Model {
  Name			  "testElServo_vxmount12"
  Version		  7.0
  MdlSubVersion		  0
  GraphicalInterface {
    NumRootInports	    0
    NumRootOutports	    20
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "DACSignal"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "Out2"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "AbsoluteEncoderValue"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "Vel2gui"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "guiCommand"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "guiMode"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "EastTape"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "WestTape"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "VelError"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "VelEstimate"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "PosError"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "SimWind"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "DisturbanceEstimate"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "ObserverError"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "ExcitationSignal"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "ChirpFreqs"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "TestingValue"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "PositionDemand"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "Out1"
    }
    Outport {
      BusObject		      ""
      BusOutputAsStruct	      "off"
      Name		      "Out3"
    }
    ParameterArgumentNames  ""
    ComputedModelVersion    "1.342"
    NumModelReferences	    0
    NumTestPointedSignals   0
  }
  SavedCharacterEncoding  "windows-1252"
  SaveDefaultBlockParams  on
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  on
  ShowPortDataTypes	  off
  ShowLoopsOnError	  on
  IgnoreBidirectionalLines off
  ShowStorageClass	  off
  ShowTestPointIcons	  on
  ShowViewerIcons	  on
  SortedOrder		  off
  ExecutionContextIcon	  off
  ShowLinearizationAnnotations on
  ScopeRefreshTime	  0.035000
  OverrideScopeRefreshTime on
  DisableAllScopes	  off
  DataTypeOverride	  "UseLocalSettings"
  MinMaxOverflowLogging	  "UseLocalSettings"
  MinMaxOverflowArchiveMode "Overwrite"
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Wed Jan 10 23:22:16 2007"
  Creator		  "dclark"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "dclark"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Fri Aug 22 14:01:25 2008"
  RTWModifiedTimeStamp	  0
  ModelVersionFormat	  "1.%<AutoIncrement:342>"
  ConfigurationManager	  "None"
  SimulationMode	  "normal"
  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  TryForcingSFcnDF	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  covSaveCumulativeToWorkspaceVar on
  CovSaveSingleToWorkspaceVar on
  CovCumulativeVarName	  "covCumulativeData"
  CovCumulativeReport	  off
  CovReportOnPause	  on
  ExtModeBatchMode	  off
  ExtModeEnableFloating	  on
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "normal"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigDurationFloating "auto"
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  on
  ExtModeSkipDownloadWhenConnect off
  ExtModeLogAll		  on
  ExtModeAutoUpdateStatusClock on
  BufferReuse		  off
  ShowModelReferenceBlockVersion off
  ShowModelReferenceBlockIO off
  Array {
    Type		    "Handle"
    Dimension		    1
    Simulink.ConfigSet {
      $ObjectID		      1
      Version		      "1.3.0"
      Array {
	Type			"Handle"
	Dimension		7
	Simulink.SolverCC {
	  $ObjectID		  2
	  Version		  "1.3.0"
	  StartTime		  "0.0"
	  StopTime		  "270.2"
	  AbsTol		  "auto"
	  FixedStep		  "auto"
	  InitialStep		  "auto"
	  MaxNumMinSteps	  "-1"
	  MaxOrder		  5
	  ConsecutiveZCsStepRelTol "10*128*eps"
	  MaxConsecutiveZCs	  "1000"
	  ExtrapolationOrder	  4
	  NumberNewtonIterations  1
	  MaxStep		  "auto"
	  MinStep		  "auto"
	  MaxConsecutiveMinStep	  "1"
	  RelTol		  "1e-3"
	  SolverMode		  "MultiTasking"
	  Solver		  "FixedStepDiscrete"
	  SolverName		  "FixedStepDiscrete"
	  ZeroCrossControl	  "UseLocalSettings"
	  AlgebraicLoopSolver	  "TrustRegion"
	  SolverResetMethod	  "Fast"
	  PositivePriorityOrder	  off
	  AutoInsertRateTranBlk	  on
	  SampleTimeConstraint	  "Unconstrained"
	  RateTranMode		  "Deterministic"
	}
	Simulink.DataIOCC {
	  $ObjectID		  3
	  Version		  "1.3.0"
	  Decimation		  "1"
	  ExternalInput		  "[t, u]"
	  FinalStateName	  "xFinal"
	  InitialState		  "xInitial"
	  LimitDataPoints	  on
	  MaxDataPoints		  "1000"
	  LoadExternalInput	  off
	  LoadInitialState	  off
	  SaveFinalState	  off
	  SaveFormat		  "Array"
	  SaveOutput		  on
	  SaveState		  off
	  SignalLogging		  on
	  InspectSignalLogs	  off
	  SaveTime		  on
	  StateSaveName		  "xout"
	  TimeSaveName		  "tout"
	  OutputSaveName	  "yout"
	  SignalLoggingName	  "logsout"
	  OutputOption		  "RefineOutputTimes"
	  OutputTimes		  "[]"
	  Refine		  "1"
	}
	Simulink.OptimizationCC {
	  $ObjectID		  4
	  Array {
	    Type		    "Cell"
	    Dimension		    5
	    Cell		    "ZeroExternalMemoryAtStartup"
	    Cell		    "ZeroInternalMemoryAtStartup"
	    Cell		    "InitFltsAndDblsToZero"
	    Cell		    "OptimizeModelRefInitCode"
	    Cell		    "NoFixptDivByZeroProtection"
	    PropName		    "DisabledProps"
	  }
	  Version		  "1.3.0"
	  BlockReduction	  off
	  BooleanDataType	  on
	  ConditionallyExecuteInputs on
	  InlineParams		  off
	  InlineInvariantSignals  off
	  OptimizeBlockIOStorage  off
	  BufferReuse		  off
	  EnforceIntegerDowncast  off
	  ExpressionFolding	  off
	  ExpressionDepthLimit	  2147483647
	  FoldNonRolledExpr	  on
	  LocalBlockOutputs	  off
	  RollThreshold		  5
	  SystemCodeInlineAuto	  off
	  StateBitsets		  off
	  DataBitsets		  off
	  UseTempVars		  off
	  ZeroExternalMemoryAtStartup on
	  ZeroInternalMemoryAtStartup on
	  InitFltsAndDblsToZero	  on
	  NoFixptDivByZeroProtection off
	  EfficientFloat2IntCast  on
	  OptimizeModelRefInitCode off
	  LifeSpan		  "inf"
	  BufferReusableBoundary  on
	  SimCompilerOptimization "Off"
	  AccelVerboseBuild	  off
	}
	Simulink.DebuggingCC {
	  $ObjectID		  5
	  Version		  "1.3.0"
	  RTPrefix		  "error"
	  ConsistencyChecking	  "none"
	  ArrayBoundsChecking	  "none"
	  SignalInfNanChecking	  "none"
	  SignalRangeChecking	  "none"
	  ReadBeforeWriteMsg	  "UseLocalSettings"
	  WriteAfterWriteMsg	  "UseLocalSettings"
	  WriteAfterReadMsg	  "UseLocalSettings"
	  AlgebraicLoopMsg	  "warning"
	  ArtificialAlgebraicLoopMsg "warning"
	  SaveWithDisabledLinksMsg "warning"
	  SaveWithParameterizedLinksMsg	"none"
	  CheckSSInitialOutputMsg on
	  CheckExecutionContextPreStartOutputMsg off
	  CheckExecutionContextRuntimeOutputMsg	off
	  SignalResolutionControl "UseLocalSettings"
	  BlockPriorityViolationMsg "warning"
	  MinStepSizeMsg	  "warning"
	  TimeAdjustmentMsg	  "none"
	  MaxConsecutiveZCsMsg	  "error"
	  SolverPrmCheckMsg	  "warning"
	  InheritedTsInSrcMsg	  "warning"
	  DiscreteInheritContinuousMsg "warning"
	  MultiTaskDSMMsg	  "error"
	  MultiTaskCondExecSysMsg "error"
	  MultiTaskRateTransMsg	  "error"
	  SingleTaskRateTransMsg  "none"
	  TasksWithSamePriorityMsg "warning"
	  SigSpecEnsureSampleTimeMsg "warning"
	  CheckMatrixSingularityMsg "none"
	  IntegerOverflowMsg	  "warning"
	  Int32ToFloatConvMsg	  "warning"
	  ParameterDowncastMsg	  "error"
	  ParameterOverflowMsg	  "error"
	  ParameterUnderflowMsg	  "none"
	  ParameterPrecisionLossMsg "warning"
	  ParameterTunabilityLossMsg "warning"
	  UnderSpecifiedDataTypeMsg "none"
	  UnnecessaryDatatypeConvMsg "none"
	  VectorMatrixConversionMsg "none"
	  InvalidFcnCallConnMsg	  "error"
	  FcnCallInpInsideContextMsg "Use local settings"
	  SignalLabelMismatchMsg  "none"
	  UnconnectedInputMsg	  "warning"
	  UnconnectedOutputMsg	  "warning"
	  UnconnectedLineMsg	  "warning"
	  SFcnCompatibilityMsg	  "none"
	  UniqueDataStoreMsg	  "none"
	  BusObjectLabelMismatch  "warning"
	  RootOutportRequireBusObject "warning"
	  AssertControl		  "UseLocalSettings"
	  EnableOverflowDetection off
	  ModelReferenceIOMsg	  "none"
	  ModelReferenceVersionMismatchMessage "none"
	  ModelReferenceIOMismatchMessage "none"
	  ModelReferenceCSMismatchMessage "none"
	  ModelReferenceSimTargetVerbose off
	  UnknownTsInhSupMsg	  "warning"
	  ModelReferenceDataLoggingMessage "warning"
	  ModelReferenceSymbolNameMessage "warning"
	  ModelReferenceExtraNoncontSigs "error"
	  StateNameClashWarn	  "warning"
	  StrictBusMsg		  "Warning"
	  LoggingUnavailableSignals "error"
	}
	Simulink.HardwareCC {
	  $ObjectID		  6
	  Version		  "1.3.0"
	  ProdBitPerChar	  8
	  ProdBitPerShort	  16
	  ProdBitPerInt		  32
	  ProdBitPerLong	  32
	  ProdIntDivRoundTo	  "Zero"
	  ProdEndianess		  "LittleEndian"
	  ProdWordSize		  32
	  ProdShiftRightIntArith  on
	  ProdHWDeviceType	  "32-bit xPC Target (AMD Athlon)"
	  TargetBitPerChar	  8
	  TargetBitPerShort	  16
	  TargetBitPerInt	  32
	  TargetBitPerLong	  32
	  TargetShiftRightIntArith on
	  TargetIntDivRoundTo	  "Undefined"
	  TargetEndianess	  "Unspecified"
	  TargetWordSize	  32
	  TargetTypeEmulationWarnSuppressLevel 0
	  TargetPreprocMaxBitsSint 32
	  TargetPreprocMaxBitsUint 32
	  TargetHWDeviceType	  "Specified"
	  TargetUnknown		  off
	  ProdEqTarget		  on
	}
	Simulink.ModelReferenceCC {
	  $ObjectID		  7
	  Version		  "1.3.0"
	  UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
	  CheckModelReferenceTargetMessage "error"
	  ModelReferenceNumInstancesAllowed "Multi"
	  ModelReferencePassRootInputsByReference on
	  ModelReferenceMinAlgLoopOccurrences off
