3
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Simulink;UAV Toolbox
PRODUCT_BASECODE: RO;RR
ANNOTATION:
 Copyright 2024 The MathWorks, Inc.  3-D Shape Tracing Controller Set joint positions  Read joint positions  Read the joint space waypoints

BLOCK:
 Demux ; SFunction ; Terminator ;Bus Element In;Constant;Current Time;Demux;Enable;Enabled Subsystem;From;Goto;Hold;In;MATLAB Function;Minimum Jerk Polynomial Trajectory;Out;Reference;Reshape;Speed;SubSystem;Subscribe;Switch;Terminator;Vector Concatenate;currTime;hold;isNew;jointSegments;speed;timePoints;wayPoints

BLOCKTYPE:
Concatenate;Constant;Demux;EnablePort;From;Goto;Inport;Outport;ROS Subscribe;Reshape;S-Function;Slider Gain;Switch;Terminator;ros.slros.internal.block.CurrentTime;shared_uav_rst.sluav.internal.system.MinJerkPolyTraj


MODELNAME: signFollowingRobotROSCoSim
PATH: examples/shared_robotics_ros/main/signFollowingRobotROSCoSim.slx
ANNOTATION: Copyright 2022 The MathWorks, Inc. Sign Following Robot with ROS Co-Sim
BLOCKTYPE_FREQUENCY: 1;1;1;3;3;2;3;1;14;2;10;1;1;2;3;1;1;5;1;1
CHECKSUM: D9EE1D64848935C13564B27981ADD8DA
PRODUCT: Embedded Coder;MATLAB;ROS Toolbox;Robotics System Toolbox;Simulink;Stateflow
PRODUCT_BASECODE: RO;RR
BLOCK:
 Demux ; SFunction ; Terminator ;ActualImage;Blank Message;Bus Assignment;Bus Selector;CODEGEN;Color Thresholding and Sign Location;Color Thresholds (BLUE);Color Thresholds (GREEN);Color Thresholds (RED);Coordinate Transformation Conversion;Display;Enable;Gazebo Pacer;Image Display;Image Processing;MaskImage;Mux;Publish;Read Image;Read Odometry;Reference;SIM;Selector;Sign Tracking Logic;Stop Simulation;SubSystem;Subscribe;Terminator;Vector Concatenate;blobSize;blobX;img;mask;msg;pose;stopRobot;th;v;w

BLOCKTYPE:
BusAssignment;BusSelector;Concatenate;Constant;Demux;Display;EnablePort;Gazebo Pacer;Inport;Mux;Outport;ROS Blank Message;ROS Publish;ROS Subscribe;S-Function;Selector;Stop;Terminator;robotics.slcore.internal.block.CoordinateTransformationConversion;ros.slros.internal.block.ReadImage


MODELNAME: Smart4i_PLC
PATH: examples/shared_sl3d_robotics/main/Smart4i_PLC.slx
BLOCKTYPE_FREQUENCY: 4;10;1;9;2;2;8;10;62;2;9;2;8;66;8;5;1;8;1;1;1;2;15;10;4;2;2
CHECKSUM: 312D0FF646369B2437DF8EA9E83D6747
PRODUCT: Computer Vision Toolbox;MATLAB;Robotics System Toolbox;Simulink;Simulink Documentation;Stateflow
PRODUCT_BASECODE: PL;RO;VR
ANNOTATION:
Specify Hierarchical Actor Poses Compute Robot Configuration from Target Pose Copyright 2022 The MathWorks, Inc. trapezoid_traj1 Specify Hierarchical Actor Poses Compute Robot Configuration from Target Pose trapezoid_traj2 Robot Kinematics Animation Control Sensor Input System Control Logic Motion Control Scene Creation & Configuration Copyright 2023 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Angles;Ball Instance;Ball_ctrl;Bus Creator;Chart;Constant;Coordinate Transformation Conversion;Cup_ctrl;Deep Learning Object Detector;Demux;Discrete-Time Integrator;Display;Gain;Get Transform;ID;ID1_out;ID2_out;ID3_out;In;In Bus Element;Interpreted MATLAB Function;Inverse Kinematics;L;MATLAB Function;Memory;More Info;Mux;Out;Out Bus Element;Prepare World;R;Reference;Reshape;Robot;Robot1_Animation;Robot2_Animation;Scope;Shuttle;Shuttles;Simulation 3D Actor;Simulation 3D Camera Get;Simulation 3D Scene Configuration;Stop Simulation;SubSystem;Subsystem;Switch;Terminator;Trapezoidal Velocity Profile Trajectory;Trigger;Unit Delay;XY-rotation;Z-location;attachBall;attachCup;ball_inst;bbox;bboxes;cLoc;cupID;destroyCupPhys;detachBallPhys;detachCupPhys;f_attachBall;f_attachCup;f_destroyCupPhys;f_detachBallPhys;f_detachCupPhys;f_findBallLoc;f_findCupLoc;f_reset_r;findBallLoc;findCupLoc;id;img;loc;pos_r;rgbImg;rgbimage;stop;t

BLOCKTYPE:
BusCreator;Constant;Deep Learning Object Detector;Demux;DiscreteIntegrator;Display;Gain;Get Transform;Inport;Inverse Kinematics;MATLABFcn;Memory;Mux;Outport;Reshape;S-Function;Scope;Simulation 3D Actor;Simulation 3D Camera Get;Simulation 3D Scene Configuration;Stop;Switch;Terminator;TriggerPort;UnitDelay;robotics.slcore.internal.block.CoordinateTransformationConversion;robotics.slcore.internal.block.TrapVelTrajSys


MODELNAME: smart4i_model
PATH: examples/shared_sl3d_robotics/main/smart4i_model.slx
BLOCKTYPE_FREQUENCY: 8;7;2;8;10;30;2;10;8;38;8;3;8;1;1;8;10;2;2
CHECKSUM: 864FFECDEBDFDE8B1820911DF543AD5E
PRODUCT: MATLAB;Robotics System Toolbox;Simulink;Simulink Documentation;Stateflow
PRODUCT_BASECODE: PL;RO;VR
ANNOTATION:
Specify Hierarchical Actor Poses Compute Robot Configuration from Target Pose Copyright 2022 The MathWorks, Inc. Specify Hierarchical Actor Poses Compute Robot Configuration from Target Pose Copyright 2022 The MathWorks, Inc. System Control Logic Actor Motion Control Scene Creation & Configuration Copyright 2023 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Angles;Ball Instance;Chart;Constant;Coordinate Transformation Conversion;Demux;Display;Gain;Get Transform;ID;In;Interpreted MATLAB Function;Inverse Kinematics;L;MATLAB Function;More Info;Mux;Out;Prepare World;R;Reference;Reshape;Robot;Shuttle;Shuttles;Simulation 3D Actor;Simulation 3D Scene Configuration;Stop Simulation;SubSystem;Subsystem;Terminator;Unit Delay;XY-rotation;Z-location;attachBall;attachCup;ball_inst;cLoc;cupID;destroyCupPhys;detachBallPhys;detachCupPhys;f;findBallLoc;findCupLoc;id;r1_loc;r2_loc;stop;t;trans

BLOCKTYPE:
Constant;Demux;Display;Gain;Get Transform;Inport;Inverse Kinematics;MATLABFcn;Mux;Outport;Reshape;S-Function;Simulation 3D Actor;Simulation 3D Scene Configuration;Stop;Terminator;TriggerPort;UnitDelay;robotics.slcore.internal.block.CoordinateTransformationConversion


MODELNAME: smart4i_model_with_camera
PATH: examples/shared_sl3d_robotics/main/smart4i_model_with_camera.slx
BLOCKTYPE_FREQUENCY: 8;1;1;8;2;1;8;10;33;2;9;8;39;8;4;8;1;1;1;9;10;2;1;2
CHECKSUM: D014D77C8C44348C89B9014B063C384B
PRODUCT: Computer Vision Toolbox;MATLAB;Robotics System Toolbox;Simulink;Simulink Documentation;Stateflow
PRODUCT_BASECODE: PL;RO;VR
ANNOTATION:
Specify Hierarchical Actor Poses Compute Robot Configuration from Target Pose Copyright 2022 The MathWorks, Inc. Specify Hierarchical Actor Poses Compute Robot Configuration from Target Pose Copyright 2022 The MathWorks, Inc. Sensor Input System Control Logic Actor Motion Control Scene Creation & Configuration Copyright 2023 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;Angles;Ball Instance;Cast to integer;Chart;Constant;Coordinate Transformation Conversion;Deep Learning Object Detector;Demux;Display;Draw Shapes;Gain;Get Transform;ID;In;Interpreted MATLAB Function;Inverse Kinematics;L;MATLAB Function;More Info;Mux;Out;Prepare World;R;Reference;Reshape;Robot;Shuttle;Shuttles;Simulation 3D Actor;Simulation 3D Camera Get;Simulation 3D Scene Configuration;Stop Simulation;SubSystem;Subsystem;Terminator;Unit Delay;Video Viewer;XY-rotation;Z-location;attachBall;attachCup;ball_inst;bbox;cLoc;cupID;destroyCupPhys;detachBallPhys;detachCupPhys;f;findBallLoc;findCupLoc;id;loc;r1_loc;r2_loc;rgbImg;stop;t;trans

BLOCKTYPE:
Constant;DataTypeConversion;Deep Learning Object Detector;Demux;Display;Draw Shapes;Gain;Get Transform;Inport;Inverse Kinematics;MATLABFcn;Mux;Outport;Reshape;S-Function;Simulation 3D Actor;Simulation 3D Camera Get;Simulation 3D Scene Configuration;Stop;Terminator;TriggerPort;UnitDelay;VideoViewer;robotics.slcore.internal.block.CoordinateTransformationConversion


