Model {
  Name			  "prueba_1_adcTors232"
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  MdlSubVersion		  0
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  ToolBar		  on
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  Created		  "Tue Sep 30 20:04:21 2008"
  Creator		  "Cesar"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "Cesar"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Fri Oct 03 23:48:51 2008"
  RTWModifiedTimeStamp	  0
  ModelVersionFormat	  "1.%<AutoIncrement:8>"
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  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
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  CovPath		  "/"
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	Simulink.OptimizationCC {
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	  CheckSSInitialOutputMsg on
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	  UnnecessaryDatatypeConvMsg "none"
	  VectorMatrixConversionMsg "none"
	  InvalidFcnCallConnMsg	  "error"
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	  SignalLabelMismatchMsg  "none"
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	  BusObjectLabelMismatch  "warning"
	  RootOutportRequireBusObject "warning"
	  AssertControl		  "UseLocalSettings"
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	  ModelReferenceIOMsg	  "none"
	  ModelReferenceVersionMismatchMessage "none"
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	Simulink.RTWCC {
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	  MakeCommand		  "make_rtw"
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	  TemplateMakefile	  "dspic_pic30_gcc.tmf"
	  PostCodeGenCommand	  "dsPIC_Compile()"
	  Description		  "Embedded Target for Microchip dsPIC (real-time)"
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	    Simulink.CodeAppCC {
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	      Version		      "1.4.0"
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	      CustomSymbolStrGlobalVar "$R$N$M"
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	    Simulink.STFCustomTargetCC {
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	      Array {
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		Cell			"GenerateSampleERTMain"
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	      Version		      "1.4.0"
	      TargetFcnLib	      "ansi_tfl_table_tmw.mat"
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		  InlinedParameterPlacement "NonHierarchical"
		  TargetOS		  "BareBoardExample"
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		  ParamTuneLevel	  10
		  GlobalDataDefinition	  "Auto"
		  DataDefinitionFile	  "global.c"
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		    single		    ""
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	      CustomProperty {
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		Name			"GMAKE_PLACE"
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		Name			"OPTIM_GCC"
		Value			"-mcpu=30f4011 -O3 -fschedule-insns -fschedule-insns2                            -fno-short-double"
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	      CustomProperty {
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		Name			"LDFLAGS"
		Value			"-t --report-mem -Map ../untitled.map --heap 0  -cref"
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		Name			"LDPICTYPE"
		Value			"-T C:\\PROGRA~1\\MICROC~1\\MPLABC~2\\support\\dsPIC30F\\gld\\p30f4011.gld"
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	      CustomProperty {
		DataType		"string"
		Name			"LDLIBPIC"
		Value			"C:\\PROGRA~1\\MICROC~1\\MPLABC~2\\lib\\libpic30-coff.a  C:\\PROGRA~1\\MICROC~1\\MPLABC~2\\lib\\dsPIC30F\\libp30f4011-coff.a C:\\PROGRA~1\\MICROC~1\\MPLABC~2\\lib\\libc-coff.a C:\\PROGRA~1\\MICROC~1\\MPLABC~2\\lib\\libm-coff.a"
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	      CustomProperty {
		DataType		"string"
		Name			"PIC_INCLUDES"
		Value			"-I C:\\PROGRA~1\\MICROC~1\\MPLABC~2\\include"
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		Name			"PIC_REF"
		Value			"30f4011"
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		Name			"GCCPATH"
		Value			"''"
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	  Description		  "HDL Coder custom configuration component"
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	PropName		"Components"
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      Name		      "Configuration"
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      CurrentDlgPage	      "Real-Time Workshop"