	}
	Simulink.RTWCC {
	  $BackupClass		  "Simulink.RTWCC"
	  $ObjectID		  8
	  Array {
	    Type		    "Cell"
	    Dimension		    2
	    Cell		    "IncludeHyperlinkInReport"
	    Cell		    "GenerateTraceInfo"
	    PropName		    "DisabledProps"
	  }
	  Version		  "1.3.0"
	  SystemTargetFile	  "xpctarget.tlc"
	  GenCodeOnly		  off
	  MakeCommand		  "make_rtw"
	  GenerateMakefile	  on
	  TemplateMakefile	  "xpc_default_tmf"
	  Description		  "xPC Target"
	  GenerateReport	  off
	  SaveLog		  off
	  RTWVerbose		  on
	  RetainRTWFile		  off
	  ProfileTLC		  off
	  TLCDebug		  off
	  TLCCoverage		  off
	  TLCAssert		  off
	  ProcessScriptMode	  "Default"
	  ConfigurationMode	  "Optimized"
	  ProcessScript		  "xpctarget_make_rtw_hook"
	  ConfigAtBuild		  off
	  IncludeHyperlinkInReport off
	  LaunchReport		  off
	  TargetLang		  "C"
	  IncludeBusHierarchyInRTWFileBlockHierarchyMap	off
	  IncludeERTFirstTime	  off
	  GenerateTraceInfo	  off
	  RTWCompilerOptimization "Off"
	  Array {
	    Type		    "Handle"
	    Dimension		    2
	    Simulink.CodeAppCC {
	      $ObjectID		      9
	      Array {
		Type			"Cell"
		Dimension		16
		Cell			"IgnoreCustomStorageClasses"
		Cell			"InsertBlockDesc"
		Cell			"SFDataObjDesc"
		Cell			"SimulinkDataObjDesc"
		Cell			"DefineNamingRule"
		Cell			"SignalNamingRule"
		Cell			"ParamNamingRule"
		Cell			"InlinedPrmAccess"
		Cell			"CustomSymbolStr"
		Cell			"CustomSymbolStrGlobalVar"
		Cell			"CustomSymbolStrType"
		Cell			"CustomSymbolStrField"
		Cell			"CustomSymbolStrFcn"
		Cell			"CustomSymbolStrBlkIO"
		Cell			"CustomSymbolStrTmpVar"
		Cell			"CustomSymbolStrMacro"
		PropName		"DisabledProps"
	      }
	      Version		      "1.3.0"
	      ForceParamTrailComments off
	      GenerateComments	      on
	      IgnoreCustomStorageClasses on
	      IncHierarchyInIds	      off
	      MaxIdLength	      31
	      PreserveName	      off
	      PreserveNameWithParent  off
	      ShowEliminatedStatement off
	      IncAutoGenComments      off
	      SimulinkDataObjDesc     off
	      SFDataObjDesc	      off
	      IncDataTypeInIds	      off
	      MangleLength	      1
	      CustomSymbolStrGlobalVar "$R$N$M"
	      CustomSymbolStrType     "$N$R$M"
	      CustomSymbolStrField    "$N$M"
	      CustomSymbolStrFcn      "$R$N$M$F"
	      CustomSymbolStrBlkIO    "rtb_$N$M"
	      CustomSymbolStrTmpVar   "$N$M"
	      CustomSymbolStrMacro    "$R$N$M"
	      DefineNamingRule	      "None"
	      ParamNamingRule	      "None"
	      SignalNamingRule	      "None"
	      InsertBlockDesc	      off
	      SimulinkBlockComments   on
	      EnableCustomComments    off
	      InlinedPrmAccess	      "Literals"
	      ReqsInCode	      off
	    }
	    xpctarget.xpcTargetCC {
	      $BackupClass	      "Simulink.TargetCC"
	      $ObjectID		      10
	      Array {
		Type			"Cell"
		Dimension		15
		Cell			"IncludeMdlTerminateFcn"
		Cell			"CombineOutputUpdateFcns"
		Cell			"SuppressErrorStatus"
		Cell			"ERTCustomFileBanners"
		Cell			"GenerateSampleERTMain"
		Cell			"GenerateTestInterfaces"
		Cell			"MultiInstanceERTCode"
		Cell			"PurelyIntegerCode"
		Cell			"SupportNonFinite"
		Cell			"SupportComplex"
		Cell			"SupportAbsoluteTime"
		Cell			"SupportContinuousTime"
		Cell			"SupportNonInlinedSFcns"
		Cell			"ModelStepFunctionPrototypeControlCompliant"
		Cell			"PortableWordSizes"
		PropName		"DisabledProps"
	      }
	      Version		      "1.3.0"
	      TargetFcnLib	      "ansi_tfl_tmw.mat"
	      TargetLibSuffix	      ""
	      TargetPreCompLibLocation ""
	      GenFloatMathFcnCalls    "ANSI_C"
	      UtilityFuncGeneration   "Auto"
	      GenerateFullHeader      on
	      GenerateSampleERTMain   off
	      GenerateTestInterfaces  off
	      IsPILTarget	      off
	      ModelReferenceCompliant on
	      CompOptLevelCompliant   off
	      IncludeMdlTerminateFcn  on
	      CombineOutputUpdateFcns off
	      SuppressErrorStatus     off
	      IncludeFileDelimiter    "Auto"
	      ERTCustomFileBanners    off
	      SupportAbsoluteTime     on
	      LogVarNameModifier      "rt_"
	      MatFileLogging	      on
	      MultiInstanceERTCode    off
	      SupportNonFinite	      on
	      SupportComplex	      on
	      PurelyIntegerCode	      off
	      SupportContinuousTime   on
	      SupportNonInlinedSFcns  on
	      EnableShiftOperators    on
	      ParenthesesLevel	      "Nominal"
	      PortableWordSizes	      off
	      ModelStepFunctionPrototypeControlCompliant off
	      RL32ModeModifier	      "Real-Time"
	      ExtMode		      on
	      ExtModeMexFile	      "ext_xpc"
	      ExtModeIntrfLevel	      "Level2 - Open"
	      ExtModeArmWhenConnect   off
	      RL32LogTETModifier      off
	      RL32LogBufSizeModifier  "10000000"
	      RL32IRQSourceModifier   "Timer"
	      xPCIRQSourceBoard	      "None/Other"
	      xPCIOIRQSlot	      "-1"
	      xpcDblBuff	      off
	      xpcObjCom		      off
	      xPCGenerateASAP2	      off
	      xPCGenerateXML	      off
	      RL32ObjectName	      "tg"
	      xPCisDownloadable	      on
	      xPCisDefaultEnv	      on
	    }
	    PropName		    "Components"
	  }
	}
	PropName		"Components"
      }
      Name		      "Configuration"
      ExtraOptions	      "-aGenerateTraceInfo=0 "
      CurrentDlgPage	      "Real-Time Workshop/xPC Target options"
    }
    PropName		    "ConfigurationSets"
  }
  Simulink.ConfigSet {
    $PropName		    "ActiveConfigurationSet"
    $ObjectID		    1
  }
  WSMdlFileData		  "DataTag0"
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Arial"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  BlockParameterDefaults {
    Block {
      BlockType		      DataTypeConversion
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Inherit via back propagation"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      LockScale		      off
      ConvertRealWorld	      "Real World Value (RWV)"
      RndMeth		      "Zero"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      DiscreteIntegrator
      IntegratorMethod	      "Integration: Forward Euler"
      gainval		      "1.0"
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      InitialConditionMode    "State and output"
      SampleTime	      "1"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	off
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      IgnoreLimit	      off
      StateMustResolveToSignalObject off
      RTWStateStorageClass    "Auto"
    }
    Block {
      BlockType		      DiscreteStateSpace
      A			      "1"
      B			      "1"
      C			      "1"
      D			      "1"
      X0		      "0"
      SampleTime	      "1"
      StateMustResolveToSignalObject off
      RTWStateStorageClass    "Auto"
      Realization	      "auto"
    }
    Block {
      BlockType		      DiscreteTransferFcn
      Numerator		      "[1]"
      Denominator	      "[1 0.5]"
      SampleTime	      "1"
      StateMustResolveToSignalObject off
      RTWStateStorageClass    "Auto"
      Realization	      "auto"
    }
    Block {
      BlockType		      EnablePort
      StatesWhenEnabling      "held"
      ShowOutputPort	      off
      ZeroCross		      on
    }
    Block {
      BlockType		      From
      IconDisplay	      "Tag"
    }
    Block {
      BlockType		      Fcn
      Expr		      "sin(u[1])"
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Gain
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      ParamMin		      "[]"
      ParamMax		      "[]"
      ParameterDataTypeMode   "Same as input"
      ParameterDataType	      "fixdt(1,16,0)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "[]"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Goto
      IconDisplay	      "Tag"
    }
    Block {
      BlockType		      Ground
    }
    Block {
      BlockType		      Inport
      Port		      "1"
      UseBusObject	      off
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      OutMin		      "[]"
      OutMax		      "[]"
      DataType		      "auto"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      SignalType	      "auto"
      SamplingMode	      "auto"
      LatchByDelayingOutsideSignal off
      LatchByCopyingInsideSignal off
      Interpolate	      on
    }
    Block {
      BlockType		      Logic
      Operator		      "AND"
      Inputs		      "2"
      IconShape		      "rectangular"
      AllPortsSameDT	      on
      OutDataTypeMode	      "Logical (see Configuration Parameters: Optimization)"
      LogicDataType	      "uint(8)"
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Math
      Operator		      "exp"
      OutputSignalType	      "auto"
      SampleTime	      "-1"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      MultiPortSwitch
      Inputs		      "4"
      zeroidx		      off
      InputSameDT	      on
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
      UseBusObject	      off
      BusObject		      "BusObject"
      NonVirtualBus	      off
    }
    Block {
      BlockType		      Outport
      Port		      "1"
      UseBusObject	      off
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      OutMin		      "[]"
      OutMax		      "[]"
      DataType		      "auto"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Product
      Inputs		      "2"
      Multiplication	      "Element-wise(.*)"
      CollapseMode	      "All dimensions"
      CollapseDim	      "1"
      InputSameDT	      on
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      LockScale		      off
      RndMeth		      "Zero"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      RandomNumber