MODELNAME: vzYOLOv2DetectorOnLiveCamera
PATH: examples/shared_soc_visionhdl/html/vzYOLOv2DetectorOnLiveCamera.slx
CHECKSUM: DE3F0A43C84D6E91B2372780A277AEDF
PRODUCT_BASECODE: DH;HW;VT
EXTERNALFILE_REFERENCE: DLHandshakeLogicExtMem.slx___Model_Block___YOLOv2PreprocessAlgorithm.slx___Model_Block___
ANNOTATION:
The post processing model has interface with DLIP registers via datastore read blocks, where the Output Registers are declared as Datastore objects in the helperSLYOLOv2PreprocessSetup script  The read request is sent to PL DDR from InputAXIS2AXIM vector where the PL DDR would read the DL Output using the OutputAddress and Output Size information from the read request Pulse Output Next using DataStore write blocks. The OutputNext datastore object is created in the helperSLYOLOv2PreprocessSetup script   Copyright 2022 The MathWorks, Inc. Display Properties Conversion Source Deep Learning IP Core Simulation Logic External Memory and Write Arbitrator with AXI Interface Validation Subsystems  Copyright 2022-23 The MathWorks, Inc. Pixel Stream based Pre-Proccessing(to FPGA)  Post Processing and Overlay (to ARM)  YOLO v2 vehicle detector on SoC - Preprocess and Postprocess with deep learning handshake logic

BLOCK:
 Demux ; Ground ; SFunction ; Terminator ; ackIn==;?;AXI4-Interface Read;AXI4-Interface Write;AXI4-Stream IIO Read;AXI4-Stream IIO Write;AXI4Lite_Write_DTC;AXIM Write Conroller;AXIReadCtrlIn;AXIReadCtrlInDDR;AXIReadCtrlInDL;AXIReadCtrlOut;AXIReadCtrlOutDDR;AXIReadCtrlOutDL;AXIReadData;AXIReadDataDDR;AXIReadDataDL;AXIReaddataDL;AXIReaddataOutDDR;AXIWriteCtrl;AXIWriteCtrlIn;AXIWriteCtrlInDDR;AXIWriteCtrlInDL;AXIWriteCtrlOut;AXIWriteCtrlOutDDR;AXIWriteCtrlOutDL;AXIWriteData;AXIWriteDataDDR;AXIWriteDataDL;AXIWritedata;AckGen;Add;B;BIn;BOut;Bit Concat;Burst Length;Bus;Bus Creator;Bus Selector;Constant;CtrlIn;CtrlOut;DDR Memory;DDR Write Arbitrator;DDRData;DL Handshake Logic Ext Mem;DL Handshaking logic;DL Out Data;DL Regs;DLIP Core;DUTProcStart;DUTProcstart;Data Store Read;Data Store Write;Delay;Demux;Deployment Model;Display;Enable;Execute DL Network;Fetch Preprocessed Image;Float Typecast;Frame Drop;Frame To Pixels;From;From Multimedia File;G;GIn;GOut;Generate AXIS2AXIM;Goto;HDL Counter;Image Source;InputAXIS2AXIM;InputAddr;InputValid;MATLAB Function;Matrix Concatenate;Multiply;Mux;OutData;Output Address;Output Size;Output Valid;OutputAddr;OutputNext;OutputSize;OutputValid;Overlay Bounding Boxes;PL DDR;Pixel Control Bus Creator;Pixels To Frame;Poll OutputValid;Predict;R;RGB Concatenate;RIn;ROI Selector;ROIBOut;ROICtrlOut;ROIGOut;ROIROut;ROut;Rate Transition;Read;Read Control;Read Control DL;Read DL Output;Read Data from PL DDR;Read Input Registers;Reference;Scope;Select B;Select G;Select R;SharedMem;Simulation Model;SubSystem;Subsystem;Terminator;To Video Display;To Workspace;Trigger DL Output Registers;Unit Delay;Unpack;Update DL Registers;ValAddEnb;ValwrLenCnt;Vector Concatenate;Verify Bounding Boxes;Verify DL Output;Verify Preprocess Output;Video Capture HDMI;Write;Write Control;YOLO v2 Preprocess Algorithm;YOLOv2 Post Process Algorithm;YOLOv2 Postprocessing;YOLOv2 Preprocessing;YOLOv2Network;ack;ackIn;ackIn Posedge Detect;ackIn_d;ackIn_d1==;ackOut;addr;axiWrLen;axiWrLen!=;axiWrLen-1==cnt & axiWrLen!=0 ;axiWrLen==cnt+;axi_rd_add;axi_rd_addr;axi_rd_avalid;axi_rd_len;axi_rd_rdy;axi_rd_ready;axi_rd_val;axi_wr_en;axi_wr_length;axi_wr_m2s_in;axim_ack;axim_rd_addr;axim_rd_aready;axim_rd_avalid;axim_rd_dready;axim_rd_dvalid;axim_rd_len;axim_wr_ack;axim_wr_addr;axim_wr_enb;axim_wr_len;axim_wr_ready;axis_dma_read;axis_dma_write;bIn;bOut;bboxes;burst_len;countOutputValids;ctrlBus;ctrlIn;ctrlOut;dValid;data;datain;ddr_ack_d;ddr_wr_addr;ddr_wr_en;ddrframe;dlDone;dl_frame_count;dl_input_start;dl_regs;dl_streaming_Done;dl_streaming_mode;dl_valid;done;dvalid;dvalidIn;dvalidin;edgeDet;fcn_dl_input_Start;fcn_dl_streaming_Done;fcn_dma_read;fcn_dma_write;fcn_frame_count_write;fcn_streaming_mode_write;fetchActivations;gIn;gOut;hEnd;hStart;if cnt < axiWrLen;inputAddr;inputAddrDL;inputCounterReset;inputFrame;inputImage;inputValid;outData;output;outputBaseAddress;outputImage;outputbboxes;outputscores;pixelCtrl;pixelCtrlIn;pixelCtrlOut;pixelData;post_proc_done;preprocessedImage;pulseDUTProcStart;rIn;rOut;ram_addr;ram_rd_addr;ram_rd_data;ram_rd_val;ram_rd_valid;ram_wr_addr;ram_wr_enb;ram_wr_enb cond;rdDone;rddata;read Done;readData;readDone;scores;start;state_output;vEnd;vStart;valAddEnb;valid;validOut;wrEnb;wr_ack;wr_addr;wr_addr-;wr_addr_base;wr_complete;wr_data;wr_data_in;wr_data_out;wr_done;wr_enb;wr_len;wr_leng;wr_ready;wr_valid;yolov2ClassConv_activations

BLOCKTYPE:
AXI4-Interface Read;AXI4-Interface Write;ArgIn;ArgOut;Bit Concat;Bit Slice;BusCreator;BusSelector;Compare To Constant;Concatenate;Constant;CustomCallbackButton;DataStoreRead;DataStoreWrite;DataTypeConversion;Delay;Demux;Display;EnablePort;FloatTypecast;Frame To Pixels;From;From Multimedia File;Gain;Goto;Ground;HDL Counter;Inport;Logic;ModelReference;Mux;Outport;Pixel Control Bus Creator;Pixels To Frame;Predict;RateTransition;RelationalOperator;S-Function;Scope;Selector;Sum;Terminator;To Video Display;ToWorkspace;TriggerPort;UnitDelay;VariantSource;matlabshared.libiio.axistream.read;matlabshared.libiio.axistream.write;visionhdl.ROISelector;visionzynq.internal.VideoCaptureHDMI

BLOCKTYPE_FREQUENCY:
5;7;5;5;3;8;8;8;6;2;9;1;5;6;1;31;22;4;3;8;1;11;1;2;11;1;4;165;6;2;1;146;1;1;1;4;4;21;1;6;2;25;1;8;7;4;1;1;1;3;1

PRODUCT:
Computer Vision Toolbox;Deep Learning HDL Toolbox Support Package for Xilinx FPGA and SoC Devices;Deep Learning Toolbox;Embedded Coder Support Package for Xilinx Zynq Platform;Fixed-Point Designer;MATLAB;Simulink;SoC Blockset Support Package for Xilinx Devices;Vision HDL Toolbox


MODELNAME: CLAHEAlgorithm_fpga
PATH: examples/shared_soc_visionhdl/main/CLAHEAlgorithm_fpga.slx
BLOCKTYPE_FREQUENCY: 3;1;2;3;9;26;58;69;12;115;4;6;17;1;17;1;43;1;2;148;64;2;16;143;7;13;16;4;8;2;37;55;11;2;1;1
CHECKSUM: 9D69718614DF0181D070E0A4EF3D32A6
PRODUCT: Embedded Coder;Fixed-Point Designer;MATLAB;Simulink;Simulink Coder;SoC Blockset;Vision HDL Toolbox
PRODUCT_BASECODE: DH;HW;VT
ANNOTATION:
Generating pixel control bus with appropriate blanking intervals Enable Logic Cooldown Logic pipe signal rowW/rowRevW Logic colW/colRevW/ Selector Switch Index Logic top/bottom pipe selection normFactor Selection Read Address Logic Bilinear interpolation is used to smooth edges when the tiles are stitched together Each tile is divided into four parts. One part from each of the four tiles are grouped together to compute bilinear interpolation for that section of the image. Two histogram pipelines process alternate vertical tiles. Each histogram equalization is divided into five stages : histogram calculation, total excess calculation, total excess distribution, excess redistribution, cumulative distribution function and mapping. Tile generation subsystem is used to define the contextual regions for contrast enhancement by dividing the input image across horizontal and vertical directions The CLAHE algorithm has three major parts: tile generation, histogram equalization, and bilinear interpolation. The input image is first divided into tiles. Histogram equalization is then performed on each tile using a clip limit. Boundary artifacts in tiling are removed using bilinear interpolation, to generate an output image with improved contrast.  Balance 1 cycle delay from AXI4-Master Write Controller block  AXI Write to Memory AXI Read from Memory Debug logic CLAHE YCbCr 4:2:2 to Y Y to YCbCr 4:2:2 Copyright 2021-2022 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;1-D Lookup Table;AXI Read FIFO;AXI Write FIFO;AXI write FIFO full;AXI4-Master Read Controller;AXI4-Master Write Controller;Add;Bit Concat;Bit Slice;Bus Creator;Bus Selector;CLAHE;CLAHEHDLAlgorithm;CLAHEOut;Compare To Constant;Constant;Data Type Conversion;Delay;For Each;For Each Subsystem;From;From3 ;Gain;Goto;Ground;HDL Counter;HDL FIFO;Histogram;Horizontal;Index;Logical Operator;MATLAB Function;Multiport Switch;Out;Pixel Control Bus Creator;Pixel Control Bus Selector;Product;ROI Selector;Reference;Relational Operator;Reset;S;Shift Arithmetic;Simple Dual Port RAM;SoC Bus Creator;SubSystem;Subsystem;Subtract;Switch;Terminator;Vertical;Video Stream Connector;active;bilinearInterpolation;binIncr;blMapTile;bottom;brMapTile;busCreator;busIn;busOut;busPipeline;busout;cache;cdf;cdfRefresh;cdfVal;cdfValPipe;cdfValid;cdfValidPipe;clipLimit;clipLimitCalc;colCounter;colRevW;colRevWCounter;colW;colWCounter;control ;ctrl;ctrlIn;ctrlOut;distribute;done;en;equation;excess;excessFeedback;excessIn;excessOut;frame;frameDone;hEnd;hStart;hdmiDataIn;hdmiDataOut;hdmiInputReady;hdmiOutputReady;histPipe;histResetBuffer;histVal;histoEqPipeline;histoExcess;histoIn;index;input ;inputBuffer;inputCtrl;left;leftIndex;leftRight;lowerSignal;norm;normClipLimit;normFactor;normFactorSw;outputStage;paramCalc;pipe;pipe1Done;pipe2Done;pipeCtrEn;pipeState;pipelining;pixValid;pixValue;pixelBusGenerator;pixelIn;pixelOut;ramBus;rdAddr;rdCtrlIn;rdCtrlOut;rdData;rdTile;rdValid;rdValid ;rd_addr;rd_addr_counter;rd_aready;rd_avalid;rd_dready;rd_dvalid;rd_len;rd_start;rd_valid;rd_valid_debug;redistribute;reset;resetOut;rfifo_ready;rfifo_ready_debug;right;rightIndex;rowCounter;rowRevW;rowRevWCounter;rowW;rowWCounter;select;start;state5Bus;state5Done;state5Pipe;statePipe;stepIn;tE;tED;tileCtrEn;tileGeneration;tileNum;tileNumber;tiling;totalExcess;ulMapTile;upper;upperLowerCoutner;upperSignal;urMapTile;vEnd;vStart;valid;validIn;wfifo_ready;wfifo_ready_debug;wrCtrlIn;wrCtrlOut;wrData;wr_addr;wr_en;wr_frame;wr_len;wr_valid;wr_valid_debug