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    PropName		    "ConfigurationSets"
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    $ObjectID		    1
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    ForegroundColor	    "black"
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    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
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      BlockType		      DataTypeConversion
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Inherit via back propagation"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: Inherit via back propagation"
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      ConvertRealWorld	      "Real World Value (RWV)"
      RndMeth		      "Zero"
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      SampleTime	      "-1"
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      BlockType		      Demux
      Outputs		      "4"
      DisplayOption	      "none"
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      SampleTime	      "1"
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    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	      "[]"
      OutDataTypeStr	      "Inherit: Inherit via internal rule"
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      RndMeth		      "Floor"
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      LowerSaturationLimit    "-inf"
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      IgnoreLimit	      off
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      RTWStateStorageClass    "Auto"
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    Block {
      BlockType		      Fcn
      Expr		      "sin(u[1])"
      SampleTime	      "-1"
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    Block {
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      Port		      "1"
      UseBusObject	      off
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      OutMin		      "[]"
      OutMax		      "[]"
      DataType		      "auto"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: auto"
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	  Branch {
	    DstBlock		    "Discrete-Time\nIntegrator"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Torques"
	  SrcPort		  1
	  DstBlock		  "C Function Call"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Discrete-Time\nIntegrator"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    Points		    [20, 0; 0, -55]
	    DstBlock		    "REAL Velocidades"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Discrete-Time\nIntegrator1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 105; -295, 0; 0, -85]
	    DstBlock		    "C Function Call"
	    DstPort		    3
	  }
	}
	Line {
	  SrcBlock		  "Discrete-Time\nIntegrator1"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    DstBlock		    "REAL Aceleraciones"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 125; -400, 0; 0, -125]
	    DstBlock		    "C Function Call"
	    DstPort		    2
	  }
	}
      }
    }
    Block {
      BlockType		      Reference
      Name		      "Master"
      Tag		      "dsPIC_MASTER"
      Ports		      []
      Position		      [24, 15, 124, 65]
      BackgroundColor	      "lightBlue"
      DropShadow	      on
      Priority		      "1"
      List {
	ListType		RTWdata
	NumBusyPort		"-1"
      }
      SourceBlock	      "dsPICdrivers/Master"
      SourceType	      "Master"
      TimeStepType	      "Timer1"
      picType		      "30f4011"
      fcy		      "5e6"
      Quartz_33f	      "5e6"
      PLLActive_33f	      off
      fcyDesired_33f	      "0"
      tmr1		      "[1  4999  0]"
      tmr1Info		      "Time Step : 0.001  ;   Error : 0%  PR1=4999"
      tmr2345		      "[0  0  0  0]"
      tmr2345cfg	      "[-1 -1 -1 -1]"
      IOautoConf	      on
      typePort		      "[ 0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  5  4  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0  0 ]"
      TRIS		      "[ 65535  65535  65535  65535  65535  65535  65535 ]"
      ADPCFG		      "0"
      MasterBusyPort	      "None"
      MasterOverloadPort      "None"
      FOSC		      "LP"
      TempProtection_33f      "TEMP_ON"
      FPBOR		      "PBOR_OFF"
      PWRT		      "PWRT_OFF"
      MCLR		      "MCLR_EN"
      PowerSave		      off
    }
    Block {
      BlockType		      SubSystem
      Name		      "PLANEACION DE TRAYECTORIAS"
      Ports		      [0, 3]
      Position		      [30, 440, 150, 500]
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      System {