      Mean		      "0"
      Variance		      "1"
      Seed		      "0"
      SampleTime	      "-1"
      VectorParams1D	      on
    }
    Block {
      BlockType		      RateLimiter
      RisingSlewLimit	      "1"
      FallingSlewLimit	      "-1"
      SampleTimeMode	      "continuous"
      InitialCondition	      "0"
      LinearizeAsGain	      on
    }
    Block {
      BlockType		      RateTransition
      Integrity		      on
      Deterministic	      on
      X0		      "0"
      OutPortSampleTime	      "-1"
    }
    Block {
      BlockType		      Reference
    }
    Block {
      BlockType		      SignalSpecification
      Dimensions	      "-1"
      SampleTime	      "-1"
      OutMin		      "[]"
      OutMax		      "[]"
      DataType		      "auto"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      SignalType	      "auto"
      SamplingMode	      "auto"
    }
    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      SFunctionModules	      "''"
      PortCounts	      "[]"
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      "FromPortIcon"
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      TreatAsAtomicUnit	      off
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      CollapseMode	      "All dimensions"
      CollapseDim	      "1"
      InputSameDT	      on
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Switch
      Criteria		      "u2 >= Threshold"
      Threshold		      "0"
      InputSameDT	      on
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      ToWorkspace
      VariableName	      "simulink_output"
      MaxDataPoints	      "1000"
      Decimation	      "1"
      SampleTime	      "0"
      FixptAsFi		      off
    }
    Block {
      BlockType		      Terminator
    }
    Block {
      BlockType		      UnitDelay
      X0		      "0"
      SampleTime	      "1"
      StateMustResolveToSignalObject off
      RTWStateStorageClass    "Auto"
    }
    Block {
      BlockType		      Abs
      ZeroCross		      on
      SampleTime	      "-1"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Constant
      Value		      "1"
      VectorParams1D	      on
      SamplingMode	      "Sample based"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Inherit from 'Constant value'"
      OutDataType	      "fixdt(1,16,0)"
      ConRadixGroup	      "Use specified scaling"
      OutScaling	      "[]"
      SampleTime	      "inf"
      FramePeriod	      "inf"
    }
    Block {
      BlockType		      RelationalOperator
      Operator		      ">="
      InputSameDT	      on
      LogicOutDataTypeMode    "Logical (see Configuration Parameters: Optimization)"
      LogicDataType	      "uint(8)"
      ZeroCross		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Saturate
      UpperLimit	      "0.5"
      LowerLimit	      "-0.5"
      LinearizeAsGain	      on
      ZeroCross		      on
      SampleTime	      "-1"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      LockScale		      off
      RndMeth		      "Floor"
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Arial"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    UseDisplayTextAsClickCallback off
  }
  LineDefaults {
    FontName		    "Arial"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "testElServo_vxmount12"
    Location		    [26, 253, 1017, 580]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "B"
    PaperUnits		    "inches"
    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
    TiledPageScale	    1
    ShowPageBoundaries	    off
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "5-tap Median Filter"
      Ports		      [1, 1]
      Position		      [835, 510, 895, 570]
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      System {
	Name			"5-tap Median Filter"
	Location		[374, 93, 1018, 534]
	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			  "Input"
	  Position		  [50, 83, 80, 97]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Median"
	  Ports			  [1, 1]
	  Position		  [405, 67, 465, 113]
	  DialogController	  "dspDDGCreate"
	  DialogControllerArgs	  "DataTag1"
	  SourceBlock		  "dspstat3/Median"
	  SourceType		  "Median"
	  sortAlg		  "Quick sort"
	  additionalParams	  "off"
	  allowOverrides	  "off"
	  outputMode		  "Same as accumulator"
	  outputWordLength	  "16"
	  outputFracLength	  "15"
	  accumMode		  "Same as product output"
	  accumWordLength	  "32"
	  accumFracLength	  "30"
	  prodOutputMode	  "Same as input"
	  prodOutputWordLength	  "32"
	  prodOutputFracLength	  "30"
	  roundingMode		  "Floor"
	  overflowMode		  "off"
	  LockScale		  "off"
	}
	Block {
	  BlockType		  SignalSpecification
	  Name			  "Signal Specification"
	  Position		  [255, 76, 350, 104]
	  Dimensions		  "[1 5]"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Tapped Delay"
	  Ports			  [1, 1]
	  Position		  [160, 63, 215, 117]
	  SourceBlock		  "simulink/Discrete/Tapped Delay"
	  SourceType		  "Tapped Delay Line"
	  vinit			  "0.0"
	  samptime		  "-1"
	  NumDelays		  "5"
	  DelayOrder		  "Oldest"
	  includeCurrent	  "off"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Output\n"
	  Position		  [570, 83, 600, 97]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "Input"
	  SrcPort		  1
	  DstBlock		  "Tapped Delay"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Median"
	  SrcPort		  1
	  DstBlock		  "Output\n"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Tapped Delay"
	  SrcPort		  1
	  DstBlock		  "Signal Specification"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Signal Specification"
	  SrcPort		  1
	  DstBlock		  "Median"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Reference
      Name		      "65Hz Notch"
      Ports		      [1, 1]
      Position		      [675, 1999, 760, 2031]
      DialogController	      "dspdialog.DigitalFilter"
      DialogControllerArgs    "DataTag2"
      SourceBlock	      "dsparch4/Digital Filter"
      SourceType	      "Digital Filter"
      TypePopup		      "IIR (poles & zeros)"
      IIRFiltStruct	      "Direct form II transposed"
      AllPoleFiltStruct	      "Direct form"
      FIRFiltStruct	      "Direct form"
      CoeffSource	      "Specify via dialog"
      NumCoeffs		      "[1 2]"
      DenCoeffs		      "[1 0.1]"
      BiQuadCoeffs	      "[1 0.3 0.4 1 0.1 0.2]"
      LatticeCoeffs	      "[0.2 0.4]"
      denIgnore		      on
      FiltPerSampPopup	      "One filter per frame"
      IC		      "0"
      ICnum		      "0"
      ICden		      "0"
      additionalParams	      off
      allowOverrides	      on
      showCoeff		      off
      firstCoeffMode	      "Same word length as input"
      firstCoeffWordLength    "16"
      firstCoeffFracLength    "15"
      secondCoeffMode	      "Same as numerator"
      secondCoeffWordLength   "16"
      secondCoeffFracLength   "15"
      thirdCoeffMode	      "Same as input"
      thirdCoeffWordLength    "16"
      thirdCoeffFracLength    "15"
      showOut		      off
      outputMode	      "Same as accumulator"
      outputWordLength	      "16"
      outputFracLength	      "15"
      showAcc		      off
      accumMode		      "Same as product output"
      accumWordLength	      "32"
      accumFracLength	      "30"
      showMpy		      off
      prodOutputMode	      "Same as input"
      prodOutputWordLength    "32"
      prodOutputFracLength    "30"
      showMem		      off
      memoryMode	      "Same as accumulator"
      memoryWordLength	      "16"
      memoryFracLength	      "15"
      roundingMode	      "Floor"
      overflowMode	      off
      ScaleValues	      "1"
      scaleValueFracLength    "14"
      tapSumMode	      "Same as input"
      tapSumWordLength	      "32"
      tapSumFracLength	      "30"
      stageIOMode	      "Same as input"
      stageIOWordLength	      "16"
      stageInFracLength	      "15"
      stageOutFracLength      "15"
      LockScale		      off
      FilterSource	      "dfilt object"
      dfiltObjectName	      "Hn65"
      multiplicandMode	      "Same as output"
      multiplicandWordLength  "32"
      multiplicandFracLength  "30"
    }
    Block {
      BlockType		      Reference
      Name		      "65Hz Notch1"
      Ports		      [1, 1]
      Position		      [675, 2059, 760, 2091]
      DialogController	      "dspdialog.DigitalFilter"
      DialogControllerArgs    "DataTag3"
      SourceBlock	      "dsparch4/Digital Filter"
      SourceType	      "Digital Filter"
      TypePopup		      "IIR (poles & zeros)"
      IIRFiltStruct	      "Direct form II transposed"
      AllPoleFiltStruct	      "Direct form"
      FIRFiltStruct	      "Direct form"
      CoeffSource	      "Specify via dialog"
      NumCoeffs		      "[1 2]"
      DenCoeffs		      "[1 0.1]"
      BiQuadCoeffs	      "[1 0.3 0.4 1 0.1 0.2]"
      LatticeCoeffs	      "[0.2 0.4]"
      denIgnore		      on
      FiltPerSampPopup	      "One filter per frame"
      IC		      "0"
      ICnum		      "0"
      ICden		      "0"
      additionalParams	      off
      allowOverrides	      on
      showCoeff		      off
      firstCoeffMode	      "Same word length as input"
      firstCoeffWordLength    "16"
      firstCoeffFracLength    "15"
      secondCoeffMode	      "Same as numerator"
      secondCoeffWordLength   "16"
      secondCoeffFracLength   "15"
      thirdCoeffMode	      "Same as input"
      thirdCoeffWordLength    "16"
      thirdCoeffFracLength    "15"
      showOut		      off
      outputMode	      "Same as accumulator"
      outputWordLength	      "16"
      outputFracLength	      "15"
      showAcc		      off
