lego csae draft

7/28/2019 Lego Csae Draft

http://slidepdf.com/reader/full/lego-csae-draft 1/47

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'##$!'!!8'-

nxtbuild('TestMotor_app', 'build')

nxtbuild('TestMotor_app', 'rxeflash')

nxtbuild('TestMotor_app', 'cgen')

## Requires only standard MATLAB products ##

## Requires additional 3rd party tools ##

nxtconfig(gcs)

Out2

1

TestMotor _app

In1

In2

System Clock

Interface Servo Motor

Interface 1

C

Servo Motor

Interface

A

Scope

Revolution Sensor

Interface

In1A

ExpFcnCalls

Scheduler

### OSEK Tasks ###

Fcn_10 ms: 0.01 [sec]

Fcn_clock : Init

Bluetooth Tx

Interface

BTTx

In1

1

Fcn_10ms

Fcn_clock

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%78!'%0!187!1'!1-

System Clock

Read

Switch2

Shift

Arithmetic2

Vy = Vu * 2^-16

Qy = Qu >> 16

Ey = Eu

Shift

Arithmetic1

Vy = Vu * 2^-24

Qy = Qu >> 24

Ey = Eu

Shift

Arithmetic

Vy = Vu * 2^-8

Qy = Qu >> 8

Ey = Eu

Servo Motor

Write1

C

Servo Motor

Write

A

Revolution Sensor

Read

Out1A

Data Type Conversion 3

Convert


Convert


Convert

Data Type Conversion

Convert

Constant 3

zeros(1, 28)

Constant 2

56

Constant

0Compare

To Constant

<= 2000

Bluetooth Tx

Write

BTTx

Bitwise

Operator 3

Bitwise

AND

0xFF000000

Bitwise

Operator 2

Bitwise

AND

0xFF0000

Bitwise

Operator 1

Bitwise

AND

0xFF00

Bitwise

Operator

Bitwise

AND

0xFF

Add

function

f()

In1

1

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1#7#%Q!$-

sendBT

In1Out1

System Clock

Read

Switch 2

Servo Motor

Write1

C

Servo Motor

Write

A

Saturation

Revolution Sensor

Read 1

Out1A

Referencia

860

Data Type Conversion

int8

Constant

0

Compare

To Constant

<= 2000

Bluetooth Tx

Write

BTTx

Add 1

Add

function

f()

In1

1

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