| <?xml version="1.0" encoding="UTF-8" standalone="no"?> |
| <MacroPackage xmlns="http://schemas.intempora.com/RTMaps/2011/RTMapsFiles" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://schemas.intempora.com/RTMaps/2011/RTMapsFiles http://www.intempora.com/schemas/RTMaps/2011/RTMapsDiagram.xsd http://schemas.intempora.com/RTMaps/2011/RTMapsFiles http://www.intempora.com/schemas/RTMaps/2011/RTMapsDiagram_RTBoardView.xsd"> |
| <RequiredPackages> |
| <File><![CDATA[C:\RTMaps 4\packages\rtmaps_wifibot.pck]]> |
| <Relative><![CDATA[%RTMAPS_INSTDIR%\packages\rtmaps_wifibot.pck]]></Relative> |
| </File> |
| </RequiredPackages> |
| <RequiredMacroPackages/> |
| <MacroComponentModel Model="actuation" Version=""> |
| <Component InstanceName="Vectorizer_4" Model="Vectorizer" x="312" y="208" z="0"> |
| <Input LongName="Vectorizer_4.input2" Name="input2"> |
| <Property LongName="Vectorizer_4.input2.readerType" Type="1">4</Property> |
| <Property LongName="Vectorizer_4.input2.subsampling" Type="1">1</Property> |
| </Input> |
| <Input LongName="Vectorizer_4.input1" Name="input1"> |
| <Property LongName="Vectorizer_4.input1.readerType" Type="1">4</Property> |
| <Property LongName="Vectorizer_4.input1.subsampling" Type="1">1</Property> |
| </Input> |
| <Output LongName="Vectorizer_4.outputInteger64" Name="outputInteger64"> |
| <Property LongName="Vectorizer_4.outputInteger64.fifosize" Type="1">16</Property> |
| <Property LongName="Vectorizer_4.outputInteger64.periodic" Type="0">false</Property> |
| <Property LongName="Vectorizer_4.outputInteger64.subsampling" Type="1">1</Property> |
| </Output> |
| <Output LongName="Vectorizer_4.outputInteger" Name="outputInteger"> |
| <Property LongName="Vectorizer_4.outputInteger.fifosize" Type="1">16</Property> |
| <Property LongName="Vectorizer_4.outputInteger.periodic" Type="0">false</Property> |
| <Property LongName="Vectorizer_4.outputInteger.subsampling" Type="1">1</Property> |
| </Output> |
| <Output LongName="Vectorizer_4.outputFloat" Name="outputFloat"> |
| <Property LongName="Vectorizer_4.outputFloat.fifosize" Type="1">16</Property> |
| <Property LongName="Vectorizer_4.outputFloat.periodic" Type="0">false</Property> |
| <Property LongName="Vectorizer_4.outputFloat.subsampling" Type="1">1</Property> |
| </Output> |
| <Output LongName="Vectorizer_4.outputFloat32" Name="outputFloat32"> |
| <Property LongName="Vectorizer_4.outputFloat32.fifosize" Type="1">16</Property> |
| <Property LongName="Vectorizer_4.outputFloat32.periodic" Type="0">false</Property> |
| <Property LongName="Vectorizer_4.outputFloat32.subsampling" Type="1">1</Property> |
| </Output> |
| <Property LongName="Vectorizer_4.nbInputs" Type="1">2</Property> |
| <Property LongName="Vectorizer_4.samplingMode" Type="4"><![CDATA[6|1|Synchronized|Periodic resampling|Asynchronous arrival on any of the inputs|Triggered by first input|Wait for at least 1 arrival on each input|Periodic resampling while post-processing]]></Property> |
| <Property LongName="Vectorizer_4.samplingPeriod" Type="1">50000</Property> |
| <Property LongName="Vectorizer_4.threaded" Type="0">true</Property> |
| <Property LongName="Vectorizer_4.priority" Type="1">128</Property> |
| <Property LongName="Vectorizer_4.autoStart" Type="0">false</Property> |
| </Component> |
| <Component InstanceName="wifibot_serial_2" Model="wifibot_serial" x="472" y="160" z="0"> |
| <Input LongName="wifibot_serial_2.ileft_and_right_speeds" Name="ileft_and_right_speeds"> |
| <Property LongName="wifibot_serial_2.ileft_and_right_speeds.readerType" Type="1">2</Property> |
| <Property LongName="wifibot_serial_2.ileft_and_right_speeds.subsampling" Type="1">1</Property> |