      accumMode		      "Same as product output"
      accumWordLength	      "32"
      accumFracLength	      "30"
      showMpy		      off
      prodOutputMode	      "Same as input"
      prodOutputWordLength    "32"
      prodOutputFracLength    "30"
      showMem		      off
      memoryMode	      "Same as accumulator"
      memoryWordLength	      "16"
      memoryFracLength	      "15"
      roundingMode	      "Floor"
      overflowMode	      off
      ScaleValues	      "1"
      scaleValueFracLength    "14"
      tapSumMode	      "Same as input"
      tapSumWordLength	      "32"
      tapSumFracLength	      "30"
      stageIOMode	      "Same as input"
      stageIOWordLength	      "16"
      stageInFracLength	      "15"
      stageOutFracLength      "15"
      LockScale		      off
      FilterSource	      "dfilt object"
      dfiltObjectName	      "Hn65"
      multiplicandMode	      "Same as output"
      multiplicandWordLength  "32"
      multiplicandFracLength  "30"
    }
    Block {
      BlockType		      MultiPortSwitch
      Name		      "AbsOrTape"
      Ports		      [3, 1]
      Position		      [1270, 447, 1300, 493]
      Inputs		      "2"
      zeroidx		      on
      InputSameDT	      off
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Reference
      Name		      "Absolute Encoders"
      Ports		      [0, 4]
      Position		      [20, 123, 215, 277]
      BackgroundColor	      "yellow"
      SourceBlock	      "CustomBlocks/Absolute Encoders"
      SourceType	      "ipModule_sbs_ip-unidig-24"
      carrierId		      "1"
      carrierSlot	      "D"
      sampleTime	      "Ts"
    }
    Block {
      BlockType		      Sum
      Name		      "Add"
      Ports		      [2, 1]
      Position		      [1735, 1382, 1765, 1413]
      CollapseMode	      "All dimensions"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^-10"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Reference
      Name		      "Buffer"
      Ports		      [1, 1]
      Position		      [1945, 600, 1995, 650]
      SourceBlock	      "dspbuff3/Buffer"
      SourceType	      "Buffer"
      N			      "100"
      V			      "0"
      ic		      "0"
    }
    Block {
      BlockType		      Reference
      Name		      "Byte Reversal"
      Ports		      [3, 3]
      Position		      [1325, 2005, 1405, 2055]
      SourceBlock	      "xpclib/UDP/Byte Reversal"
      SourceType	      "xpcreverseendian"
      numInp		      "3"
    }
    Block {
      BlockType		      Reference
      Name		      "Byte Reversal1"
      Ports		      [3, 3]
      Position		      [1535, 1795, 1615, 1845]
      SourceBlock	      "xpclib/UDP/Byte Reversal"
      SourceType	      "xpcreverseendian"
      numInp		      "3"
    }
    Block {
      BlockType		      SubSystem
      Name		      "CPP/ no FIR Filter"
      Ports		      [2, 1]
      Position		      [1350, 69, 1475, 156]
      BackgroundColor	      "[0.647059, 0.745098, 0.596078]"
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      System {
	Name			"CPP/ no FIR Filter"
	Location		[257, 296, 917, 518]
	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			  "Cmd\n"
	  Position		  [25, 48, 55, 62]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Inport
	  Name			  "Initial"
	  Position		  [30, 103, 60, 117]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "CPP"
	  Ports			  [2, 1]
	  Position		  [145, 42, 270, 98]
	  BackgroundColor	  "[0.635294, 0.619608, 0.368627]"
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  System {
	    Name		    "CPP"
	    Location		    [-14, 247, 998, 673]
	    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		      "Command "
	      Position		      [270, 163, 300, 177]
	      IconDisplay	      "Port number"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	    }
	    Block {
	      BlockType		      Inport
	      Name		      "Start Pos"
	      Position		      [270, 203, 300, 217]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "Enabled\nPre-processor"
	      Ports		      [2, 1, 1]
	      Position		      [555, 149, 665, 231]
	      TreatAsAtomicUnit	      on
	      MinAlgLoopOccurrences   off
	      RTWSystemCode	      "Auto"
	      FunctionWithSeparateData off
	      System {
		Name			"Enabled\nPre-processor"
		Location		[330, 287, 828, 587]
		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		  [85, 108, 115, 122]
		  IconDisplay		  "Port number"
		  OutDataType		  "sfix(16)"
		  OutScaling		  "2^0"
		}
		Block {
		  BlockType		  Inport
		  Name			  "In2"
		  Position		  [85, 148, 115, 162]
		  Port			  "2"
		  IconDisplay		  "Port number"
		  OutDataType		  "sfix(16)"
		  OutScaling		  "2^0"
		}
		Block {
		  BlockType		  EnablePort
		  Name			  "Enable"
		  Ports			  []
		  Position		  [235, 20, 255, 40]
		}
		Block {
		  BlockType		  SubSystem
		  Name			  "Command Pre-processor"
		  Ports			  [2, 1]
		  Position		  [190, 97, 320, 173]
		  BackgroundColor	  "green"
		  MinAlgLoopOccurrences	  off
		  RTWSystemCode		  "Auto"
		  FunctionWithSeparateData off
		  System {
		    Name		    "Command Pre-processor"
		    Location		    [20, 176, 1023, 608]
		    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		    "Command"
		    Position		    [25, 33, 55, 47]
		    IconDisplay		    "Port number"
		    OutDataType		    "sfix(16)"
		    OutScaling		    "2^0"
		    }
		    Block {
		    BlockType		    Inport
		    Name		    "Xzero"
		    Position		    [25, 78, 55, 92]
		    Port		    "2"
		    IconDisplay		    "Port number"
		    OutDataType		    "sfix(16)"
		    OutScaling		    "2^0"
		    }
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      allowOverrides	      on
      showCoeff		      off
      firstCoeffMode	      "Same word length as input"
      firstCoeffWordLength    "16"
      firstCoeffFracLength    "15"
      secondCoeffMode	      "Same as numerator"
      secondCoeffWordLength   "16"
      secondCoeffFracLength   "15"
      thirdCoeffMode	      "Same as input"
      thirdCoeffWordLength    "16"
      thirdCoeffFracLength    "15"
      showOut		      off
      outputMode	      "Same as accumulator"
      outputWordLength	      "16"
      outputFracLength	      "15"
      showAcc		      off
      accumMode		      "Same as product output"
      accumWordLength	      "32"
      accumFracLength	      "30"
      showMpy		      off
      prodOutputMode	      "Same as input"
      prodOutputWordLength    "32"
      prodOutputFracLength    "30"
      showMem		      off
      memoryMode	      "Same as accumulator"
      memoryWordLength	      "16"
      memoryFracLength	      "15"
      roundingMode	      "Floor"
      overflowMode	      off
      ScaleValues	      "1"
      scaleValueFracLength    "14"
      tapSumMode	      "Same as input"
      tapSumWordLength	      "32"
      tapSumFracLength	      "30"
      stageIOMode	      "Same as input"
      stageIOWordLength	      "16"
      stageInFracLength	      "15"
      stageOutFracLength      "15"
      LockScale		      off
      FilterSource	      "dfilt object"
      dfiltObjectName	      "Hlp5"
      multiplicandMode	      "Same as output"
      multiplicandWordLength  "32"
      multiplicandFracLength  "30"
    }
    Block {
      BlockType		      DiscreteTransferFcn
      Name		      "Discrete\nNotch Filter @ 5.56 Hz"
      Position		      [1580, 802, 1640, 838]
      Orientation	      "left"
      Numerator		      "[numn1d]"
      Denominator	      "[denn1d]"
      SampleTime	      "Ts"
    }
    Block {
      BlockType		      DiscreteIntegrator
      Name		      "Discrete-Time\nIntegrator1"
      Ports		      [3, 1]
      Position		      [1035, 896, 1090, 964]
      IntegratorMethod	      "Accumulation: Trapezoidal"
      gainval		      "Ts"
      ExternalReset	      "sampled level"
      InitialConditionSource  "external"
      SampleTime	      "Ts"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      ICPrevOutput	      "DiscIntNeverNeededParam"
      ICPrevScaledInput	      "DiscIntNeverNeededParam"
    }
    Block {
      BlockType		      Reference
      Name		      "DisturbReject"
      Ports		      [1, 1]
      Position		      [615, 1280, 645, 1310]
      SourceBlock	      "simulink/Logic and Bit\nOperations/Compare\nTo Constant"
      SourceType	      "Compare To Constant"
      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"
      relop		      "=="
      const		      "2"
      LogicOutDataTypeMode    "uint8"
      ZeroCross		      off
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    Block {
      BlockType		      Reference
      Name		      "DocBlock"
      Ports		      []
      Position		      [207, 25, 247, 64]
      ShowName		      off
      UserDataPersistent      on
      UserData		      "DataTag5"
      SourceBlock	      "simulink/Model-Wide\nUtilities/DocBlock"
      SourceType	      "DocBlock"
      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"
      DocumentType	      "Text"
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      BlockType		      SubSystem
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      Position		      [1845, 191, 2120, 309]
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      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      System {
	Name			"Elevation Axis Controller - VXWORKS type"
	Location		[8, 101, 1020, 702]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
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	  IconDisplay		  "Port number"
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	  OutScaling		  "2^0"
