/* Model output function */
void RA4_student_output(void)
{
/* Reset subsysRan breadcrumbs */
srClearBC(RA4_student_DW.Controller_SubsysRanBC);
/* UnitDelay: '<Root>/Unit Delay2' */
RA4_student_B.UnitDelay2[0] = RA4_student_DW.UnitDelay2_DSTATE[0];
RA4_student_B.UnitDelay2[1] = RA4_student_DW.UnitDelay2_DSTATE[1];
RA4_student_B.UnitDelay2[2] = RA4_student_DW.UnitDelay2_DSTATE[2];
/* UnitDelay: '<Root>/Unit Delay1' */
RA4_student_B.UnitDelay1 = RA4_student_DW.UnitDelay1_DSTATE;
/* RTW Generated Level2 S-Function Block: '<S2>/Robot Arm_sfcn' (Robot_sf) */
{
SimStruct *rts = RA4_student_M->childSfunctions[1];
sfcnOutputs(rts, 0);
}
/* Outputs for Enabled SubSystem: '<Root>/Controller' incorporates:
* EnablePort: '<S1>/Enable'
*/
if (RA4_student_B.RobotArm_sfcn_o1 > 0.0) {
if (!RA4_student_DW.Controller_MODE) {
RA4_student_DW.Controller_MODE = true;
}
} else {
if (RA4_student_DW.Controller_MODE) {
RA4_student_DW.Controller_MODE = false;
}
}
if (RA4_student_DW.Controller_MODE) {
/* Sum: '<S1>/Sum4' incorporates:
* Constant: '<S1>/Feedforward R'
* Constant: '<S1>/Reference R'
* Gain: '<S3>/Gain'
* Sum: '<S1>/Sum2'
*/
RA4_student_B.Sum4 = (RA4_student_P.ReferenceR_Value -
RA4_student_B.RobotArm_sfcn_o2[0]) *
RA4_student_P.Gain_Gain + RA4_student_P.FeedforwardR_Value;
/* Sum: '<S1>/Sum5' incorporates:
* Constant: '<S1>/Feedforward X'
* Constant: '<S1>/Reference X'
* Gain: '<S4>/Gain'
* Sum: '<S1>/Sum1'
*/
RA4_student_B.Sum5 = (RA4_student_P.ReferenceX_Value -
RA4_student_B.RobotArm_sfcn_o2[1]) *
RA4_student_P.Gain_Gain_e + RA4_student_P.FeedforwardX_Value;
/* Sum: '<S1>/Sum6' incorporates:
* Constant: '<S1>/Feedforward Z'
* Constant: '<S1>/Reference Z'
* Gain: '<S5>/Gain'
* Sum: '<S1>/Sum3'
*/
RA4_student_B.Sum6 = (RA4_student_P.ReferenceZ_Value -
RA4_student_B.RobotArm_sfcn_o2[2]) *
RA4_student_P.Gain_Gain_l + RA4_student_P.FeedforwardZ_Value;
/* Constant: '<S1>/Reference Solenoid' */
RA4_student_B.ReferenceSolenoid = RA4_student_P.ReferenceSolenoid_Value;
/* Level2 S-Function Block: '<S6>/S-Function' (sf_rt_scope) */
{
SimStruct *rts = RA4_student_M->childSfunctions[0];
sfcnOutputs(rts, 0);
}
srUpdateBC(RA4_student_DW.Controller_SubsysRanBC);
}
/* End of Outputs for SubSystem: '<Root>/Controller' */
}
/* Model output function */
void udpRead_output(void)
{
char_T *sErr;
int32_T samplesRead;
boolean_T rtb_Compare;
int32_T s5_iter;
real_T tmp;
int32_T exitg1;
int32_T exitg2;
/* Reset subsysRan breadcrumbs */
srClearBC(udpRead_DW.ForIteratorSubsystem_SubsysRanB);
/* Reset subsysRan breadcrumbs */
srClearBC(udpRead_DW.ForIteratorSubsystem1_SubsysRan);
/* Reset subsysRan breadcrumbs */
srClearBC(udpRead_DW.EnabledSubsystem_SubsysRanBC);
/* S-Function (sdspFromNetwork): '<Root>/UDP Receive' */
sErr = GetErrorBuffer(&udpRead_DW.UDPReceive_NetworkLib[0U]);
samplesRead = 31;
LibOutputs_Network(&udpRead_DW.UDPReceive_NetworkLib[0U],
&udpRead_B.UDPReceive_o1[0U], &samplesRead);
if (*sErr != 0) {
rtmSetErrorStatus(udpRead_M, sErr);
rtmSetStopRequested(udpRead_M, 1);
}
udpRead_B.UDPReceive_o2 = (uint16_T)samplesRead;
/* End of S-Function (sdspFromNetwork): '<Root>/UDP Receive' */
/* RelationalOperator: '<S1>/Compare' incorporates:
* Constant: '<S1>/Constant'