BLOCKTYPE:
ArithShift;Bit Concat;Bit Slice;Bus Creator;BusCreator;BusSelector;Compare To Constant;Constant;DataTypeConversion;Delay;Demux;ForEach;From;Gain;Goto;Ground;HDL Counter;HDL_FIFO;Histogram;Inport;Logic;Lookup_n-D;MultiPortSwitch;Outport;Pixel Control Bus Creator;Product;RelationalOperator;S-Function;Selector;Simple Dual-port RAM;Sum;Switch;Terminator;Video Stream Connector;hdl.RAM;visionhdl.ROISelector


MODELNAME: DLHandshakeLogicExtMem
PATH: examples/shared_soc_visionhdl/main/DLHandshakeLogicExtMem.slx
ANNOTATION: Deep Learning hand shake logic with external memory Copyright 2023 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;2;1;1;4;1;3;1;43;3;39;3;13
CHECKSUM: ACFFA69052FCC50D2C5A7AACD80714DB
PRODUCT: Fixed-Point Designer;MATLAB;Simulink
PRODUCT_BASECODE: DH;HW;VT
BLOCK:
 Demux ; SFunction ; Terminator ;AND;AXI4S_Slave_FIFO_MSB;AXIM Write Conroller;AXIReadCtrlIn;AXIReadCtrlInDDR;AXIReadCtrlInDL;AXIReadCtrlOut;AXIReadCtrlOutDDR;AXIReadCtrlOutDL;AXIReadData;AXIReadDataDDR;AXIReadDataDL;AXIReadDataIn;AXIWrCtrlIn;AXIWrCtrlOut;AXIWrData;AXIWriteCtrlIn;AXIWriteCtrlInDDR;AXIWriteCtrlInDL;AXIWriteCtrlOut;AXIWriteCtrlOutDDR;AXIWriteCtrlOutDL;AXIWriteDataDDR;AXIWriteDataDL;AXIWriteDataOut;AXIWritedata;Bit Concat;Bit Shift;Bus Creator;Bus Selector;BusCreator;Compare To Constant;DLDone;DUTProcStart;DUTProcstart;DataAvailable;Delay;FWFT FIFO;HDL FIFO;Logical Operator;Read DL Registers;Read From DDR;Read Input Registers;Reference;SubSystem;Terminator;Trigger DL Input Next;Trigger Input Next;WrFIFOReady;Write To DDR;afull;burst_len;data_i;data_in;data_o;data_valid;ddr_write_done;empty_o;full;inputAddr;inputDataLSB;inputDataMSB;inputLength;inputNext ;inputSize;inputValid;num;pop;push;ram_addr;rd_addr;rd_dready;rd_len;rd_valid;start;state_machine;validIn;wasted_cycle_cnt;wrComplete;wrDone;wr_addr;wr_addr_base;wr_complete;wr_data;wr_done;wr_len;wr_ready;wr_valid

BLOCKTYPE:
Bit Concat;Bit Shift;BusCreator;BusSelector;Compare To Constant;Constant;Delay;Demux;HDL_FIFO;Inport;Logic;Outport;S-Function;Terminator


MODELNAME: ImageNormalizationHDLExample
PATH: examples/shared_soc_visionhdl/main/ImageNormalizationHDLExample.slx
BLOCKTYPE_FREQUENCY: 2;5;1;1;10;2;22;31;1;11;6;2;3;2;11;3;1;1;39;7;4;2;20;1;2;3;4;1;1;9;1;6;10;1;2;2
CHECKSUM: 3074FC6A387058ECE0CE6CC37131748A
PRODUCT_BASECODE: DH;HW;VT
EXTERNALFILE_REFERENCE: NormalizationAlgorithm.slx___Model_Block___
ANNOTATION:
logic to find porch+number of columns Gives benchmark results for rescale functionality  DUT  Output  Input Stores complete frame in memory when Compute input minimum and maximum flag is selected in DUT Copyright 2021 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;<valid>;AND;Add;B;BehavIn;BehavioralMemory;Cb or Cr;Chroma Resampler;Color Space Converter;Compare To Constant;CompareOut;ComputeMinMaxVariant;Constant;Delay;Display;Divide;Enable;From;G;Gain;GeneratePopForImageBuffer;Goto;HDL Counter;HDL Counter-Sigma;HDL FIFO -B;HDL FIFO -G;HDL FIFO -R;HDLCtrlIn;HDLPixIn;HDMI_Rx;Horizontal;ImageNormBehavioral;ImageNormalizationHDL;In;InputMinMaxCalc;InputMinMaxVariant;Logical Operator;LowerBound;MATLAB Function;Matrix Concatenate;Min;Normalization;Out;PixOut;Pixel Control Bus Creator;Pixel Control Bus Selector;Pixels To Frame;R;Reference;Relational Operator;Reshape;Selector;Signal Specification;SubSystem;Subsystem;Switch;TgenEnb;To Workspace;Unit Delay Enabled;Variant Subsystem;Vector Concatenate;Vertical;Y;YCbCr4:2:2ToRGB;a;b;bufferCtrlIn;bufferPixIn;bufferedCtrl;bufferedPix;busOut;countSimpErrPixB;countSimpErrPixG;countSimpErrPixR;ctrl;ctrlBus;ctrlIn;ctrlOut;ctrlOutRGB;hEnd;hStart;input;inputMax;inputMin;max;min;out;output;perSimpErrPixB;perSimpErrPixG;perSimpErrPixR;pixIn;pixel;pixelBusGenerator;pixelOut;pixelOutRGB;pop;simpErrorB;simpErrorG;simpErrorR;vEnd;vStart;validIn;wr_din

BLOCKTYPE:
Bit Slice;BusSelector;Chroma Resampler;Color Space Converter;Compare To Constant;Concatenate;Constant;Delay;Demux;Display;EnablePort;From;Gain;Goto;HDL Counter;HDL_FIFO;HDMI Rx;ImageNormalization;Inport;Logic;MinMax;ModelReference;Outport;Pixel Control Bus Creator;Pixels To Frame;Product;RelationalOperator;Reshape;S-Function;Selector;SignalSpecification;Sum;Switch;Terminator;ToWorkspace;Unit Delay Enabled

PRODUCT:
Embedded Coder;Fixed-Point Designer;MATLAB;Simulink;SoC Blockset Support Package for Xilinx Devices;Vision HDL Toolbox


MODELNAME: NormalizationAlgorithm
PATH: examples/shared_soc_visionhdl/main/NormalizationAlgorithm.slx
ANNOTATION: Subsystem Copyright 2021 The MathWorks, Inc.
BLOCKTYPE: BusSelector;Concatenate;Constant;Delay;Inport;MinMax;Outport;Product;RelationalOperator;Sum;Switch
BLOCKTYPE_FREQUENCY: 1;3;2;37;8;4;3;5;1;8;1
CHECKSUM: 07BD53F9AE54B4156CDD65DAF873B53B
PRODUCT: Embedded Coder;MATLAB;Simulink
PRODUCT_BASECODE: DH;HW;VT
BLOCK:
A-sigma;Constant;Delay;LowerBound;Max;Min;Out;Pixel Control Bus Selector;Rescale;SubSystem;Switch;UpperBound;Vector Concatenate;constReg;ctrl;ctrlOut;denominator;input;inputMax;inputMin;lConstReg;lInputMax;max;min;num;num2Stage;num2stage;pixelOut;sigma;uMinusl;ubInputMin