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	Block {
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	  Port			  "2"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
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	Block {
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	  Port			  "3"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
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	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
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	    Location		    [447, 350, 945, 650]
	    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		      [105, 98, 135, 112]
	      IconDisplay	      "Port number"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	    }
	    Block {
	      BlockType		      EnablePort
	      Name		      "Enable"
	      Ports		      []
	      Position		      [240, 20, 260, 40]
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	    Block {
	      BlockType		      DiscreteTransferFcn
	      Name		      "Discrete\nDifferentiator"
	      Position		      [215, 87, 275, 123]
	      Numerator		      "[numdd]"
	      Denominator	      "[dendd]"
	      SampleTime	      "Ts"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Out1"
	      Position		      [360, 98, 390, 112]
	      IconDisplay	      "Port number"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	    }
	    Line {
	      SrcBlock		      "In1"
	      SrcPort		      1
	      DstBlock		      "Discrete\nDifferentiator"
	      DstPort		      1
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	    Line {
	      SrcBlock		      "Discrete\nDifferentiator"
	      SrcPort		      1
	      DstBlock		      "Out1"
	      DstPort		      1
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	    Annotation {
	      Position		      [9, 240]
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	  }
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	Block {
	  BlockType		  SubSystem
	  Name			  "Flexible Mode\nCompensation"
	  Ports			  [1, 1]
	  Position		  [1480, 253, 1640, 307]
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  System {
	    Name		    "Flexible Mode\nCompensation"
	    Location		    [6, 236, 1018, 511]
	    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		      "Unfiltered CMD"
	      Position		      [90, 93, 120, 107]
	      IconDisplay	      "Port number"
	      OutDataType	      "sfix(16)"
	      OutScaling	      "2^0"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Digital Filter1"
	      Ports		      [1, 1]
	      Position		      [760, 188, 845, 242]
	      DialogController	      "dspdialog.DigitalFilter"
	      DialogControllerArgs    "DataTag6"
	      SourceBlock	      "dsparch4/Digital Filter"
	      SourceType	      "Digital Filter"
	      TypePopup		      "IIR (poles & zeros)"
	      IIRFiltStruct	      "Direct form II transposed"
	      AllPoleFiltStruct	      "Direct form"
	      FIRFiltStruct	      "Direct form"
	      CoeffSource	      "Specify via dialog"
	      NumCoeffs		      "[1 2]"
	      DenCoeffs		      "[1 0.1]"
	      BiQuadCoeffs	      "[1 0.3 0.4 1 0.1 0.2]"
	      LatticeCoeffs	      "[0.2 0.4]"
	      denIgnore		      "on"
	      FiltPerSampPopup	      "One filter per frame"
	      IC		      "0"
	      ICnum		      "0"
	      ICden		      "0"
	      additionalParams	      "off"
	      allowOverrides	      "on"
	      showCoeff		      "off"
	      firstCoeffMode	      "Same word length as input"
	      firstCoeffWordLength    "16"
	      firstCoeffFracLength    "15"
	      secondCoeffMode	      "Same as numerator"
	      secondCoeffWordLength   "16"
	      secondCoeffFracLength   "15"
	      thirdCoeffMode	      "Same as input"
	      thirdCoeffWordLength    "16"
	      thirdCoeffFracLength    "15"
	      showOut		      "off"
	      outputMode	      "Same as accumulator"
	      outputWordLength	      "16"
	      outputFracLength	      "15"
	      showAcc		      "off"
	      accumMode		      "Same as product output"
	      accumWordLength	      "32"
	      accumFracLength	      "30"
	      showMpy		      "off"
	      prodOutputMode	      "Same as input"
	      prodOutputWordLength    "32"
	      prodOutputFracLength    "30"
	      showMem		      "off"
	      memoryMode	      "Same as accumulator"
	      memoryWordLength	      "16"
	      memoryFracLength	      "15"
	      roundingMode	      "Floor"
	      overflowMode	      "off"
	      ScaleValues	      "1"
	      scaleValueFracLength    "14"
	      tapSumMode	      "Same as input"
	      tapSumWordLength	      "32"
	      tapSumFracLength	      "30"
	      stageIOMode	      "Same as input"
	      stageIOWordLength	      "16"
	      stageInFracLength	      "15"
	      stageOutFracLength      "15"
	      LockScale		      "off"
	      FilterSource	      "dfilt object"
	      dfiltObjectName	      "Hlp"
	      multiplicandMode	      "Same as output"
	      multiplicandWordLength  "32"
	      multiplicandFracLength  "30"
	    }
	    Block {
	      BlockType		      DiscreteTransferFcn
	      Name		      "Discrete\nNotch Filter @ 161 Hz"
	      Position		      [655, 197, 715, 233]
	      Numerator		      "[numn161d]"
	      Denominator	      "[denn161d]"
	      SampleTime	      "Ts"
	    }
	    Block {
	      BlockType		      DiscreteTransferFcn
	      Name		      "Discrete\nNotch Filter @ 35 Hz"
	      Position		      [620, 82, 680, 118]
	      Numerator		      "[numn35d]"
	      Denominator	      "[denn35d]"
	      SampleTime	      "Ts"
	    }
	    Block {
	      BlockType		      DiscreteTransferFcn
	      Name		      "Discrete\nNotch Filter @ 5.56 Hz"
	      Position		      [350, 197, 410, 233]
	      Numerator		      "[numn1d]"
	      Denominator	      "[denn1d]"
	      SampleTime	      "Ts"
	    }
	    Block {
	      BlockType		      DiscreteTransferFcn
	      Name		      "Discrete\nNotch Filter @ 85 Hz"
	      Position		      [505, 197, 565, 233]
	      Numerator		      "[numn85d]"
	      Denominator	      "[denn85d]"
	      SampleTime	      "Ts"
	    }
	    Block {
	      BlockType		      Ground
	      Name		      "Ground"
	      Position		      [100, 205, 120, 225]
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "HOswitch"
	      Ports		      [2, 1]
	      Position		      [880, 62, 910, 98]
	      SourceBlock	      "simulink/Signal\nRouting/Manual Switch"
	      SourceType	      "Manual Switch"
	      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"
	      sw		      "1"
	      action		      "0"
	      varsize		      "off"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "LTI System"
	      Ports		      [1, 1]
	      Position		      [410, 82, 505, 118]
	      SourceBlock	      "cstblocks/LTI System"
	      SourceType	      "LTI Block"
	      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"
	      sys		      "notch20b"
	      IC		      "[]"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "LTI System1"
	      Ports		      [1, 1]
	      Position		      [165, 197, 260, 233]
	      SourceBlock	      "cstblocks/LTI System"
	      SourceType	      "LTI Block"
	      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"
	      sys		      "notch6b"
	      IC		      "[]"
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "Newest HO Filter"
	      Tag		      "FilterWizardSubSystem"
	      Ports		      [1, 1]
	      Position		      [760, 120, 835, 160]
	      MinAlgLoopOccurrences   off
	      RTWSystemCode	      "Auto"
	      FunctionWithSeparateData off
	      System {
		Name			"Newest HO Filter"
		Location		[104, 87, 684, 386]
		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			  "Input"
		  Position		  [80, 68, 110, 82]
		  IconDisplay		  "Port number"
		  OutDataType		  "sfix(16)"
		  OutScaling		  "2^0"
		}
		Block {
		  BlockType		  Reference
		  Name			  "Delay1(1)"
		  Ports			  [1, 1]
		  Position		  [605, 120, 635, 150]
		  Orientation		  "down"
		  ShowName		  off
		  SourceBlock		  "dspsigops/Delay"
		  SourceType		  "Delay"
		  dly_unit		  "Samples"
		  delay			  "1"
		  ic_detail		  "off"
		  dif_ic_for_ch		  "off"
		  dif_ic_for_dly	  "off"
		  ic			  "0"
		  reset_popup		  "None"
		}
		Block {
		  BlockType		  Reference
		  Name			  "Delay1(2)"
		  Ports			  [1, 1]
		  Position		  [1555, 120, 1585, 150]
		  Orientation		  "down"
		  ShowName		  off
		  SourceBlock		  "dspsigops/Delay"
		  SourceType		  "Delay"
		  dly_unit		  "Samples"
		  delay			  "1"
		  ic_detail		  "off"
		  dif_ic_for_ch		  "off"
		  dif_ic_for_dly	  "off"
		  ic			  "0"
		  reset_popup		  "None"
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		Block {
		  BlockType		  Reference
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		  Position		  [2505, 120, 2535, 150]
		  Orientation		  "down"
		  ShowName		  off
		  SourceBlock		  "dspsigops/Delay"
		  SourceType		  "Delay"
		  dly_unit		  "Samples"
		  delay			  "1"
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		  dif_ic_for_dly	  "off"
		  ic			  "0"
		  reset_popup		  "None"
		}
		Block {
		  BlockType		  Reference
		  Name			  "Delay1(4)"
		  Ports			  [1, 1]
		  Position		  [3455, 120, 3485, 150]
		  Orientation		  "down"
		  ShowName		  off
		  SourceBlock		  "dspsigops/Delay"
		  SourceType		  "Delay"
		  dly_unit		  "Samples"
		  delay			  "1"
		  ic_detail		  "off"
		  dif_ic_for_ch		  "off"
		  dif_ic_for_dly	  "off"
		  ic			  "0"
		  reset_popup		  "None"
		}
		Block {
		  BlockType		  Reference
		  Name			  "Delay1(5)"
		  Ports			  [1, 1]
