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  Created		  "Mon Jul 31 20:59:39 2000"
  Creator		  "student"
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  LastModifiedBy	  "throne"
  ModifiedDateFormat	  "%<Auto>"
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	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
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	  OutScaling		  "2^0"
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	Block {
	  BlockType		  Constant
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	  DropShadow		  on
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	  OutScaling		  "2^0"
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	Block {
	  BlockType		  SubSystem
	  Name			  "Manipulate Data"
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	  Position		  [420, 54, 520, 96]
	  ForegroundColor	  "red"
	  BackgroundColor	  "green"
	  MinAlgLoopOccurrences	  off
	  PropExecContextOutsideSubsystem off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  Opaque		  off
	  RequestExecContextInheritance	off
	  MaskHideContents	  off
	  System {
	    Name		    "Manipulate Data"
	    Location		    [184, 355, 849, 612]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "In1"
	      Position		      [15, 103, 45, 117]
	      IconDisplay	      "Port number"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
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	    Block {
	      BlockType		      Gain
	      Name		      "get positions"
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	      Gain		      "[1 0 0 0 0 ]"
	      Multiplication	      "Matrix(K*u)"
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	    Block {
	      BlockType		      Gain
	      Name		      "scale1"
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	      Gain		      "1/(32*2546)"
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	      ParameterScaling	      "2^0"
	      OutDataType	      "sfix(16)"
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	    Block {
	      BlockType		      Outport
	      Name		      "Out1"
	      Position		      [235, 103, 265, 117]
	      IconDisplay	      "Port number"
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	    Line {
	      SrcBlock		      "get positions"
	      SrcPort		      1
	      DstBlock		      "scale1"
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	    Line {
	      SrcBlock		      "In1"
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	      DstBlock		      "get positions"
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	    Line {
	      SrcBlock		      "scale1"
	      SrcPort		      1
	      DstBlock		      "Out1"
	      DstPort		      1
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	Block {
	  BlockType		  Mux
	  Name			  "Mux"
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	  Position		  [225, 56, 230, 94]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
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	Block {
	  BlockType		  Saturate
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	  UpperLimit		  "32000"
	  LowerLimit		  "-32000"
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	Block {
	  BlockType		  SubSystem
	  Name			  "Subsystem"
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	  Position		  [260, 29, 395, 121]
	  BackgroundColor	  "lightBlue"
	  MinAlgLoopOccurrences	  off
	  PropExecContextOutsideSubsystem off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  Opaque		  off
	  RequestExecContextInheritance	off
	  MaskHideContents	  off
	  MaskPromptString	  "Base I/O Address|Sample Time (Sec)|Timeout Period (500 ~ 2000)|Hardware Access"
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	  MaskVisibilityString	  "on,on,on,on"
	  MaskToolTipString	  "on,on,on,on"
	  MaskVarAliasString	  ",,,"
	  MaskVariables		  "BaseAddr=@1;STime=@2;TimeOutPer=@3;HWAccess=@4;"
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	  MaskIconOpaque	  on
	  MaskIconRotate	  "none"
	  MaskIconUnits		  "autoscale"
	  MaskValueString	  "'0xDE00'|0.004|500|on"
	  MaskTabNameString	  ",,,"
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	    Name		    "Subsystem"
	    Location		    [414, 408, 789, 552]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
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	    PaperUnits		    "inches"
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	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
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	      BlockType		      Inport
	      Name		      "In1"
	      Position		      [320, 43, 350, 57]
	      Orientation	      "left"
	      IconDisplay	      "Port number"
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	      OutScaling	      "2^0"
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	    Block {
	      BlockType		      "S-Function"
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	      Position		      [140, 30, 225, 70]
	      Orientation	      "left"
	      FunctionName	      "ECPDSPDriver"
	      Parameters	      "BaseAddr,STime,TimeOutPer,HWAccess"
	      EnableBusSupport	      off
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
	      MaskIconUnits	      "autoscale"
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	    Block {
	      BlockType		      Outport
	      Name		      "Out1"
	      Position		      [15, 43, 45, 57]
	      Orientation	      "left"
	      IconDisplay	      "Port number"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
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	    Line {
	      SrcBlock		      "S-Function"
	      SrcPort		      1
	      DstBlock		      "Out1"
	      DstPort		      1
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	    Line {
	      SrcBlock		      "In1"
	      SrcPort		      1
	      DstBlock		      "S-Function"
	      DstPort		      1
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	Block {
	  BlockType		  Gain
	  Name			  "scale"
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	  Gain			  "32*2546"
	  ParameterDataType	  "sfix(16)"
	  ParameterScaling	  "2^0"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
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	Block {
	  BlockType		  Outport
	  Name			  "states\n"
	  Position		  [545, 70, 575, 80]
	  IconDisplay		  "Port number"
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	Line {
	  SrcBlock		  "Saturation"
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	  Points		  [0, 10; 25, 0]
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "Subsystem"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Dac2 Value"
	  SrcPort		  1
	  Points		  [15, 0; 0, -20]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "scale"
	  SrcPort		  1
	  DstBlock		  "Saturation"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Subsystem"
	  SrcPort		  1
	  DstBlock		  "Manipulate Data"
	  DstPort		  1
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	Line {
	  SrcBlock		  "u"
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	  DstBlock		  "scale"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Manipulate Data"
	  SrcPort		  1
	  DstBlock		  "states\n"
	  DstPort		  1
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      }
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [40, 75, 70, 105]
      Time		      "0"
      After		      "5*(pi/180)"
      SampleTime	      "0"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [325, 75, 385, 105]
      VariableName	      "theta1"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace2"
      Position		      [470, 55, 530, 85]
      VariableName	      "time"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
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    Block {
      BlockType		      Reference
      Name		      "XY Graph"
      Ports		      [2]
      Position		      [475, 130, 505, 165]
      SourceBlock	      "simulink/Sinks/XY Graph"
      SourceType	      "XY scope."
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      xmin		      "0"
      xmax		      "5"
      ymin		      "-30"
      ymax		      "30"
      st		      "-1"
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    Block {
      BlockType		      Gain
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      Gain		      "180/pi"
      ParameterDataType	      "sfix(16)"
      ParameterScaling	      "2^0"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
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    Line {
      SrcBlock		      "Clock"
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      Points		      [10, 0]
      Branch {
	DstBlock		"To Workspace2"
	DstPort			1
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      Branch {
	Points			[0, 70]
	DstBlock		"XY Graph"
	DstPort			1
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    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      DstBlock		      "ECP Model 205"
      DstPort		      1
    }
    Line {
      SrcBlock		      "ECP Model 205"
      SrcPort		      1
      DstBlock		      "to degrees"
      DstPort		      1
    }
    Line {
      SrcBlock		      "to degrees"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"To Workspace1"
	DstPort			1
      }
      Branch {
	Points			[0, 65]
	DstBlock		"XY Graph"
	DstPort			2
      }
    }
  }
}