MODELNAME: YOLOv2PreprocessAlgorithm
PATH: examples/shared_soc_visionhdl/main/YOLOv2PreprocessAlgorithm.slx
BLOCKTYPE_FREQUENCY: 3;4;10;16;34;3;67;354;6;5;1;6;4;3;177;15;16;6;112;2;1;23;15;1;6;15;3;46;16;3;16;2;2;4;1;3
CHECKSUM: EE503913007CA79097CCDC900A8161F4
PRODUCT: Fixed-Point Designer;MATLAB;Simulink;Vision HDL Toolbox
PRODUCT_BASECODE: DH;HW;VT
ANNOTATION:
Subsystem =N =N-1 >N 8 clock cycle 10 clock cycle 19 clock cycles 8 clock cycle 12 clock cycle  Resize  YOLOv2 Preprocessing - Resize, Normalization Copyright 2021-2023 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;A-sigma;Add;B;B_sel;Bit Slice;Bus Selector;Cast To Single;Compare To Constant;Constant;DBG_state;Data Type Conversion;Data Type Propagation;Delay;Direct Lookup Table (n-D);Divide;Enable;End;Float Typecast;G;G_sel;Gain;H;H6_int;HDL Counter;HSV;Image Filter;In;In Bus Element;Line Buffer;Logical Operator;Max;Min;Multiply;Normalization;Out;Pixel Control Bus Creator;Pixel Control Bus Selector;Pixel Stream FIFO ;R;RGB;RGB2HSV_efficient;R_sel;Reference;Relational Operator;Rescale;Reshape;Resize;S;Selector;ShiftReg;Start;State Control;SubSystem;Subsystem;Subtract;Sum of Elements;Switch;Tapped Delay;Terminator;Unary Minus;Unit Delay Enabled Synchronous;Unit Delay Resettable Synchronous;V;Vector Concatenate;addIn;addOut;addr;alpha;beta;bicubic;bilinear;cntEnb;cntRst;coeffi_gen;coeffi_gen_bicubic;coeffi_gen_bilinear;coeffi_gen_lanzcos;constReg;ctrlBusRebuild;ctrlIn;ctrlOut;denominator;enable;enableLPF;frac_denom_H;frac_denom_W;frac_dividend;frac_divisor;frac_en;frac_num_H;frac_num_W;frac_num__H;gamma;h;hCnt;hCoeff;hEnd;hOverFlow;hPhase;hValid;hValidCtrl;horizontal_coeff;horizontal_pe;img_height;img_width;imresize(downsample);index;input;input_conversion;int;int_H;int_W;int_en;int_is_;intv_cnt;intv_rst;jump;lConstReg;lInputMax;lanczos;last_valid_check;lineEnd;lineStart;lock;low_pass_filter;max;min;num;num2Stage;num2stage;output;output_conversion;phase;pixIn;pixOut;pixel;pixelIn;pixelOut;pixeln;ref;reset;resize_process_element_H;resize_process_element_S;resize_process_element_V;shiftEnable;sigma;state_transit;t;t1_t;t1_t4_gen;t5_t;t5_t8_gen;to_frac;to_uint;trim_0_;uMinusl;ubInputMin;v;vCnt;vCoeff;vEnd;vOverFlow;vPhase;vValid;vValidCtrl;valid;validIn;valid_gen;valid_gen_ctrl;valid_gen_horizontal;valid_gen_vertical;vector;vectorLUT;verification_helper;vertical_coeff;vertical_pe;xScale;yScale

BLOCKTYPE:
Bit Slice;BusSelector;Compare To Constant;Concatenate;Constant;Data Type Propagation;DataTypeConversion;Delay;Demux;EnablePort;FloatTypecast;Gain;HDL Counter;Image Filter;Inport;Logic;LookupNDDirect;MinMax;Outport;Pixel Control Bus Creator;Pixel Stream FIFO;Product;RelationalOperator;Reshape;S-Function;Selector;StateControl;Sum;Switch;Tapped Delay Line;Terminator;UnaryMinus;Unit Delay Enabled Synchronous;Unit Delay Resettable Synchronous;imresize(downsample);visionhdl.LineBuffer


MODELNAME: YOLOv2PreprocessDUT
PATH: examples/shared_soc_visionhdl/main/YOLOv2PreprocessDUT.slx
ANNOTATION: Copyright 2022-2023 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 2;8;1;1;1;5;10;2;8;1;3;1
CHECKSUM: 72A96ED6AF534F34CA5BA21F91B03F9E
PRODUCT: MATLAB;Simulink;Vision HDL Toolbox
PRODUCT_BASECODE: DH;HW;VT
EXTERNALFILE_REFERENCE: DLHandshakeLogicExtMem.slx___Model_Block___YOLOv2PreprocessAlgorithm.slx___Model_Block___
BLOCK:
AXIReadCtrlInDDR;AXIReadCtrlInDL;AXIReadCtrlOutDDR;AXIReadCtrlOutDL;AXIReadDataDDR;AXIReadDataDL;AXIWriteCtrlInDDR;AXIWriteCtrlInDL;AXIWriteCtrlOutDDR;AXIWriteCtrlOutDL;AXIWriteDataDDR;AXIWriteDataDL;B;Bit Concat;Bus Selector;Constant;DL Handshake Logic Ext Mem;DUTProcstart;Data Type Conversion;G;InputData;Matrix Concatenate;Pixel Control Bus Creator;R;Reference;Select B;Select G;Select R;SubSystem;Terminator;Unpack;YOLO v2 Preprocess Algorithm;ctrlOut;hEnd;hStart;packedIn;pixOut;vEnd;vStart;valid

BLOCKTYPE:
Bit Concat;Bit Slice;BusSelector;Concatenate;Constant;DataTypeConversion;Inport;ModelReference;Outport;Pixel Control Bus Creator;Selector;Terminator


MODELNAME: YOLOv2PreprocessTestbench
PATH: examples/shared_soc_visionhdl/main/YOLOv2PreprocessTestbench.slx
BLOCKTYPE_FREQUENCY: 1;3;2;3;6;1;1;6;1;3;1;3;1;4
CHECKSUM: B452336B4E9CF71EA477330644141FF8
PRODUCT: Deep Learning HDL Toolbox;MATLAB;Simulink;Vision HDL Toolbox
PRODUCT_BASECODE: DH;HW;VT
EXTERNALFILE_REFERENCE: YOLOv2PreprocessDUT.slx___Model_Block___
ANNOTATION:
 YOLO v2 DUT - Preprocess with deep learning hand shake logic   Copyright 2021-2024 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;AXIWriteCtrlOutDDR;AXIWriteDataDDR;B;Bit Concat;Bus Selector;DUTProcStart;Data Type Conversion;Deep Learning HDL Processing System;Frame To Pixels;G;Input Images;Pack;Pixel Control Bus Selector;R;Reference;Select Image;Selector;SubSystem;To Workspace;Verify Output;YOLO v2 Preprocess DUT;ctrl;inputImage;inputImages;packedData;pixel;valid

BLOCKTYPE:
Bit Concat;Bit Slice;BusSelector;Constant;DataTypeConversion;Demux;Frame To Pixels;Inport;ModelReference;Outport;S-Function;Selector;Terminator;ToWorkspace


MODELNAME: YOLOv2VehicleDetectorOnSoC
PATH: examples/shared_soc_visionhdl/main/YOLOv2VehicleDetectorOnSoC.slx
CHECKSUM: 40A4D47144C2C41C5A0FA313CEFE38EB
PRODUCT_BASECODE: DH;HW;VT
EXTERNALFILE_REFERENCE: DLHandshakeLogicExtMem.slx___Model_Block___YOLOv2PreprocessAlgorithm.slx___Model_Block___
ANNOTATION:
The post processing model has interface with DLIP registers via datastore read blocks, where the Output Registers are declared as Datastore objects in the helperSLYOLOv2PreprocessSetup script  The read request is sent to PL DDR from InputAXIS2AXIM vector where the PL DDR would read the DL Output using the OutputAddress and Output Size information from the read request Pulse Output Next when postprocDone is asserted  Display Conversion  Conversion Source Deep Learning IP Core (for simulation only)  External Memory and Write Arbitrator Validation   Copyright 2022-2023 The MathWorks, Inc. Pixel Stream Preprocessing (for FPGA)  Postprocessing and Overlay (for ARM)  YOLO v2 Vehicle Detector on SoC - Preprocess and postprocess with deep learning handshake logic