		  Position		  [4405, 120, 4435, 150]
		  Orientation		  "down"
		  ShowName		  off
		  SourceBlock		  "dspsigops/Delay"
		  SourceType		  "Delay"
		  dly_unit		  "Samples"
		  delay			  "1"
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		  dif_ic_for_ch		  "off"
		  dif_ic_for_dly	  "off"
		  ic			  "0"
		  reset_popup		  "None"
		}
		Block {
		  BlockType		  Reference
		  Name			  "Delay2(1)"
		  Ports			  [1, 1]
		  Position		  [605, 220, 635, 250]
		  Orientation		  "down"
		  ShowName		  off
		  SourceBlock		  "dspsigops/Delay"
		  SourceType		  "Delay"
		  dly_unit		  "Samples"
		  delay			  "1"
		  ic_detail		  "off"
		  dif_ic_for_ch		  "off"
		  dif_ic_for_dly	  "off"
		  ic			  "0"
		  reset_popup		  "None"
		}
		Block {
		  BlockType		  Reference
		  Name			  "Delay2(2)"
		  Ports			  [1, 1]
		  Position		  [1555, 220, 1585, 250]
		  Orientation		  "down"
		  ShowName		  off
		  SourceBlock		  "dspsigops/Delay"
		  SourceType		  "Delay"
		  dly_unit		  "Samples"
		  delay			  "1"
		  ic_detail		  "off"
		  dif_ic_for_ch		  "off"
		  dif_ic_for_dly	  "off"
		  ic			  "0"
		  reset_popup		  "None"
		}
		Block {
		  BlockType		  Reference
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		  Ports			  [1, 1]
		  Position		  [2505, 220, 2535, 250]
		  Orientation		  "down"
		  ShowName		  off
		  SourceBlock		  "dspsigops/Delay"
		  SourceType		  "Delay"
		  dly_unit		  "Samples"
		  delay			  "1"
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		  Position		  [3455, 220, 3485, 250]
		  Orientation		  "down"
		  ShowName		  off
		  SourceBlock		  "dspsigops/Delay"
		  SourceType		  "Delay"
		  dly_unit		  "Samples"
		  delay			  "1"
		  ic_detail		  "off"
		  dif_ic_for_ch		  "off"
		  dif_ic_for_dly	  "off"
		  ic			  "0"
		  reset_popup		  "None"
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		Block {
		  BlockType		  Reference
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		  Ports			  [1, 1]
		  Position		  [4405, 220, 4435, 250]
		  Orientation		  "down"
		  ShowName		  off
		  SourceBlock		  "dspsigops/Delay"
		  SourceType		  "Delay"
		  dly_unit		  "Samples"
		  delay			  "1"
		  ic_detail		  "off"
		  dif_ic_for_ch		  "off"
		  dif_ic_for_dly	  "off"
		  ic			  "0"
		  reset_popup		  "None"
		}
		Block {
		  BlockType		  From
		  Name			  "SectIn1"
		  Position		  [1065, 68, 1125, 82]
		  ShowName		  off
		  GotoTag		  "Sect1"
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		Block {
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		Block {
		  BlockType		  From
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		  ShowName		  off
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		Block {
		  BlockType		  From
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		  ShowName		  off
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		Block {
		  BlockType		  Goto
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		  Position		  [1040, 68, 1095, 82]
		  ShowName		  off
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		  TagVisibility		  "local"
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		Block {
		  BlockType		  Goto
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		  ShowName		  off
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		  TagVisibility		  "local"
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		Block {
		  BlockType		  Goto
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		  ShowName		  off
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		  TagVisibility		  "local"
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		Block {
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	    Block {
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    Block {
      BlockType		      Goto
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      BlockType		      Goto
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      BlockType		      Goto
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      BlockType		      Goto
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    Block {
      BlockType		      Goto
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      BlockType		      Goto
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      BlockType		      Goto
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    Block {
      BlockType		      Goto
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    Block {
      BlockType		      Goto
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      BlockType		      Goto
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      BlockType		      Goto
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      BlockType		      Goto
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      BlockType		      Goto
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      BlockType		      Goto
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    Block {
      BlockType		      Goto
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      BlockType		      Goto
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      BlockType		      Goto
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    Block {
      BlockType		      Goto
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    Block {
      BlockType		      Goto
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    Block {
      BlockType		      Goto
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    Block {
      BlockType		      Goto
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      GotoTag		      "CommandValue"
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    Block {
      BlockType		      Ground
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    Block {
      BlockType		      Ground
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    Block {
      BlockType		      Gain
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      SaturateOnIntegerOverflow	off
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    Block {
      BlockType		      Reference
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	PortNumber		2
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    Block {
      BlockType		      Gain
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      OutDataType	      "sfix(16)"
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      SaturateOnIntegerOverflow	off
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    Block {
      BlockType		      Reference
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      Position		      [1365, 1632, 1460, 1668]
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      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      sys		      "NewElss3"
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    Block {
      BlockType		      Logic
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      Position		      [650, 1349, 680, 1381]
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    Block {
      BlockType		      Reference
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      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      relop		      "~="
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      ZeroCross		      off
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    Block {
      BlockType		      Saturate
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      ShowPortLabels	      "FromPortIcon"
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      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      sw		      "1"
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      varsize		      off
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    Block {
      BlockType		      Reference
      Name		      "Mean"
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      Position		      [2060, 605, 2115, 645]
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      reset_popup	      "None"
      additionalParams	      off
      allowOverrides	      on
      outputMode	      "Same as accumulator"
      outputWordLength	      "32"
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      accumMode		      "Same as input"
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    Block {
      BlockType		      MultiPortSwitch
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    Block {
      BlockType		      MultiPortSwitch
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    Block {
      BlockType		      Mux
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      Position		      [2260, 1674, 2300, 1781]
      ShowName		      off
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    Block {
      BlockType		      Reference
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      TriggerType	      "Rising edge"
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    Block {
      BlockType		      Reference
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    Block {
      BlockType		      Reference
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      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
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      RTWMemSecDataParameters "Inherit from model"
      sys		      "AltElRef"
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    Block {
      BlockType		      SubSystem
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      RTWSystemCode	      "Auto"
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	  BlockType		  DiscreteTransferFcn