*/
rtb_Compare = (udpRead_B.UDPReceive_o2 > udpRead_P.Constant_Value_p);
/* Outputs for Enabled SubSystem: '<Root>/Enabled Subsystem' incorporates:
* EnablePort: '<S2>/Enable'
*/
if (rtb_Compare) {
if (!udpRead_DW.EnabledSubsystem_MODE) {
udpRead_DW.EnabledSubsystem_MODE = true;
}
/* Outputs for Iterator SubSystem: '<S2>/For Iterator Subsystem1' incorporates:
* ForIterator: '<S5>/For Iterator'
*/
/* Selector: '<S5>/Selector' incorporates:
* Selector: '<S5>/Selector1'
* Selector: '<S5>/Selector2'
*/
s5_iter = 24;
do {
exitg2 = 0;
if (udpRead_P.Constant1_Value < 0.0) {
tmp = ceil(udpRead_P.Constant1_Value);
} else {
tmp = floor(udpRead_P.Constant1_Value);
}
if (rtIsNaN(tmp) || rtIsInf(tmp)) {
tmp = 0.0;
} else {
tmp = fmod(tmp, 4.294967296E+9);
}
if (s5_iter - 23 <= (tmp < 0.0 ? -(int32_T)(uint32_T)-tmp : (int32_T)
(uint32_T)tmp)) {
udpRead_B.Selector = udpRead_B.UDPReceive_o1[s5_iter];
udpRead_B.Selector1 = udpRead_B.UDPReceive_o1[s5_iter + 2];
udpRead_B.Selector2 = udpRead_B.UDPReceive_o1[s5_iter + 4];
srUpdateBC(udpRead_DW.ForIteratorSubsystem1_SubsysRan);
s5_iter++;
} else {
exitg2 = 1;
}
} while (exitg2 == 0);
/* End of Outputs for SubSystem: '<S2>/For Iterator Subsystem1' */
/* Outputs for Iterator SubSystem: '<S2>/For Iterator Subsystem' incorporates:
* ForIterator: '<S4>/For Iterator'
*/
s5_iter = 1;
do {
exitg1 = 0;
if (udpRead_P.Constant_Value < 0.0) {
tmp = ceil(udpRead_P.Constant_Value);
} else {
tmp = floor(udpRead_P.Constant_Value);
}
if (rtIsNaN(tmp) || rtIsInf(tmp)) {
tmp = 0.0;
} else {
tmp = fmod(tmp, 4.294967296E+9);
}
if (s5_iter <= (tmp < 0.0 ? -(int32_T)(uint32_T)-tmp : (int32_T)(uint32_T)
tmp)) {
udpRead_B.Selector_d = udpRead_B.UDPReceive_o1[s5_iter - 1];
udpRead_B.Selector1_f = udpRead_B.UDPReceive_o1[s5_iter + 3];
udpRead_B.Selector2_f = udpRead_B.UDPReceive_o1[s5_iter + 7];
udpRead_B.Compare = (s5_iter == udpRead_P.CompareToConstant_const);
udpRead_B.Selector3 = udpRead_B.UDPReceive_o1[s5_iter + 11];
udpRead_B.Selector4 = udpRead_B.UDPReceive_o1[s5_iter + 15];
udpRead_B.Selector5 = udpRead_B.UDPReceive_o1[s5_iter + 19];
srUpdateBC(udpRead_DW.ForIteratorSubsystem_SubsysRanB);
s5_iter++;
} else {
exitg1 = 1;
}
} while (exitg1 == 0);
/* End of Outputs for SubSystem: '<S2>/For Iterator Subsystem' */
srUpdateBC(udpRead_DW.EnabledSubsystem_SubsysRanBC);
} else {
if (udpRead_DW.EnabledSubsystem_MODE) {
udpRead_DW.EnabledSubsystem_MODE = false;
}
}
/* End of Outputs for SubSystem: '<Root>/Enabled Subsystem' */
/* Switch: '<S3>/Init' incorporates:
* Constant: '<S3>/Initial Condition'
* Logic: '<S3>/FixPt Logical Operator'
* UnitDelay: '<S3>/FixPt Unit Delay1'
* UnitDelay: '<S3>/FixPt Unit Delay2'
*/
if (rtb_Compare || (udpRead_DW.FixPtUnitDelay2_DSTATE != 0)) {
udpRead_B.Init = udpRead_P.UnitDelayResettable_vinit;
} else {
udpRead_B.Init = udpRead_DW.FixPtUnitDelay1_DSTATE;
}
/* End of Switch: '<S3>/Init' */
/* Switch: '<S3>/Reset' incorporates:
* Constant: '<S3>/Initial Condition'
* DataTypeConversion: '<Root>/Data Type Conversion'
* Sum: '<Root>/Sum'
*/
if (rtb_Compare) {
udpRead_B.Xnew = udpRead_P.UnitDelayResettable_vinit;
} else {
udpRead_B.Xnew = 1.0F + udpRead_B.Init;
}
/* End of Switch: '<S3>/Reset' */
}