BLOCK:
 Demux ; Ground ; SFunction ; Terminator ; ackIn==;AXI4-Interface Read;AXI4-Interface Write;AXI4-Stream IIO Read;AXI4-Stream IIO Write;AXI4Lite_Write_DTC;AXIM Write Conroller;AXIReadCtrlIn;AXIReadCtrlInDDR;AXIReadCtrlInDL;AXIReadCtrlOut;AXIReadCtrlOutDDR;AXIReadCtrlOutDL;AXIReadData;AXIReadDataDDR;AXIReadDataDL;AXIReaddataDL;AXIReaddataOutDDR;AXIWriteCtrl;AXIWriteCtrlIn;AXIWriteCtrlInDDR;AXIWriteCtrlInDL;AXIWriteCtrlOut;AXIWriteCtrlOutDDR;AXIWriteCtrlOutDL;AXIWriteData;AXIWriteDataDDR;AXIWriteDataDL;AXIWritedata;AckGen;Add;B;BIn;BOut;Bit Concat;Burst Length;Bus Creator;Bus Selector;Constant;DDR Memory;DDR Write Arbitrator;DDRData;DL Handshake Logic Ext Mem;DL Handshaking;DL Out Data;DL Output;DL Regs;DLIP;DUTProcStart;DUTProcstart;Data Store Read;Data Store Write;Delay;Demux;Deployment Model;Display;Enable;Execute DL Network;Fetch Preprocessed Image;Float Typecast;Frame Drop;Frame To Pixels;From;G;GIn;GOut;Generate Read Request;Goto;HDL Counter;Input Images;InputAXIS2AXIM;InputAddr;InputAddrDL;MATLAB Function;Matrix Concatenate;Multiply;Mux;OutData;Output Address;Output Next;Output Size;Output Valid;OutputAddr;OutputNext;OutputSize;OutputValid;Overlay Bounding Boxes;PL DDR;Pixel Control Bus Creator;Pixels To Frame;Poll OutputValid;Predict;R;RGB Concatenate;RIn;ROI Selector;ROIBOut;ROICtrlOut;ROIGOut;ROIROut;ROut;Rate Transition;Read;Read Control;Read Control DL;Read DL Output;Read Data from PL DDR;Read Input Registers;Read Request;ReadInputAddrDL;Reference;Select B;Select G;Select Image;Select R;Set Control Registers;SharedMem;Simulation Model;SubSystem;Subsystem;Terminator;To Workspace;Trigger DL Output Registers;Unit Delay;Unpack;Update DL Registers;ValAddEnb;ValwrLenCnt;Vector Concatenate;Verify Postprocess Output;Verify Preprocess Output;Video Viewer;Write;Write Control;WriteInputAddrReg;YOLO v2 Preprocess Algorithm;YOLOv2 Postprocessing;YOLOv2Network;YOLOv2PostprocessDUT;YOLOv2PreprocessDUT;ack;ackIn;ackIn Posedge Detect;ackIn_d;ackIn_d1==;ackOut;addr;axiWrLen;axiWrLen!=;axiWrLen-1==cnt & axiWrLen!=0 ;axiWrLen==cnt+;axi_rd_add;axi_rd_addr;axi_rd_avalid;axi_rd_len;axi_rd_rdy;axi_rd_ready;axi_rd_val;axi_wr_en;axi_wr_length;axi_wr_m2s_in;axim_ack;axim_rd_addr;axim_rd_aready;axim_rd_avalid;axim_rd_dready;axim_rd_dvalid;axim_rd_len;axim_wr_ack;axim_wr_addr;axim_wr_enb;axim_wr_len;axim_wr_ready;axis_dma_read;axis_dma_write;bboxes;burst_len;countdlValidOuts;ctrlBus;ctrlIn;ctrlOut;dValid;data;datain;ddr_ack_d;ddr_wr_addr;ddr_wr_en;ddrframe;dlDone;dlValid;dl_frame_count;dl_input_start;dl_regs;dl_streaming_Done;dl_streaming_mode;done;dvalid;dvalidIn;dvalidin;edgeDet;fcn_dl_input_Start;fcn_dl_streaming_Done;fcn_dma_read;fcn_dma_write;fcn_frame_count_write;fcn_streaming_mode_write;fetchActivations;hEnd;hStart;if cnt < axiWrLen;inputAddr;inputAddrDL;inputAddrReg;inputFrame;inputImage;inputImages;outData;outputBaseAddress;outputImage;pixelCtrl;pixelCtrlIn;pixelCtrlOut;pixelData;postProcDone;postProcStart;postProcStartReg;preProcStart;preProcStartReg;preprocessedImage;ram_addr;ram_rd_addr;ram_rd_data;ram_rd_val;ram_rd_valid;ram_wr_addr;ram_wr_enb;ram_wr_enb cond;rdDone;rddata;read Done;readData;readDone;scores;start;state_output;vEnd;vStart;valAddEnb;valid;validOut;wrEnb;wr_ack;wr_addr;wr_addr-;wr_addr_base;wr_complete;wr_data;wr_data_in;wr_data_out;wr_done;wr_enb;wr_len;wr_leng;wr_ready;wr_valid;yolov2Activations

BLOCKTYPE:
AXI4-Interface Read;AXI4-Interface Write;ArgIn;ArgOut;Bit Concat;Bit Slice;BusCreator;BusSelector;Compare To Constant;Concatenate;Constant;DataStoreRead;DataStoreWrite;DataTypeConversion;Delay;Demux;Display;EnablePort;FloatTypecast;Frame To Pixels;From;Gain;Goto;Ground;HDL Counter;Inport;Logic;ModelReference;Mux;Outport;Pixel Control Bus Creator;Pixels To Frame;Predict;RateTransition;RelationalOperator;S-Function;Selector;Sum;Terminator;ToWorkspace;TriggerPort;UnitDelay;VideoViewer;matlabshared.libiio.axistream.read;matlabshared.libiio.axistream.write;visionhdl.ROISelector

BLOCKTYPE_FREQUENCY:
5;7;5;5;3;3;8;7;6;2;11;8;8;1;31;22;1;2;3;1;9;2;11;1;4;162;6;2;1;145;1;1;1;4;4;21;6;2;25;3;7;4;1;1;1;3

PRODUCT:
Computer Vision Toolbox;Deep Learning HDL Toolbox Support Package for Xilinx FPGA and SoC Devices;Deep Learning Toolbox;Embedded Coder Support Package for Xilinx Zynq Platform;Fixed-Point Designer;MATLAB;Simulink;SoC Blockset Support Package for Xilinx Devices;Vision HDL Toolbox


MODELNAME: soc_CLAHEAlgorithm_top
PATH: examples/shared_soc_visionhdl/main/soc_CLAHEAlgorithm_top.slx
BLOCK: AXI4 Random Access Memory;FPGA;HDMI Rx;HDMI Tx;LED;Reference
BLOCKTYPE: AXI4 Random Access Memory;HDMI Rx;HDMI Tx;LED;ModelReference
BLOCKTYPE_FREQUENCY: 1;1;1;1;1
CHECKSUM: 38EE099E3B9D77DC4CE1CB01455DE18F
PRODUCT_BASECODE: DH;HW;VT
EXTERNALFILE_REFERENCE: CLAHEAlgorithm_fpga.slx___Model_Block___
ANNOTATION:
Copyright 2021-2023 The MathWorks, Inc. Input  Output  External Memory  CLAHE With External Memory FPGA

PRODUCT:
Embedded Coder;Fixed-Point Designer;MATLAB;Simulink;SoC Blockset;SoC Blockset Support Package for Xilinx Devices;Vision HDL Toolbox


MODELNAME: soc_imageNormalization_FPGA
PATH: examples/shared_soc_visionhdl/main/soc_imageNormalization_FPGA.slx
BLOCKTYPE_FREQUENCY: 1;1;9;3;5;1;1;1;3;8;1;26;4;1;7;6;4;25;2;1;36;2;2;1;6;7;2;2;1
CHECKSUM: A6649B04649FCB955D827A91287987A6
PRODUCT: Embedded Coder;MATLAB;Simulink;SoC Blockset;Vision HDL Toolbox
PRODUCT_BASECODE: DH;HW;VT
EXTERNALFILE_REFERENCE: NormalizationAlgorithm.slx___Model_Block___
ANNOTATION:
 Normalization Algorithm Debug logic  AXI Read from Memory  AXI Write to Memory  Balance 1 cycle delay from AXI4-Master Wrtie Controller block  Copyright 2021 The MathWorks, Inc.

BLOCK:
 Demux ; SFunction ; Terminator ;<valid>;AXI Read FIFO;AXI Write FIFO;AXI write FIFO full;AXI4-Master Read Controller;AXI4-Master Write Controller;Assertion;B;Bit Concat;Bit Slice;Bus Selector;Cb or Cr;Chroma Resampler;Color Space Converter;Compare To Constant;Constant;Data Type Conversion;Delay;Demux;Enable;FIFOReady;From;G;Goto;HDL Counter;ImageNormalization;ImageNormalizationFPGA;In;InputMinMaxCalc;LowerBound;Matrix Concatenate;Min;Out;Pixel Control Bus Selector;R;Reference;Relational Operator;Rescale;Signal Specification;SoC Bus Creator;SubSystem;Subsystem;Switch;Terminator;To Workspace;Unit Delay Enabled;Vector Concatenate;Video Stream Connector;Y;YCbCr422ToRGB;bufferCtrlIn;bufferPixelIn;ctrl;ctrlIn;ctrlOut;ctrlOutRGB;errFrameDrop;hEnd;hStart;hdmiDataIn;hdmiInputReady;max;min;pixIn;pixel;pixelOut;pixelOutRGB;rdCtrlIn;rdCtrlOut;rdData;rd_addr;rd_aready;rd_avalid;rd_dready;rd_dvalid;rd_len;rd_start;rd_valid_debug;rfifo_ready;rfifo_ready_debug;start;vEnd;vStart;valid;wfifo_ready;wfifo_ready_debug;wrCtrlI;wrCtrlIn;wrCtrlOut;wrData;wr_addr;wr_din;wr_len;wr_valid;wr_valid_debug

BLOCKTYPE:
Assertion;Bit Concat;Bit Slice;Bus Creator;BusSelector;Chroma Resampler;Color Space Converter;Compare To Constant;Concatenate;Constant;DataTypeConversion;Delay;Demux;EnablePort;From;Goto;HDL Counter;Inport;MinMax;ModelReference;Outport;RelationalOperator;S-Function;SignalSpecification;Switch;Terminator;ToWorkspace;Unit Delay Enabled;Video Stream Connector


MODELNAME: soc_imageNormalization_top
PATH: examples/shared_soc_visionhdl/main/soc_imageNormalization_top.slx
BLOCK: AXI4 Random Access Memory;FPGA;HDMI Rx;LED;Reference
BLOCKTYPE: AXI4 Random Access Memory;HDMI Rx;LED;ModelReference
BLOCKTYPE_FREQUENCY: 1;1;1;1
CHECKSUM: 113536340D86C738BF41858BD29E5818
PRODUCT_BASECODE: DH;HW;VT
EXTERNALFILE_REFERENCE: soc_imageNormalization_FPGA.slx___Model_Block___
ANNOTATION:
 Image Normalization Using External Memory Copyright 2021-2023 The MathWorks, Inc. Input  Output  FPGA External Memory

PRODUCT:
Embedded Coder;Fixed-Point Designer;MATLAB;Simulink;SoC Blockset;SoC Blockset Support Package for Xilinx Devices


MODELNAME: vzYOLOv2DetectorOnLiveCamera
PATH: examples/shared_soc_visionhdl/main/vzYOLOv2DetectorOnLiveCamera.slx
CHECKSUM: 664626A9E3ABC63740BA1D7EC4D43778
PRODUCT_BASECODE: DH;HW;VT
EXTERNALFILE_REFERENCE: DLHandshakeLogicExtMem.slx___Model_Block___YOLOv2PreprocessAlgorithm.slx___Model_Block___
ANNOTATION:
The post processing model has interface with DLIP registers via datastore read blocks, where the Output Registers are declared as Datastore objects in the helperSLYOLOv2PreprocessSetup script  The read request is sent to PL DDR from InputAXIS2AXIM vector where the PL DDR would read the DL Output using the OutputAddress and Output Size information from the read request Pulse Output Next using DataStore write blocks. The OutputNext datastore object is created in the helperSLYOLOv2PreprocessSetup script   Copyright 2022 The MathWorks, Inc. Display Properties Conversion Source Deep Learning IP Core Simulation Logic External Memory and Write Arbitrator with AXI Interface Validation Subsystems  Copyright 2022-23 The MathWorks, Inc. Pixel Streaming Pre-Proccessing (to FPGA)  Post Processing and Overlay (to ARM)  YOLO v2 Vehicle Detector on SoC - Preprocess and postprocess with deep learning handshake logic