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	  BlockType		  DiscreteIntegrator
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	Block {
	  BlockType		  Gain
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	Block {
	  BlockType		  Gain
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	  Gain			  "Kop"
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	  BlockType		  Sum
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	  ShowName		  off
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	  OutDataTypeMode	  "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
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	Block {
	  BlockType		  Outport
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	  SrcBlock		  "Discrete\nTransfer Fcn"
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	Line {
	  SrcBlock		  "Okd"
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	  Points		  [45, 0]
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	Line {
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	Line {
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	Line {
	  SrcBlock		  "In1"
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	  Points		  [55, 0]
	  Branch {
	    Points		    [0, 100]
	    DstBlock		    "Discrete-Time\nIntegrator1"
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	  Branch {
	    DstBlock		    "Okp"
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	  Branch {
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	    DstBlock		    "Discrete\nTransfer Fcn"
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	Line {
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	Line {
	  SrcBlock		  "Discrete-Time\nIntegrator1"
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    Block {
      BlockType		      Reference
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      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
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      ZeroCross		      off
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    Block {
      BlockType		      Reference
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      Ports		      []
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      BackgroundColor	      "yellow"
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      BlockType		      Reference
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      BackgroundColor	      "yellow"
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      BlockType		      Reference
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      BlockType		      SubSystem
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      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
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      System {
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	Open			off
	ModelBrowserVisibility	off
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	Block {
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	Block {
	  BlockType		  Gain
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	  ParameterDataType	  "sfix(16)"
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	Block {
	  BlockType		  Gain
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	  ParameterDataType	  "sfix(16)"
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	Block {
	  BlockType		  Reference
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	  BlockType		  Reference
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	  RTWMemSecDataInternal	  "Inherit from model"
	  RTWMemSecDataParameters "Inherit from model"
	  trig			  "Rising edge"
	  initCond		  "0"
	  latchinput		  "off"
	}
	Block {
	  BlockType		  Sum
	  Name			  "Sum"
	  Ports			  [2, 1]
	  Position		  [595, 80, 615, 100]
	  ShowName		  off
	  IconShape		  "round"
	  Inputs		  "|++"
	  CollapseMode		  "All dimensions"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  Port {
	    PortNumber		    1
	    Name		    "AbsPlusTape"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Switch
	  Name			  "Switch"
	  Position		  [560, 220, 590, 250]
	  Threshold		  "0.5"
	  InputSameDT		  off
	  Port {
	    PortNumber		    1
	    Name		    "InitialAbsEnc"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "Position Out"
	  Position		  [710, 83, 740, 97]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Latched Abs"
	  Position		  [705, 228, 735, 242]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Filtered Abs"
	  Position		  [710, 283, 740, 297]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "Abs In"
	  SrcPort		  1
	  DstBlock		  "K2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Encoder In"
	  SrcPort		  1
	  DstBlock		  "K1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "N-Sample\nEnable"
	  SrcPort		  1
	  Points		  [0, 0; 75, 0]
	  Branch {
	    Points		    [5, 0]
	    DstBlock		    "Sample\nand Hold"
	    DstPort		    trigger
	  }
	  Branch {
	    Points		    [75, 0; 0, 85]
	    DstBlock		    "Switch"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "Sample\nand Hold"
	  SrcPort		  1
	  DstBlock		  "Switch"
	  DstPort		  1
	}
	Line {
	  Name			  "InitialAbsEnc"
	  Labels		  [0, 0]
	  SrcBlock		  "Switch"
	  SrcPort		  1
	  Points		  [0, 0; 10, 0]
	  Branch {
	    DstBlock		    "Latched Abs"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Sum"
	    DstPort		    2
	  }
	}
	Line {
	  Name			  "AbsEnc"
	  Labels		  [0, 0]
	  SrcBlock		  "K2"
	  SrcPort		  1
	  Points		  [0, 0; 55, 0]
	  Branch {
	    DstBlock		    "Sample\nand Hold"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 65; 205, 0]
	    Branch {
	      DstBlock		      "Filtered Abs"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, -45]
	      DstBlock		      "Switch"
	      DstPort		      3
	    }
	  }
	}
	Line {
	  SrcBlock		  "K1"
	  SrcPort		  1
	  DstBlock		  "Sum"
	  DstPort		  1
	}
	Line {
	  Name			  "AbsPlusTape"
	  Labels		  [0, 0]
	  SrcBlock		  "Sum"
	  SrcPort		  1
	  DstBlock		  "Position Out"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Product
      Name		      "Product"
      Ports		      [2, 1]
      Position		      [1675, 1297, 1705, 1328]
      CollapseMode	      "All dimensions"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Product
      Name		      "Product1"
      Ports		      [2, 1]
      Position		      [2010, 1057, 2040, 1088]
      CollapseMode	      "All dimensions"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      SubSystem
      Name		      "Rate Feed Forward"
      Ports		      [1, 1, 1]
      Position		      [1700, 189, 1800, 231]
      TreatAsAtomicUnit	      on
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      System {
	Name			"Rate Feed Forward"
	Location		[421, 301, 919, 601]
	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		  [105, 98, 135, 112]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  EnablePort
	  Name			  "Enable"
	  Ports			  []
	  Position		  [235, 20, 255, 40]
	}
	Block {
	  BlockType		  DiscreteTransferFcn
	  Name			  "Discrete\nDifferentiator"
	  Position		  [190, 87, 250, 123]
	  Numerator		  "[numdd]"
	  Denominator		  "[dendd]"
	  SampleTime		  "Ts"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [400, 98, 430, 112]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Discrete\nDifferentiator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Discrete\nDifferentiator"
	  SrcPort		  1
	  DstBlock		  "Out1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      RateTransition
      Name		      "Rate Transition"
      Position		      [1300, 1799, 1340, 1841]
    }
    Block {
      BlockType		      RateTransition
      Name		      "Rate Transition1"
      Position		      [1580, 2009, 1620, 2051]
    }
    Block {
      BlockType		      RateTransition
      Name		      "Rate Transition2"
      Position		      [1915, 1379, 1945, 1421]
    }
    Block {
      BlockType		      Reference
      Name		      "Receive"
      Ports		      [0, 2]
      Position		      [1145, 1807, 1225, 1858]
      SourceBlock	      "xpclib/UDP/Receive"
      SourceType	      "xpcudpbytereceive"
      ipAddress		      "0.0.0.0"
      ipPort		      "54321"
      width		      "24"
      sampletime	      "Ts * 200"
    }
    Block {
      BlockType		      "S-Function"
      Name		      "S-Function Builder Encoder\nSynchronizer"
      Ports		      [2, 1]
      Position		      [470, 178, 630, 342]
      CopyFcn		      "set_param(gcbh,'LinkStatus','none')"
      OpenFcn		      "sfunctionwizard(gcbh)"
      FunctionName	      "encoder_sync"
      SFunctionModules	      "encoder_sync_wrapper "
      MaskType		      "S-Function Builder"
      MaskInitialization      "val = [[.9  0.75 0.75 1 1 .9 .9 1]',[1 1 0.75 0.75 .9 .9 1 .9]'];\nsys = get_param(gcbh,'FunctionName');"
      MaskDisplay	      "plot(val(:,1),val(:,2))\ndisp(sys)\nport_label('input',1,'res_in')\nport_label('input',2,'ind_in')\nport_label('output',1,'enc_out')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation1"
      Position		      [1210, 745, 1240, 775]
      UpperLimit	      "85"
      LowerLimit	      "15"
      SampleTime	      "Ts"
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation2"
      Position		      [2355, 905, 2385, 935]
      UpperLimit	      "DacLim"
      LowerLimit	      "-DacLim"
      SampleTime	      "Ts"
    }
    Block {
      BlockType		      Fcn
      Name		      "Scale to Torque"
      Position		      [1820, 1385, 1880, 1415]
      Expr		      "(0.0352 * (u^2)) * 1/15 * 3.75"
    }
    Block {