	Name			"PLANEACION DE TRAYECTORIAS"
	Location		[584, 307, 1198, 594]
	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		  Fcn
	  Name			  "Articulacion 1"
	  Position		  [110, 85, 170, 115]
	  Expr			  "180/360*(1-cos(u*pi/10))"
	  SampleTime		  "0.001"
	}
	Block {
	  BlockType		  Fcn
	  Name			  "Articulacion 2"
	  Position		  [110, 140, 170, 170]
	  Expr			  "180/360*(1-cos(u*pi/10))"
	  SampleTime		  "0.001"
	}
	Block {
	  BlockType		  DigitalClock
	  Name			  "Digital Clock"
	  Position		  [15, 88, 80, 112]
	  SampleTime		  "0.001"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Discrete Derivative"
	  Ports			  [1, 1]
	  Position		  [240, 82, 300, 118]
	  SourceBlock		  "simulink/Discrete/Discrete Derivative"
	  SourceType		  "Discrete Derivative"
	  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"
	  gainval		  "1.0"
	  ICPrevScaledInput	  "0.0"
	  OutMin		  "[]"
	  OutMax		  "[]"
	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
	  OutputDataTypeScalingMode "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^-10"
	  LockScale		  off
	  RndMeth		  "Floor"
	  DoSatur		  off
	}
	Block {
	  BlockType		  Reference
	  Name			  "Discrete Derivative1"
	  Ports			  [1, 1]
	  Position		  [240, 137, 300, 173]
	  SourceBlock		  "simulink/Discrete/Discrete Derivative"
	  SourceType		  "Discrete Derivative"
	  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"
	  gainval		  "1.0"
	  ICPrevScaledInput	  "0.0"
	  OutMin		  "[]"
	  OutMax		  "[]"
	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
	  OutputDataTypeScalingMode "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^-10"
	  LockScale		  off
	  RndMeth		  "Floor"
	  DoSatur		  off
	}
	Block {
	  BlockType		  Reference
	  Name			  "Discrete Derivative2"
	  Ports			  [1, 1]
	  Position		  [380, 82, 440, 118]
	  SourceBlock		  "simulink/Discrete/Discrete Derivative"
	  SourceType		  "Discrete Derivative"
	  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"
	  gainval		  "1.0"
	  ICPrevScaledInput	  "0.0"
	  OutMin		  "[]"
	  OutMax		  "[]"
	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
	  OutputDataTypeScalingMode "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^-10"
	  LockScale		  off
	  RndMeth		  "Floor"
	  DoSatur		  off
	}
	Block {
	  BlockType		  Reference
	  Name			  "Discrete Derivative3"
	  Ports			  [1, 1]
	  Position		  [380, 137, 440, 173]
	  SourceBlock		  "simulink/Discrete/Discrete Derivative"
	  SourceType		  "Discrete Derivative"
	  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"
	  gainval		  "1.0"
	  ICPrevScaledInput	  "0.0"
	  OutMin		  "[]"
	  OutMax		  "[]"
	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
	  OutputDataTypeScalingMode "Inherit via internal rule"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^-10"
	  LockScale		  off
	  RndMeth		  "Floor"
	  DoSatur		  off
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [2, 1]
	  Position		  [290, 26, 295, 64]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux2"
	  Ports			  [2, 1]
	  Position		  [360, 206, 365, 244]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux3"
	  Ports			  [2, 1]
	  Position		  [500, 106, 505, 144]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "REF Aceleraciones"
	  Position		  [545, 118, 575, 132]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "REF Velocidades"
	  Position		  [400, 218, 430, 232]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  Outport
	  Name			  "REF Pocisiones"
	  Position		  [335, 38, 365, 52]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Line {
	  SrcBlock		  "Digital Clock"
	  SrcPort		  1
	  Points		  [5, 0]
	  Branch {
	    DstBlock		    "Articulacion 1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 55]
	    DstBlock		    "Articulacion 2"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Mux3"
	  SrcPort		  1
	  DstBlock		  "REF Aceleraciones"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux2"
	  SrcPort		  1
	  DstBlock		  "REF Velocidades"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  DstBlock		  "REF Pocisiones"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Articulacion 1"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    Points		    [0, -65]
	    DstBlock		    "Mux1"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Discrete Derivative"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Articulacion 2"
	  SrcPort		  1
	  Points		  [20, 0]
	  Branch {
	    Points		    [0, -100]
	    DstBlock		    "Mux1"
	    DstPort		    2