BLOCK:
 Demux ; Ground ; SFunction ; Terminator ; ackIn==;?;AXI4-Interface Read;AXI4-Interface Write;AXI4-Stream IIO Read;AXI4-Stream IIO Write;AXI4Lite_Write_DTC;AXIM Write Conroller;AXIReadCtrlIn;AXIReadCtrlInDDR;AXIReadCtrlInDL;AXIReadCtrlOut;AXIReadCtrlOutDDR;AXIReadCtrlOutDL;AXIReadData;AXIReadDataDDR;AXIReadDataDL;AXIReaddataDL;AXIReaddataOutDDR;AXIWriteCtrl;AXIWriteCtrlIn;AXIWriteCtrlInDDR;AXIWriteCtrlInDL;AXIWriteCtrlOut;AXIWriteCtrlOutDDR;AXIWriteCtrlOutDL;AXIWriteData;AXIWriteDataDDR;AXIWriteDataDL;AXIWritedata;AckGen;Add;B;BIn;BOut;Bit Concat;Burst Length;Bus;Bus Creator;Bus Selector;Constant;CtrlIn;CtrlOut;DDR Memory;DDR Write Arbitrator;DDRData;DL Handshake Logic Ext Mem;DL Handshaking logic;DL Out Data;DL Regs;DLIP Core;DUTProcStart;DUTProcstart;Data Store Read;Data Store Write;Delay;Demux;Deployment Model;Display;Enable;Execute DL Network;Fetch Preprocessed Image;Float Typecast;Frame Drop;Frame To Pixels;From;From Multimedia File;G;GIn;GOut;Generate AXIS2AXIM;Goto;HDL Counter;Image Source;InputAXIS2AXIM;InputAddr;InputValid;MATLAB Function;Matrix Concatenate;Multiply;Mux;OutData;Output Address;Output Size;Output Valid;OutputAddr;OutputNext;OutputSize;OutputValid;Overlay Bounding Boxes;PL DDR;Pixel Control Bus Creator;Pixels To Frame;Poll OutputValid;Predict;R;RGB Concatenate;RIn;ROI Selector;ROIBOut;ROICtrlOut;ROIGOut;ROIROut;ROut;Rate Transition;Read;Read Control;Read Control DL;Read DL Output;Read Data from PL DDR;Read Input Registers;Reference;Scope;Select B;Select G;Select R;SharedMem;Simulation Model;SubSystem;Subsystem;Terminator;To Video Display;To Workspace;Trigger DL Output Registers;Unit Delay;Unpack;Update DL Registers;ValAddEnb;ValwrLenCnt;Vector Concatenate;Verify Bounding Boxes;Verify DL Output;Verify Preprocess Output;Video Capture HDMI;Write;Write Control;YOLO v2 Preprocess Algorithm;YOLOv2 Post Process Algorithm;YOLOv2 Postprocessing;YOLOv2 Preprocessing;YOLOv2Network;ack;ackIn;ackIn Posedge Detect;ackIn_d;ackIn_d1==;ackOut;addr;axiWrLen;axiWrLen!=;axiWrLen-1==cnt & axiWrLen!=0 ;axiWrLen==cnt+;axi_rd_add;axi_rd_addr;axi_rd_avalid;axi_rd_len;axi_rd_rdy;axi_rd_ready;axi_rd_val;axi_wr_en;axi_wr_length;axi_wr_m2s_in;axim_ack;axim_rd_addr;axim_rd_aready;axim_rd_avalid;axim_rd_dready;axim_rd_dvalid;axim_rd_len;axim_wr_ack;axim_wr_addr;axim_wr_enb;axim_wr_len;axim_wr_ready;axis_dma_read;axis_dma_write;bIn;bOut;bboxes;burst_len;countOutputValids;ctrlBus;ctrlIn;ctrlOut;dValid;data;datain;ddr_ack_d;ddr_wr_addr;ddr_wr_en;ddrframe;dlDone;dl_frame_count;dl_input_start;dl_regs;dl_streaming_Done;dl_streaming_mode;dl_valid;done;dvalid;dvalidIn;dvalidin;edgeDet;fcn_dl_input_Start;fcn_dl_streaming_Done;fcn_dma_read;fcn_dma_write;fcn_frame_count_write;fcn_streaming_mode_write;fetchActivations;gIn;gOut;hEnd;hStart;if cnt < axiWrLen;inputAddr;inputAddrDL;inputCounterReset;inputFrame;inputImage;inputValid;outData;output;outputBaseAddress;outputImage;outputbboxes;outputscores;pixelCtrl;pixelCtrlIn;pixelCtrlOut;pixelData;post_proc_done;preprocessedImage;pulseDUTProcStart;rIn;rOut;ram_addr;ram_rd_addr;ram_rd_data;ram_rd_val;ram_rd_valid;ram_wr_addr;ram_wr_enb;ram_wr_enb cond;rdDone;rddata;read Done;readData;readDone;scores;start;state_output;vEnd;vStart;valAddEnb;valid;validOut;wrEnb;wr_ack;wr_addr;wr_addr-;wr_addr_base;wr_complete;wr_data;wr_data_in;wr_data_out;wr_done;wr_enb;wr_len;wr_leng;wr_ready;wr_valid;yolov2ClassConv_activations

BLOCKTYPE:
AXI4-Interface Read;AXI4-Interface Write;ArgIn;ArgOut;Bit Concat;Bit Slice;BusCreator;BusSelector;Compare To Constant;Concatenate;Constant;CustomCallbackButton;DataStoreRead;DataStoreWrite;DataTypeConversion;Delay;Demux;Display;EnablePort;FloatTypecast;Frame To Pixels;From;From Multimedia File;Gain;Goto;Ground;HDL Counter;Inport;Logic;ModelReference;Mux;Outport;Pixel Control Bus Creator;Pixels To Frame;Predict;RateTransition;RelationalOperator;S-Function;Scope;Selector;Sum;Terminator;To Video Display;ToWorkspace;TriggerPort;UnitDelay;VariantSource;matlabshared.libiio.axistream.read;matlabshared.libiio.axistream.write;visionhdl.ROISelector;visionzynq.internal.VideoCaptureHDMI

BLOCKTYPE_FREQUENCY:
5;7;5;5;3;8;8;8;6;2;9;1;5;6;1;31;22;4;3;8;1;11;1;2;11;1;4;165;6;2;1;146;1;1;1;4;4;21;1;6;2;25;1;8;7;4;1;1;1;3;1

PRODUCT:
Computer Vision Toolbox;Deep Learning HDL Toolbox Support Package for Xilinx FPGA and SoC Devices;Deep Learning Toolbox;Embedded Coder Support Package for Xilinx Zynq Platform;Fixed-Point Designer;MATLAB;Simulink;SoC Blockset Support Package for Xilinx Devices;Vision HDL Toolbox


MODELNAME: vzYOLOv2PostProcess
PATH: examples/shared_soc_visionhdl/main/vzYOLOv2PostProcess.slx
DESCRIPTION: Deep Learning Software Interface Model
BLOCKTYPE_FREQUENCY: 5;7;6;6;2;3;1;3;9;3;1;2;2;1;1;30;33;1;9;1;2;9;8;1;1;1;1
CHECKSUM: 70535A4D1095943E4BECFAD1B92B4FB5
PRODUCT_BASECODE: DH;HW;VT
ANNOTATION:
The post processing model has interface with DLIP registers via datastore read blocks, where the Output Registers are declared as Datastore objects in the helperSLYOLOv2PreprocessSetup script  The read request is sent to PL DDR from InputAXIS2AXIM vector where the PL DDR would read the DL Output using the OutputAddress and Output Size information from the read request Pulse Output Next using DataStore write blocks. The OutputNext datastore object is created in the helperSLYOLOv2PreprocessSetup script   Copyright 2022-23 The MathWorks, Inc.

BLOCK:
 Demux ; Ground ; SFunction ; Terminator ;AXI4-Interface Read;AXI4-Interface Write;AXI4-Stream IIO Read;AXI4-Stream IIO Write;AXI4Lite_Write_DTC;Constant;DL Handshaking logic;DL Out Data;Data Store Read;Data Store Write;Data Type Conversion;Deployment Model;Display;Draw Rectangle;Enable;Generate AXIS2AXIM;Goto;Graphic Annotations;HDL Counter;InputAXIS2AXIM;MATLAB Function;OutData;Output Address;Output Size;Output Valid;OutputAddr;OutputImage;OutputNext;OutputSize;OutputValid;Pack Pixels;Poll OutputValid;Read DL Output;Read Data from PL DDR;Reference;Scope;Selector;Set ROI;Simulation Model;SubSystem;Trigger DL Output Registers;Variables;YOLOv2 Post Process Algorithm;YOLOv2 Postprocessing;axis_dma_read;axis_dma_write;bboxes;boundingboxes;calculateScoreDisplayPosition;countOutputValids;data;data_i;data_o;data~;dl_frame_count;dl_input_start;dl_streaming_Done;dl_streaming_mode;dl_valid;done;dvalid;dvalidin;fcn_dl_input_Start;fcn_dl_streaming_Done;fcn_dma_read;fcn_dma_write;fcn_frame_count_write;fcn_insertText;fcn_pack_pixels;fcn_streaming_mode_write;insertText;insert_text;outData;outputImage;outputbboxes;outputscores;pack_pixels;post_proc_done;rdDone;read Done;scoreStartPoint;scores;updateScoreValue;valid;variables

