/* Model update function */
void RA4_student_update(void)
{
/* Update for UnitDelay: '<Root>/Unit Delay2' */
RA4_student_DW.UnitDelay2_DSTATE[0] = RA4_student_B.Sum4;
RA4_student_DW.UnitDelay2_DSTATE[1] = RA4_student_B.Sum5;
RA4_student_DW.UnitDelay2_DSTATE[2] = RA4_student_B.Sum6;
/* Update for UnitDelay: '<Root>/Unit Delay1' */
RA4_student_DW.UnitDelay1_DSTATE = RA4_student_B.ReferenceSolenoid;
/* RTW Generated Level2 S-Function Block: '<S2>/Robot Arm_sfcn' (Robot_sf) */
{
SimStruct *rts = RA4_student_M->childSfunctions[1];
sfcnUpdate(rts, 0);
if (ssGetErrorStatus(rts) != (NULL))
return;
}
/* Update absolute time for base rate */
/* The "clockTick0" counts the number of times the code of this task has
* been executed. The absolute time is the multiplication of "clockTick0"
* and "Timing.stepSize0". Size of "clockTick0" ensures timer will not
* overflow during the application lifespan selected.
* Timer of this task consists of two 32 bit unsigned integers.
* The two integers represent the low bits Timing.clockTick0 and the high bits
* Timing.clockTickH0. When the low bit overflows to 0, the high bits increment.
*/
if (!(++RA4_student_M->Timing.clockTick0)) {
++RA4_student_M->Timing.clockTickH0;
}
RA4_student_M->Timing.t[0] = RA4_student_M->Timing.clockTick0 *
RA4_student_M->Timing.stepSize0 + RA4_student_M->Timing.clockTickH0 *
RA4_student_M->Timing.stepSize0 * 4294967296.0;
{
/* Update absolute timer for sample time: [0.000244140625s, 0.0s] */
/* The "clockTick1" counts the number of times the code of this task has
* been executed. The absolute time is the multiplication of "clockTick1"
* and "Timing.stepSize1". Size of "clockTick1" ensures timer will not
* overflow during the application lifespan selected.
* Timer of this task consists of two 32 bit unsigned integers.
* The two integers represent the low bits Timing.clockTick1 and the high bits
* Timing.clockTickH1. When the low bit overflows to 0, the high bits increment.
*/
if (!(++RA4_student_M->Timing.clockTick1)) {
++RA4_student_M->Timing.clockTickH1;
}
RA4_student_M->Timing.t[1] = RA4_student_M->Timing.clockTick1 *
RA4_student_M->Timing.stepSize1 + RA4_student_M->Timing.clockTickH1 *
RA4_student_M->Timing.stepSize1 * 4294967296.0;
}
}
/* Model update function */
static void testSHM_update(int_T tid)
{
/* Level2 S-Function Block: '<Root>/S-Function' (sSHM) */
{
SimStruct *rts = testSHM_M->childSfunctions[0];
sfcnUpdate(rts, 0);
if (ssGetErrorStatus(rts) != (NULL))
return;
}
/* Update absolute time for base rate */
if (!(++testSHM_M->Timing.clockTick0))
++testSHM_M->Timing.clockTickH0;
testSHM_M->Timing.t[0] = testSHM_M->Timing.clockTick0 *
testSHM_M->Timing.stepSize0 + testSHM_M->Timing.clockTickH0 *
testSHM_M->Timing.stepSize0 * 4294967296.0;
/* tid is required for a uniform function interface.
* Argument tid is not used in the function. */
UNUSED_PARAMETER(tid);
}