	  }
	  Branch {
	    DstBlock		    "Discrete Derivative1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Discrete Derivative"
	  SrcPort		  1
	  Points		  [30, 0]
	  Branch {
	    Points		    [0, 115]
	    DstBlock		    "Mux2"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Discrete Derivative2"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Discrete Derivative1"
	  SrcPort		  1
	  Points		  [40, 0]
	  Branch {
	    DstBlock		    "Mux2"
	    DstPort		    2
	  }
	  Branch {
	    DstBlock		    "Discrete Derivative3"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Discrete Derivative2"
	  SrcPort		  1
	  Points		  [30, 0; 0, 15]
	  DstBlock		  "Mux3"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Discrete Derivative3"
	  SrcPort		  1
	  Points		  [30, 0; 0, -20]
	  DstBlock		  "Mux3"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [3, 1]
      Position		      [230, 305, 250, 325]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      OutDataTypeStr	      "Inherit: Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [435, 275, 455, 295]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      OutDataTypeStr	      "Inherit: Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [180, 480, 200, 500]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      OutDataTypeStr	      "Inherit: Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1]
      Position		      [250, 460, 270, 480]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      InputSameDT	      off
      OutDataTypeMode	      "Inherit via internal rule"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      OutDataTypeStr	      "Inherit: Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Reference
      Name		      "Tx Output"
      Tag		      "dsPIC_TX"
      Ports		      [1]
      Position		      [550, 128, 620, 162]
      Priority		      "5"
      SourceBlock	      "dsPICdrivers/Serial PORT/Tx Output"
      SourceType	      "Serial Transmition"
      UART		      "1"
      OrderingInOutPopup      "None"
    }
    Block {
      BlockType		      Reference
      Name		      "UART Configuration"
      Tag		      "dsPIC_config_UART"
      Ports		      []
      Position		      [290, 18, 390, 68]
      BackgroundColor	      "lightBlue"
      DropShadow	      on
      Priority		      "2"
      List {
	ListType		RTWdata
	RxBufferSize		"32"
      }
      SourceBlock	      "dsPICdrivers/Serial PORT/UART Configuration"
      SourceType	      "Configure UART"
      UART		      "1"
      proposed_BAUD	      "9600"
      ALT_TX_RX		      on
      InterruptTxWhen	      "When Transmit Buffer is empty"
      TXInterruptPri	      "1"
      TxBufferSize	      "32"
      TXEN		      on
      InterruptRxWhen	      "When Receive Buffer is full (contain 4 characters)"
      RXInterruptPri	      "2"
      RxBufferSize	      "32"
      BAUD		      "9600"
      UxBRG		      "32"
      Info		      "UxBRG = 32   ||  Real Baud : 9470   ||  % error : -1.3573  ||  max 0.94697 Bytes / Step"
      RealBaud		      "0"
    }
    Line {
      SrcBlock		      "Data Type Conversion"
      SrcPort		      1
      DstBlock		      "Tx Output"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Articulacion 1"
      SrcPort		      1
      DstBlock		      "Data Type Conversion"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [15, 0]
      DstBlock		      "Kp"
      DstPort		      1
    }
    Line {
      SrcBlock		      "MANIPULADOR"
      SrcPort		      3
      Points		      [35, 0; 0, 40]
      Branch {
	Points			[0, 160; -260, 0]
	Branch {
	  Points		  [-105, 0]
	  Branch {
	    DstBlock		    "Sum2"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [0, -220]
	    DstBlock		    "Da"
	    DstPort		    2
	  }
	}
	Branch {
	  DstBlock		  "Ha"
	  DstPort		  1
	}
      }
      Branch {
	Points			[35, 0; 0, -135; -425, 0]
	DstBlock		"Articulacion 1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "PLANEACION DE TRAYECTORIAS"
      SrcPort		      2
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "MANIPULADOR"
      SrcPort		      2
      Points		      [15, 0; 0, 210; -215, 0]
      Branch {
	DstBlock		"Sum3"
	DstPort			2
      }
      Branch {
	DstBlock		"Ha"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Kp"
      SrcPort		      1
      Points		      [0, -23]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      Points		      [10, 0]
      DstBlock		      "Kp1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Kp1"
      SrcPort		      1
      Points		      [0, -10]
      DstBlock		      "Sum"