BLOCKTYPE:
AXI4-Interface Read;AXI4-Interface Write;ArgIn;ArgOut;Constant;DataStoreRead;DataStoreWrite;DataTypeConversion;Demux;Display;EnablePort;From;Goto;Ground;HDL Counter;Inport;Outport;RGB to RGB32;S-Function;Scope;Selector;Terminator;TriggerPort;matlabshared.libiio.axistream.read;matlabshared.libiio.axistream.write;visionzynq.internal.annotation.DrawRect;visionzynq.internal.annotation.SetROI

PRODUCT:
Computer Vision Toolbox;Deep Learning HDL Toolbox Support Package for Xilinx FPGA and SoC Devices;Embedded Coder;Embedded Coder Support Package for Xilinx Zynq Platform;Fixed-Point Designer;MATLAB;Simulink;SoC Blockset Support Package for Xilinx Devices


MODELNAME: scExampleSmallUAVModel
PATH: examples/shared_systemsengineering/projects/src/scExampleSmallUAV/models/scExampleSmallUAVModel.slx
ANNOTATION: Copyright 2019 The MathWorks, Inc.
BLOCKTYPE: Inport;Outport
BLOCKTYPE_FREQUENCY: 59;51
CHECKSUM: F60E812B27F45A59385443F94EE42286
PRODUCT: MATLAB;Requirements Toolbox;Simulink;System Composer;System Composer Documentation
PRODUCT_BASECODE: RQ;ZC
BLOCK:
ABDSB Antenna;ADSB Board;ADSB Module;Airframe;Backup Battery;Bus Element In;Bus Element Out;Data Logger;ECU;EFI;Engine;Flight Support Components;FlightComputer;Fuel Filter;Fuel Level Sensors;Fuel Pump;Fuel System;Fuel Tank;Fuselage;GPS Antenna;GPS Board;GPS Module;Gimbal;In;LandingGear;Main Board;Main Generator;Out;Payload;Payload Cmds;Payload Data Link;Payload Retraction System;Pitot Tube Module;Power Module;Power Unit;Pressure Regulator;Prop;Propulsion;Protective Case;SubSystem;SupervisoryComputer;Tail and Boom;Telemetry Antenna;Throttle Servo;Wings;dT


MODELNAME: OnboardComputer_PathPlanning_PX4_SITL_NVIDIA_Jetson
PATH: examples/shared_uav_nvidia/main/OnboardComputer_PathPlanning_PX4_SITL_NVIDIA_Jetson.slx
BLOCKTYPE_FREQUENCY: 4;3;5;11;9;2;2;2;16;2;3;2;3;2;10;3;16;9;1;1;1
CHECKSUM: 3704E6333B2EED82931E25DCE401B5C1
PRODUCT_BASECODE: ME;UV
ANNOTATION:
 During Take off / Landing the waypoints are mirrored back to the PX4 SITL  The estimated position, current waypoint, and the next waypoint are provided to the Waypoint Follower block to produce the trajectory waypoints. The generated trajectory waypoints are sent back to PX4 SITL one at a time. PX4 SITL will be following this trajectory waypoints generated by the Waypoint Follower block.   Model the path planning logic here. The logic should determine the new waypoints that need to be sent back to the PX4 SITL MAVLink encoding Path planning MAVLInk decoding MAV_STATE_ACTIVE Copyright 2021 The MathWorks, Inc.  Onboard computer path planning interface for PX4 SITL deployable on NVIDIA Jetson

BLOCK:
 Demux ; SFunction ; Terminator ;Action Port;Altitude;Bus Assignment;Bus Selector;Constant;Current waypoint NED;Data Type Conversion;Estimated position NED;Handle_new_message;Handle_old_message;If;In;Inport;Local position;MATLAB Function;MAVLink Blank Message;MAVLink Deserializer;MAVLink Serializer;Matrix Concatenate;Merge;Next waypoint NED;Number of valid points;Out;Path planning logic;Reference;Selector;Send Heartbeat;SubSystem;Subsystem;Take off / Landing ;Terminator;Trajectory waypoints;Transpose;UDP Receive: From PX4 SITL;UDP Send: To PX4 SITL;Updated Waypoint NED;Updated waypoint;Waypoint Follower;Waypoints;isNew;u;y

BLOCKTYPE:
ActionPort;BusAssignment;BusSelector;Concatenate;Constant;DataTypeConversion;Demux;If;Inport;MAVLink Blank Message;MAVLink Deserializer;MAVLink Serializer;Math;Merge;Outport;S-Function;Selector;Terminator;UDP Receive;UDP Send;uav.sluav.internal.system.WaypointFollower

PRODUCT:
Embedded Coder;MATLAB;MATLAB Coder Support Package for NVIDIA Jetson and NVIDIA DRIVE Platforms;Simulink;UAV Toolbox


MODELNAME: StreamFromUnrealToJetsonExampleModel
PATH: examples/shared_uav_nvidia/main/StreamFromUnrealToJetsonExampleModel.slx
ANNOTATION: Copyright 2021-2022 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;1;2;1;1;1;1;1;1;1;1;1;3
CHECKSUM: 1D763FFE610B0C51758E4CBCF4761DD6
PRODUCT: Image Processing Toolbox;MATLAB;Simulink;UAV Toolbox
PRODUCT_BASECODE: ME;UV
BLOCK:
 Demux ; SFunction ; Terminator ;Data Type Conversion;From Workspace;Gain;MATLAB Function;RGB;Reference;Saturate to 150m;Send Depth Stream;Send Label Stream;Send RGB Image Stream;Simulation 3D Camera;Simulation 3D Scene Configuration;Simulation 3D UAV Vehicle;SubSystem;labels

BLOCKTYPE:
DataTypeConversion;Demux;FromWorkspace;Gain;Inport;Outport;S-Function;Saturate;Simulation 3D Camera;Simulation 3D Scene Configuration;Simulation 3D UAV Vehicle;Terminator;uav.sluav.internal.system.VideoSend


MODELNAME: minjerk_traj_ex1
PATH: examples/shared_uav_robotics/main/minjerk_traj_ex1.slx
ANNOTATION: Copyright 2021 The MathWorks, Inc.
BLOCKTYPE: Constant;Display;Ramp;Record;Scope;Selector;shared_uav_rst.sluav.internal.system.MinJerkPolyTraj
BLOCKTYPE_FREQUENCY: 2;1;1;1;4;2;1
CHECKSUM: 7A8BFDEB9FB7C4B1E092516AE7B8F514
PRODUCT: MATLAB;Simulink;UAV Toolbox
PRODUCT_BASECODE: RO;UV
BLOCK:
Constant;Display;Minimum Jerk Polynomial Trajectory;Ramp;Reference;Scope;Selector;Waypoints;XY Graph


MODELNAME: minsnap_traj_ex1
PATH: examples/shared_uav_robotics/main/minsnap_traj_ex1.slx
ANNOTATION: Copyright 2021 The MathWorks, Inc.
BLOCKTYPE: Constant;Display;Ramp;Record;Scope;Selector;shared_uav_rst.sluav.internal.system.MinSnapPolyTraj
BLOCKTYPE_FREQUENCY: 2;1;1;1;5;2;1
CHECKSUM: F04C3DF67692BEDDF1AB287B54D98A37
PRODUCT: MATLAB;Simulink;UAV Toolbox
PRODUCT_BASECODE: RO;UV
BLOCK:
Constant;Display;Minimum Snap Polynomial Trajectory;Ramp;Reference;Scope;Selector;Waypoints;XY Graph


MODELNAME: APVWith3DSimulation
PATH: examples/shared_vision_driving/main/APVWith3DSimulation.slx
ANNOTATION: Copyright 2019 The MathWorks, Inc. Automated Parking Valet with 3D Simulation
BLOCKTYPE_FREQUENCY: 1;1;10;2;2;1;6;2;63;1;1;2;1;1;2;2;38;1;1;6;5;1;1;1;2;3;6;8;1;1;1
CHECKSUM: 46AD1F25FAE81B2063C347F20C67E45F
PRODUCT: Automated Driving Toolbox;MATLAB;Simulink
PRODUCT_BASECODE: DR;VP
BLOCK:
 Demux ; SFunction ; Terminator ;<CurrPose>;<CurrSteer>;<CurrVelocity>;<CurrYawRate>;<Direction>;AND;Abs;AccelCmd;Acceleration to Velocity;Add;BehaviorPlanner;Bicycle Model - Velocity Input;Bus Creator;Bus Selector;Compare Path;Compare To Zero;Config;Constant;CurrPoses;CurrSteer;Curvature;Curvatures;DecelCmd;Degrees to Radians;Demux;Direction;Directions;Driving Mode;Enable;Info;Lateral Controller Stanley;Longitudinal Controller Stanley;MATLAB Function;MATLAB System;Math Function;Minus;Mux;NOT;NextGoal;Parking Mode;Path Planner;Path Smoother Spline;Path Visualization;PlanNext;Poses;Product;Radians to Degrees;Rate Transition;RefDirections;RefPose;RefPoses;RefVelocity;Reference;Reset;Saturated integrator;Select Signals;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;SpeedConfig;SteerCmd;Stop Simulation;SubSystem;Subsystem;Switch;Terminator;Trajectory Generation;Unit Delay;Vehicle Controller;Vehicle Model;VehicleInfo;Velocities;Velocity;Velocity Profiler;X;Y;Yaw;currPose;currVel;currentPose;currentSpeed;direction;directions;endRefVel;isParkingManeuver;motionPlannerConfig;motionPlanning;nextGoal;parkingManeuver;planNext;plannerConfig;pose;psi;r;refPoses;speedProfilerConfig;steer;stopMotion;xdot;ydot

BLOCKTYPE:
Abs;BusCreator;BusSelector;Compare To Zero;Constant;DegreesToRadians;Demux;EnablePort;Inport;Integrator;Lateral Controller Stanley;Logic;Longitudinal Controller Stanley;MATLABSystem;Math;Mux;Outport;Product;RadiansToDegrees;RateTransition;S-Function;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;Stop;Sum;Switch;Terminator;UnitDelay;Vehicle Body 3DOF Lateral;driving.internal.planning.PathSmootherSpline;driving.internal.planning.VelocityProfiler