      BlockType		      Reference
      Name		      "Send"
      Ports		      [1]
      Position		      [1675, 2005, 1755, 2055]
      SourceBlock	      "xpclib/UDP/Send"
      SourceType	      "xpcudpbytesend"
      ipAddress		      "128.196.100.86"
      ipPort		      "1234"
      localPort		      "-1"
      sampletime	      "Ts * 200"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [1915, 115, 1945, 145]
      Time		      "0.25"
      Before		      "1"
      After		      "0"
      SampleTime	      "0.001"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [2295, 240, 2315, 260]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      CollapseMode	      "All dimensions"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [2365, 240, 2385, 260]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      CollapseMode	      "All dimensions"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [1665, 1070, 1685, 1090]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      CollapseMode	      "All dimensions"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1]
      Position		      [1505, 900, 1525, 920]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "-+|"
      CollapseMode	      "All dimensions"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum4"
      Ports		      [2, 1]
      Position		      [1900, 810, 1920, 830]
      Orientation	      "left"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      CollapseMode	      "All dimensions"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum5"
      Ports		      [2, 1]
      Position		      [1280, 330, 1300, 350]
      ShowName		      off
      IconShape		      "round"
      CollapseMode	      "All dimensions"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum6"
      Ports		      [2, 1]
      Position		      [2420, 275, 2440, 295]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      CollapseMode	      "All dimensions"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      MultiPortSwitch
      Name		      "SwCmd"
      Ports		      [3, 1]
      Position		      [1585, 227, 1615, 273]
      Inputs		      "2"
      zeroidx		      on
      InputSameDT	      off
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      MultiPortSwitch
      Name		      "SwDAC"
      Ports		      [3, 1]
      Position		      [2670, 227, 2700, 273]
      Inputs		      "2"
      zeroidx		      on
      InputSameDT	      off
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      MultiPortSwitch
      Name		      "SwFdbk1"
      Ports		      [3, 1]
      Position		      [1390, 290, 1420, 350]
      NamePlacement	      "alternate"
      Inputs		      "2"
      zeroidx		      on
      InputSameDT	      off
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      MultiPortSwitch
      Name		      "SwFdbk2"
      Ports		      [3, 1]
      Position		      [1515, 402, 1545, 448]
      NamePlacement	      "alternate"
      Inputs		      "2"
      zeroidx		      on
      InputSameDT	      off
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      MultiPortSwitch
      Name		      "SwTD"
      Ports		      [3, 1]
      Position		      [2505, 227, 2535, 273]
      Inputs		      "2"
      zeroidx		      on
      InputSameDT	      off
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      MultiPortSwitch
      Name		      "TapeHdSel"
      Ports		      [5, 1]
      Position		      [865, 1876, 900, 1974]
      zeroidx		      on
      InputSameDT	      off
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Constant
      Name		      "TapeHeadSel"
      Position		      [715, 1853, 770, 1887]
      Value		      "0"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
    }
    Block {
      BlockType		      Constant
      Name		      "TapeOrAbs"
      Position		      [1065, 420, 1095, 450]
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
    }
    Block {
      BlockType		      SubSystem
      Name		      "Ten Second Ramp"
      Ports		      [1, 1]
      Position		      [2180, 899, 2280, 941]
      MinAlgLoopOccurrences   off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      System {
	Name			"Ten Second Ramp"
	Location		[469, 241, 967, 541]
	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, 23, 45, 37]
	  ShowName		  off
	  IconDisplay		  "Signal name"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Constant
	  Name			  "Constant"
	  Position		  [25, 50, 55, 80]
	  Value			  "0.1"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  SampleTime		  "Ts"
	}
	Block {
	  BlockType		  DiscreteIntegrator
	  Name			  "Discrete-Time\nIntegrator"
	  Ports			  [2, 1]
	  Position		  [170, 56, 205, 89]
	  IntegratorMethod	  "Integration: Forward Euler"
	  gainval		  "0.5"
	  ExternalReset		  "level"
	  InitialConditionSource  "internal"
	  SampleTime		  "Ts"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  LimitOutput		  on
	  UpperSaturationLimit	  "1.0"
	  LowerSaturationLimit	  "0.0"
	  ICPrevOutput		  "DiscIntNeverNeededParam"
	  ICPrevScaledInput	  "DiscIntNeverNeededParam"
	}
	Block {
	  BlockType		  From
	  Name			  "From"
	  Position		  [25, 116, 65, 144]
	  GotoTag		  "Reset"
	  TagVisibility		  "global"
	}
	Block {
	  BlockType		  Product
	  Name			  "Product"
	  Ports			  [2, 1]
	  Position		  [385, 22, 415, 53]
	  CollapseMode		  "All dimensions"
	  InputSameDT		  off
	  OutDataTypeMode	  "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	  SaturateOnIntegerOverflow off
	}
	Block {
	  BlockType		  Saturate
	  Name			  "Saturation2"
	  Position		  [270, 60, 300, 90]
	  UpperLimit		  "1"
	  LowerLimit		  "0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Output"
	  Position		  [455, 33, 485, 47]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "Product"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Product"
	  SrcPort		  1
	  DstBlock		  "Output"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Constant"
	  SrcPort		  1
	  DstBlock		  "Discrete-Time\nIntegrator"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "From"
	  SrcPort		  1
	  Points		  [30, 0; 0, -50]
	  DstBlock		  "Discrete-Time\nIntegrator"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Saturation2"
	  SrcPort		  1
	  Points		  [35, 0; 0, -30]
	  DstBlock		  "Product"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Discrete-Time\nIntegrator"
	  SrcPort		  1
	  DstBlock		  "Saturation2"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator1"
      Position		      [280, 130, 300, 150]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator2"
      Position		      [275, 170, 295, 190]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator3"
      Position		      [1315, 1860, 1335, 1880]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator4"
      Position		      [245, 1925, 265, 1945]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator5"
      Position		      [245, 1965, 265, 1985]
    }
    Block {
      BlockType		      Constant
      Name		      "TestModeConstant"
      Position		      [390, 1425, 475, 1455]
      Value		      "0"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
    }
    Block {
      BlockType		      MultiPortSwitch
      Name		      "TestSrcSelect"
      Ports		      [6, 1]
      Position		      [605, 1525, 675, 1705]
      Inputs		      "5"
      zeroidx		      on
      InputSameDT	      off
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Reference
      Name		      "Thru PID"
      Ports		      [1, 1]
      Position		      [615, 1160, 645, 1190]
      SourceBlock	      "simulink/Logic and Bit\nOperations/Compare\nTo Constant"
      SourceType	      "Compare To Constant"
      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"
      relop		      "=="
      const		      "4"
      LogicOutDataTypeMode    "uint8"
      ZeroCross		      off
    }
    Block {
      BlockType		      Fcn
      Name		      "To Deg Conversion"
      Position		      [790, 245, 850, 275]
      Expr		      "180 - (u * (360 / (2^25))) + 29.76160884"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [2365, 1715, 2425, 1745]
      VariableName	      "modelsim"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      Gain
      Name		      "ToArcsec"
      Position		      [390, 1548, 440, 1592]
      Gain		      "0.007"
      ParameterDataTypeMode   "Inherit via internal rule"
      ParameterDataType	      "sfix(16)"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "ToSmall"
      Position		      [390, 1671, 435, 1709]
      Gain		      "1e-3"
      ParameterDataTypeMode   "Inherit via internal rule"
      ParameterDataType	      "sfix(16)"
      ParameterScaling	      "2^0"
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "ToVolts"
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  }
}
# Finite State Machines
#
#    Stateflow Version 6.7 (R2007b) dated Aug  7 2007, 16:48:14
#
#


Stateflow {
  machine {
    id			    1
    name		    "testElServo_vxmount12"
    created		    "10-Jan-2007 23:25:13"
    isLibrary		    0
    firstTarget		    2
    sfVersion		    67014000.000001
  }
  target {
    id			    2
    name		    "sfun"
    description		    "Default Simulink S-Function Target."
    machine		    1
    linkNode		    [1 0 3]
  }
  target {
    id			    3
    name		    "rtw"
    codeFlags		    " comments=1 statebitsets=1 databitsets=1 emitlogicalops=1 elseifdetection=1 constantfolding=1 redundantloadelimination=0 preservenames=0 preservenameswithparent=0 exportcharts=0"
    machine		    1
    linkNode		    [1 2 0]
  }
}