      DstPort		      3
    }
    Line {
      SrcBlock		      "PLANEACION DE TRAYECTORIAS"
      SrcPort		      1
      Points		      [30, 0; 0, -147]
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [85, 0]
      DstBlock		      "Da"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "MANIPULADOR"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Ha"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Da"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "PLANEACION DE TRAYECTORIAS"
      SrcPort		      3
      DstBlock		      "Sum2"
      DstPort		      1
    }
  }
}
# Finite State Machines
#
#    Stateflow Version 7.1 (R2008a) dated Feb  7 2008, 21:38:28
#
#


Stateflow {
  machine {
    id			    1
    name		    "prueba_1_adcTors232"
    created		    "30-Sep-2008 20:32:09"
    isLibrary		    0
    firstTarget		    32
    sfVersion		    71014000.000003
  }
  chart {
    id			    2
    name		    "Kp"
    windowPosition	    [296.813 340.875 200.25 189.75]
    viewLimits		    [0 156.75 0 153.75]
    screen		    [1 1 1280 800 1.333333333333333]
    treeNode		    [0 3 0 0]
    firstTransition	    5
    firstJunction	    4
    viewObj		    2
    machine		    1
    subviewS {
    }
    ssIdHighWaterMark	    5
    decomposition	    CLUSTER_CHART
    type		    EML_CHART
    firstData		    6
    chartFileNumber	    2
    disableImplicitCasting  1
    eml {
      name		      "Kp"
    }
  }
  state {
    id			    3
    labelString		    "eML_blk_kernel()"
    position		    [18 64.5 118 66]
    fontSize		    12
    chart		    2
    treeNode		    [2 0 0 0]
    superState		    SUBCHART
    subviewer		    2
    ssIdNumber		    1
    type		    FUNC_STATE
    decomposition	    CLUSTER_STATE
    eml {
      isEML		      1
      script		      "function y = Kp(u)\n% This block supports an embeddable subset of the MATLAB language.\n% See the help menu for details. \n\ny = [1000,0;0,1000]*u;"
      editorLayout	      "100 M4x1[156 136 671 364]"
    }
  }
  junction {
    id			    4
    position		    [23.5747 49.5747 7]
    chart		    2
    linkNode		    [2 0 0]
    subviewer		    2
    ssIdNumber		    3
    type		    CONNECTIVE_JUNCTION
  }
  transition {
    id			    5
    labelString		    "{eML_blk_kernel();}"
    labelPosition	    [32.125 19.875 102.544 14.964]
    fontSize		    12
    src {
      intersection	      [0 0 1 0 23.5747 14.625 0 0]
    }
    dst {
      id		      4
      intersection	      [7 0 -1 -1 23.5747 42.5747 0 0]
    }
    midPoint		    [23.5747 24.9468]
    chart		    2
    linkNode		    [2 0 0]
    dataLimits		    [23.575 23.575 14.625 34.575]
    subviewer		    2
    drawStyle		    SMART
    executionOrder	    1
    ssIdNumber		    2
  }
  data {
    id			    6
    ssIdNumber		    4
    name		    "u"
    linkNode		    [2 0 7]
    scope		    INPUT_DATA
    machine		    1
    props {
      array {
	size			"2"
	firstIndex		"1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	fixpt {
	  scalingMode		  SF_FIXPT_BINARY_POINT
	}
      }
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    7
    ssIdNumber		    5
    name		    "y"
    linkNode		    [2 6 0]
    scope		    OUTPUT_DATA
    machine		    1
    props {
      array {
	size			"2"
	firstIndex		"1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	fixpt {
	  scalingMode		  SF_FIXPT_BINARY_POINT
	}
      }
      frame		      SF_FRAME_NO
    }
    dataType		    "Inherit: Same as Simulink"
  }
  instance {
    id			    8
    name		    "Kp"
    machine		    1
    chart		    2
  }
  chart {
    id			    9
    name		    "Kp1"
    windowPosition	    [311.813 325.875 200.25 189.75]
    viewLimits		    [0 156.75 0 153.75]
    screen		    [1 1 1280 800 1.333333333333333]
    treeNode		    [0 10 0 0]
    firstTransition	    12
    firstJunction	    11
    viewObj		    9
    machine		    1
    subviewS {
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    ssIdHighWaterMark	    5
    decomposition	    CLUSTER_CHART
    type		    EML_CHART
    firstData		    13
    chartFileNumber	    3
    disableImplicitCasting  1
    eml {
      name		      "Kv"
    }
  }
  state {
    id			    10
    labelString		    "eML_blk_kernel()"
    position		    [18 64.5 118 66]
    fontSize		    12
    chart		    9
    treeNode		    [9 0 0 0]
    superState		    SUBCHART
    subviewer		    9
    ssIdNumber		    1
    type		    FUNC_STATE
    decomposition	    CLUSTER_STATE
    eml {
      isEML		      1
      script		      "function y = Kv(u)\n% This block supports an embeddable subset of the MATLAB language.\n% See the help menu for details. \n\ny = [100,0;0,100]*u;"