MODELNAME: GenerateImageDataOfParkingLot
PATH: examples/shared_vision_driving/main/GenerateImageDataOfParkingLot.slx
ANNOTATION: Generate Image Data of Parking Lot Copyright 2020 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 1;3;3;3;1;1;7;1
CHECKSUM: 8C2D4DA5E90079F67CFD7E6BF35430DC
PRODUCT: Computer Vision Toolbox;MATLAB;Simulink;Vehicle Dynamics Blockset
PRODUCT_BASECODE: DR;VP
BLOCK:
Camera;From Workspace;Images;Left Camera;Matrix Concatenate;Monocular;Parked Vehicles;Reference;Right Camera;Simulation 3D Camera;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;Stereo;SubSystem;To Workspace;Video Viewer

BLOCKTYPE:
Concatenate;FromWorkspace;Outport;Simulation 3D Camera;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;ToWorkspace;VideoViewer


MODELNAME: LidarSLAMIn3DSimulation
PATH: examples/shared_vision_driving/main/LidarSLAMIn3DSimulation.slx
ANNOTATION: Lidar SLAM in 3D Simulation SimulinkVehicle1 and sensors Copyright 2019-2020 The MathWorks Inc.
BLOCKTYPE_FREQUENCY: 2;4;5;2;1;1;1;3;2
CHECKSUM: BF4FF7DE7E790133BCA1C6AD2F8A114C
PRODUCT_BASECODE: DR;VP
BLOCK:
 Demux ; SFunction ; Terminator ;From Workspace;Record and Visualize;Reference;Simulation 3D Lidar;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;SubSystem;Terminator;To Workspace;Visualize INS Path;Visualize Point cloud;insData;insMeas;lidarLocation;point cloud;xyzPoints

BLOCKTYPE:
Demux;FromWorkspace;Inport;S-Function;Simulation 3D Lidar;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;Terminator;ToWorkspace

PRODUCT:
Computer Vision Toolbox Documentation;Image Processing Toolbox;MATLAB;Simulink;UAV Toolbox;Vehicle Dynamics Blockset


MODELNAME: VisualLocalizationInAParkingLot
PATH: examples/shared_vision_driving/main/VisualLocalizationInAParkingLot.slx
ANNOTATION: Visual Localization in a Parking Lot Copyright 2021 The MathWorks, Inc.
BLOCKTYPE_FREQUENCY: 177;3;1;1;1;60;1
CHECKSUM: 74D94A0C34FCA75344F00DDEA4F597FD
PRODUCT: Computer Vision Toolbox;MATLAB;Simulink;Vehicle Dynamics Blockset
PRODUCT_BASECODE: DR;VP
BLOCK:
From Workspace;Helper Visual Localization;Parked Vehicles;Reference;Simulation 3D Camera;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;SubSystem;T;Video Viewer;X;Y;vehicle

BLOCKTYPE:
Constant;FromWorkspace;MATLABSystem;Simulation 3D Camera;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;VideoViewer


MODELNAME: VisualizeVehiclePathIn3DSimulation
PATH: examples/shared_vision_driving/main/VisualizeVehiclePathIn3DSimulation.slx
ANNOTATION: Copyright 2019 The MathWorks, Inc. Visualize vehicle path on scene
BLOCKTYPE_FREQUENCY: 1;3;2;1;1;1;1
CHECKSUM: A6A23FDCA872924A14BA631693557EC4
PRODUCT: Image Processing Toolbox;MATLAB;Simulink;Vehicle Dynamics Blockset
PRODUCT_BASECODE: DR;VP
BLOCK:
 Demux ; SFunction ; Terminator ;From Workspace;MATLAB Function;Reference;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;SubSystem;x;y

BLOCKTYPE:
Demux;FromWorkspace;Inport;S-Function;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;Terminator


MODELNAME: localizeAndControlUsingLidar
PATH: examples/shared_vision_driving/main/localizeAndControlUsingLidar.slx
ANNOTATION: Localize and control using Lidar Copyright 2022 The MathWorks Inc.
BLOCKTYPE_FREQUENCY: 1;1;4;2;112;1;2;31;1;1;1;1;1;2;2;23;1;1;6;1;1;1;36;2;1;2;7;1
CHECKSUM: C4D92FC2D3BFF2A6C68F35AF7DC64D78
PRODUCT_BASECODE: DR;VP
BLOCK:
 Demux ; SFunction ; Terminator ;<CurrPose>;<CurrSteer>;<CurrVelocity>;<CurrYawRate>;<Direction>;AND;Abs;AccelCmd;Acceleration to Velocity;Add;Bicycle Model - Velocity Input;Bus Creator;Bus Selector;Compare To Zero;Constant;CurrSteer;Curvature;DecelCmd;Degrees to Radians;Demux;Direction;Info;Lateral Controller Stanley;Longitudinal Controller Stanley;MATLAB Function;MATLAB System;Math Function;Minus;Mux;Out;Parked Vehicles;Plan;Product;Radians to Degrees;Rate Transition;RefPose;RefVelocity;Reference;Reset;Saturated integrator;Select Signals;Simulation 3D Lidar;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;SteerCmd;SubSystem;Subsystem;Switch;T;Terminator;Unit Delay;Vehicle Controller;Vehicle Model;VehicleInfo;Velocity;X;Y;Yaw;estimatedPose;loc;mapPoints;or;psi;r;vehicle;xdot;xyzPoints;ydot

BLOCKTYPE:
Abs;BusCreator;BusSelector;Compare To Zero;Constant;DegreesToRadians;Demux;Inport;Integrator;Lateral Controller Stanley;Logic;Longitudinal Controller Stanley;MATLABSystem;Math;Mux;Outport;Product;RadiansToDegrees;RateTransition;S-Function;Simulation 3D Lidar;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;Sum;Switch;Terminator;UnitDelay;Vehicle Body 3DOF Lateral

PRODUCT:
Automated Driving Toolbox;Computer Vision Toolbox;Computer Vision Toolbox Documentation;Image Processing Toolbox;MATLAB;Simulink


MODELNAME: localizeUsingLidar
PATH: examples/shared_vision_driving/main/localizeUsingLidar.slx
ANNOTATION: Localize with Lidar Data using NDT Algorithm Copyright 2022 The MathWorks Inc.
BLOCKTYPE_FREQUENCY: 106;2;3;8;3;2;1;1;36;2
CHECKSUM: CEBDF91167A9F662DB51E459B19A12DA
PRODUCT_BASECODE: DR;VP
BLOCK:
 Demux ; SFunction ; Terminator ;Constant;From Workspace;MATLAB Function;Parked Vehicles;Reference;Simulation 3D Lidar;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;SubSystem;T;X;Y;gTruthLocation;lidarEstX;lidarEstY;lidarEstYaw;loc;mapPoints;or;vehicle;xyzPoints

BLOCKTYPE:
Constant;Demux;FromWorkspace;Inport;Outport;S-Function;Simulation 3D Lidar;Simulation 3D Scene Configuration;Simulation 3D Vehicle with Ground Following;Terminator

PRODUCT:
Automated Driving Toolbox;Computer Vision Toolbox;Computer Vision Toolbox Documentation;Image Processing Toolbox;MATLAB;Simulink


MODELNAME: property_proving_reqtable
PATH: examples/shared_vnv/main/property_proving_reqtable.slx
ANNOTATION: Prove Properties with a Requirements Table Block Copyright 2022 The MathWorks, Inc.
BLOCKTYPE: BusSelector;Compare To Constant;Demux;Inport;Outport;S-Function;Terminator
BLOCKTYPE_FREQUENCY: 1;2;2;7;10;2;2
CHECKSUM: 2B452497ED8187E4509413DD0FF94160
PRODUCT: MATLAB;Requirements Toolbox Documentation;Simulink;Stateflow
PRODUCT_BASECODE: SZ;VV;CV;DV;RQ
BLOCK:
 Demux ; SFunction ; Terminator ;Bus Selector;Compare To Constant;Reference;Requirements Table;SensorData;SubSystem;ThrustReverserDeployLogic;airspeed;asWarn;deploy;sensorData;tWarn;throttle;wheelspeed;wow;wowWarn;wssWarn


MODELNAME: sldvexAttitudeController
PATH: examples/shared_vnv/main/sldvexAttitudeController.slx
BLOCKTYPE: CMBlock;DiscreteIntegrator;Gain;Inport;Logic;Outport;Saturate;Sum
BLOCKTYPE_FREQUENCY: 1;1;3;4;1;2;3;3
CHECKSUM: A540E65EB6E05D73288A875A717E6051
PRODUCT: MATLAB;Simulink
PRODUCT_BASECODE: SZ;VV;CV;DV;RQ
ANNOTATION:
Attitude Control using displacement, rate and integral Copyright 1990-2022 The MathWorks Inc. ARP-4754/DO-178B Demonstration

BLOCK:
Cmd Limit;Disp Gain;Disp Limit;Disp_Cmd;Disp_Cmd_Out;Disp_FB ;Engaged;Int Gain;Integrator;Model Info;Not engaged;Rate Gain;Rate Limit;Rate_FB;Reference;Sum;Surf_Cmd


MODELNAME: sldvexDesignHarnessFinal
PATH: examples/shared_vnv/main/sldvexDesignHarnessFinal.slx
BLOCKTYPE: Constant;From;Goto;Inport;ModelReference;Outport
BLOCKTYPE_FREQUENCY: 1;14;7;5;3;2
CHECKSUM: 1381D11BF85FDCC26DB60FE0B4F83213
PRODUCT: MATLAB;Simulink
PRODUCT_BASECODE: SZ;VV;CV;DV;RQ
BLOCK:
Aileron Command;Aircraft Roll Angle;Autopilot Engage Switch;Design Model;From;Goto;Heading Enagage Switch;Heading Reference Turn Knob;Roll Reference Command;Roll Reference Target Turn Knob;Specification Model;Test Interface and Verification;Unused

EXTERNALFILE_REFERENCE:
sldvexRollApController.slx___Model_Block___spec_model_final.slx___Model_Block___spec_model_test_interface.slx___Model_Block___


MODELNAME: sldvexRollApController
PATH: examples/shared_vnv/main/sldvexRollApController.slx
ANNOTATION: Roll Reference Copyright 1990-2022 The MathWorks Inc. ARP-4754/DO-178B Demonstration
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