      editorLayout	      "100 M4x1[140 272 677 455]"
    }
  }
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    id			    11
    position		    [23.5747 49.5747 7]
    chart		    9
    linkNode		    [9 0 0]
    subviewer		    9
    ssIdNumber		    3
    type		    CONNECTIVE_JUNCTION
  }
  transition {
    id			    12
    labelString		    "{eML_blk_kernel();}"
    labelPosition	    [32.125 19.875 102.544 14.964]
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    src {
      intersection	      [0 0 1 0 23.5747 14.625 0 0]
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      id		      11
      intersection	      [7 0 -1 -1 23.5747 42.5747 0 0]
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    midPoint		    [23.5747 24.9468]
    chart		    9
    linkNode		    [9 0 0]
    dataLimits		    [23.575 23.575 14.625 34.575]
    subviewer		    9
    drawStyle		    SMART
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    ssIdNumber		    2
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    id			    13
    ssIdNumber		    4
    name		    "u"
    linkNode		    [9 0 14]
    scope		    INPUT_DATA
    machine		    1
    props {
      array {
	size			"2"
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	fixpt {
	  scalingMode		  SF_FIXPT_BINARY_POINT
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      }
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    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    14
    ssIdNumber		    5
    name		    "y"
    linkNode		    [9 13 0]
    scope		    OUTPUT_DATA
    machine		    1
    props {
      array {
	size			"2"
	firstIndex		"1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	fixpt {
	  scalingMode		  SF_FIXPT_BINARY_POINT
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      }
      frame		      SF_FRAME_NO
    }
    dataType		    "Inherit: Same as Simulink"
  }
  instance {
    id			    15
    name		    "Kp1"
    machine		    1
    chart		    9
  }
  chart {
    id			    16
    name		    "Da"
    windowPosition	    [296.813 340.875 200.25 189.75]
    viewLimits		    [0 156.75 0 153.75]
    screen		    [1 1 1280 800 1.333333333333333]
    treeNode		    [0 17 0 0]
    firstTransition	    19
    firstJunction	    18
    viewObj		    16
    machine		    1
    subviewS {
    }
    ssIdHighWaterMark	    6
    decomposition	    CLUSTER_CHART
    type		    EML_CHART
    firstData		    20
    chartFileNumber	    4
    disableImplicitCasting  1
    eml {
      name		      "Da"
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  }
  state {
    id			    17
    labelString		    "eML_blk_kernel()"
    position		    [18 64.5 118 66]
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    chart		    16
    treeNode		    [16 0 0 0]
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    subviewer		    16
    ssIdNumber		    1
    type		    FUNC_STATE
    decomposition	    CLUSTER_STATE
    eml {
      isEML		      1
      script		      "function y = Da(entrada,Pocisiones)\n% This block supports an embeddable subset of the MATLAB language.\n% See the help menu for details. \nP_thet2=Pocisiones(2,1);\nD=[.123e8*cos(P_thet2)+.121e9, .613e7*cos(P_thet2)+.974e7;.613e7*cos(P_thet2)+.974e7,.974e7];\ny =D*entrada;"
      editorLayout	      "100 M4x1[328 382 671 364]"
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  junction {
    id			    18
    position		    [23.5747 49.5747 7]
    chart		    16
    linkNode		    [16 0 0]
    subviewer		    16
    ssIdNumber		    3
    type		    CONNECTIVE_JUNCTION
  }
  transition {
    id			    19
    labelString		    "{eML_blk_kernel();}"
    labelPosition	    [32.125 19.875 102.544 14.964]
    fontSize		    12
    src {
      intersection	      [0 0 1 0 23.5747 14.625 0 0]
    }
    dst {
      id		      18
      intersection	      [7 0 -1 -1 23.5747 42.5747 0 0]
    }
    midPoint		    [23.5747 24.9468]
    chart		    16
    linkNode		    [16 0 0]
    dataLimits		    [23.575 23.575 14.625 34.575]
    subviewer		    16
    drawStyle		    SMART
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    ssIdNumber		    2
  }
  data {
    id			    20
    ssIdNumber		    4
    name		    "entrada"
    linkNode		    [16 0 21]
    scope		    INPUT_DATA
    machine		    1
    props {
      array {
	size			"2"
	firstIndex		"1"
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      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	fixpt {
	  scalingMode		  SF_FIXPT_BINARY_POINT
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      }
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    21
    ssIdNumber		    5
    name		    "y"
    linkNode		    [16 20 22]
    scope		    OUTPUT_DATA
    machine		    1
    props {
      array {
	size			"2"
	firstIndex		"1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	fixpt {
	  scalingMode		  SF_FIXPT_BINARY_POINT
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      }
      frame		      SF_FRAME_NO
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    22
    ssIdNumber		    6
    name		    "Pocisiones"
    linkNode		    [16 21 0]
    scope		    INPUT_DATA
    machine		    1
    props {
      array {
	size			"2"
	firstIndex		"1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	fixpt {
	  scalingMode		  SF_FIXPT_BINARY_POINT
	}
      }
    }
    dataType		    "Inherit: Same as Simulink"
  }
  instance {
    id			    23
    name		    "Da"
    machine		    1
    chart		    16
  }
  chart {
    id			    24
    name		    "Ha"
    windowPosition	    [326.813 310.875 200.25 189.75]
    viewLimits		    [0 156.75 0 153.75]
    screen		    [1 1 1280 800 1.333333333333333]
    treeNode		    [0 25 0 0]
    firstTransition	    27
    firstJunction	    26
    viewObj		    24
    machine		    1
    subviewS {
    }
    ssIdHighWaterMark	    6
    decomposition	    CLUSTER_CHART
    type		    EML_CHART
    firstData		    28
    chartFileNumber	    5
    disableImplicitCasting  1
    eml {
      name		      "ha"
    }
  }
  state {
    id			    25
    labelString		    "eML_blk_kernel()"
    position		    [18 64.5 118 66]
    fontSize		    12
    chart		    24
    treeNode		    [24 0 0 0]
    superState		    SUBCHART
    subviewer		    24
    ssIdNumber		    1
    type		    FUNC_STATE
    decomposition	    CLUSTER_STATE
    eml {
      isEML		      1
      script		      "function y = ha(Pocisiones,Velocidades)\n% This block supports an embeddable subset of the MATLAB language.\n% See the help menu for details. \n\nP_thet1=Pocisiones(1,1);\nP_thet2=Pocisiones(2,1);\nV_thet1=Velocidades(1,1);\nV_thet2=Velocidades(2,1);\n\nH=[ -.613e7*V_thet2*sin(P_thet2)*(2.*V_thet1+V_thet2);.613e7*V_thet1^2*sin(P_thet2)];\ny = H;"
      editorLayout	      "100 M4x1[344 363 671 364]"
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  }
  junction {
    id			    26
    position		    [23.5747 49.5747 7]
    chart		    24
    linkNode		    [24 0 0]
    subviewer		    24
    ssIdNumber		    3
    type		    CONNECTIVE_JUNCTION
  }
  transition {
    id			    27
    labelString		    "{eML_blk_kernel();}"
    labelPosition	    [32.125 19.875 102.544 14.964]
    fontSize		    12
    src {
      intersection	      [0 0 1 0 23.5747 14.625 0 0]
    }
    dst {
      id		      26
      intersection	      [7 0 -1 -1 23.5747 42.5747 0 0]
    }
    midPoint		    [23.5747 24.9468]
    chart		    24
    linkNode		    [24 0 0]
    dataLimits		    [23.575 23.575 14.625 34.575]
    subviewer		    24
    drawStyle		    SMART
    executionOrder	    1
    ssIdNumber		    2
  }
  data {
    id			    28
    ssIdNumber		    4
    name		    "Pocisiones"
    linkNode		    [24 0 29]
    scope		    INPUT_DATA
    machine		    1
    props {
      array {
	size			"2"
	firstIndex		"1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	fixpt {
	  scalingMode		  SF_FIXPT_BINARY_POINT
	}
      }
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    29
    ssIdNumber		    5
    name		    "y"
    linkNode		    [24 28 30]
    scope		    OUTPUT_DATA
    machine		    1
    props {
      array {
	size			"2"
	firstIndex		"1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	fixpt {
	  scalingMode		  SF_FIXPT_BINARY_POINT
	}
      }
      frame		      SF_FRAME_NO
    }
    dataType		    "Inherit: Same as Simulink"
  }
  data {
    id			    30
    ssIdNumber		    6
    name		    "Velocidades"
    linkNode		    [24 29 0]
    scope		    INPUT_DATA
    machine		    1
    props {
      array {
	size			"-1"
	firstIndex		"1"
      }
      type {
	method			SF_INHERITED_TYPE
	primitive		SF_DOUBLE_TYPE
	fixpt {
	  scalingMode		  SF_FIXPT_BINARY_POINT
	}
      }
    }
    dataType		    "Inherit: Same as Simulink"
  }
  instance {
    id			    31
    name		    "Ha"
    machine		    1
    chart		    24
  }
  target {
    id			    32
    name		    "sfun"
    description		    "Default Simulink S-Function Target."
    machine		    1
    linkNode		    [1 0 33]
  }
  target {
    id			    33
    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 32 0]
  }
}