| </Input> |
| <Input LongName="wifibot_serial_2.iStream8" Name="iStream8"> |
| <Property LongName="wifibot_serial_2.iStream8.readerType" Type="1">0</Property> |
| <Property LongName="wifibot_serial_2.iStream8.subsampling" Type="1">1</Property> |
| </Input> |
| <Output LongName="wifibot_serial_2.odometers_left_right" Name="odometers_left_right"> |
| <Property LongName="wifibot_serial_2.odometers_left_right.fifosize" Type="1">16</Property> |
| <Property LongName="wifibot_serial_2.odometers_left_right.periodic" Type="0">false</Property> |
| <Property LongName="wifibot_serial_2.odometers_left_right.subsampling" Type="1">1</Property> |
| </Output> |
| <Output LongName="wifibot_serial_2.current" Name="current"> |
| <Property LongName="wifibot_serial_2.current.fifosize" Type="1">16</Property> |
| <Property LongName="wifibot_serial_2.current.periodic" Type="0">false</Property> |
| <Property LongName="wifibot_serial_2.current.subsampling" Type="1">1</Property> |
| </Output> |
| <Output LongName="wifibot_serial_2.version" Name="version"> |
| <Property LongName="wifibot_serial_2.version.fifosize" Type="1">16</Property> |
| <Property LongName="wifibot_serial_2.version.periodic" Type="0">false</Property> |
| <Property LongName="wifibot_serial_2.version.subsampling" Type="1">1</Property> |
| </Output> |
| <Output LongName="wifibot_serial_2.oStream8" Name="oStream8"> |
| <Property LongName="wifibot_serial_2.oStream8.fifosize" Type="1">16</Property> |
| <Property LongName="wifibot_serial_2.oStream8.periodic" Type="0">false</Property> |
| <Property LongName="wifibot_serial_2.oStream8.subsampling" Type="1">1</Property> |
| </Output> |
| <Output LongName="wifibot_serial_2.speeds_left_right" Name="speeds_left_right"> |
| <Property LongName="wifibot_serial_2.speeds_left_right.fifosize" Type="1">16</Property> |
| <Property LongName="wifibot_serial_2.speeds_left_right.periodic" Type="0">false</Property> |
| <Property LongName="wifibot_serial_2.speeds_left_right.subsampling" Type="1">1</Property> |
| </Output> |
| <Output LongName="wifibot_serial_2.battery" Name="battery"> |
| <Property LongName="wifibot_serial_2.battery.fifosize" Type="1">16</Property> |
| <Property LongName="wifibot_serial_2.battery.periodic" Type="0">false</Property> |
| <Property LongName="wifibot_serial_2.battery.subsampling" Type="1">1</Property> |
| </Output> |
| <Output LongName="wifibot_serial_2.infrared_left_right" Name="infrared_left_right"> |
| <Property LongName="wifibot_serial_2.infrared_left_right.fifosize" Type="1">16</Property> |
| <Property LongName="wifibot_serial_2.infrared_left_right.periodic" Type="0">false</Property> |
| <Property LongName="wifibot_serial_2.infrared_left_right.subsampling" Type="1">1</Property> |
| </Output> |
| <Property LongName="wifibot_serial_2.input_mode" Type="4"><![CDATA[2|0|Vectorized|Left/Right separated]]></Property> |
| <Property LongName="wifibot_serial_2.commands_send_period" Type="1">10000</Property> |
| <Property LongName="wifibot_serial_2.closed_loop_speed_control" Type="0">true</Property> |
| <Property LongName="wifibot_serial_2.pid_speed" Type="4"><![CDATA[2|1|10 ms|50 ms]]></Property> |
| <Property LongName="wifibot_serial_2.pInputFIFOSize" Type="1">1000</Property> |
| <Property LongName="wifibot_serial_2.pOutputFIFOsSize" Type="1">10</Property> |
| <Property LongName="wifibot_serial_2.threaded" Type="0">true</Property> |
| <Property LongName="wifibot_serial_2.priority" Type="1">128</Property> |
| <Property LongName="wifibot_serial_2.autoStart" Type="0">false</Property> |
| </Component> |
| <Component InstanceName="SerialPort_3" Model="SerialPort" x="560" y="40" z="0"> |
| <Input LongName="SerialPort_3.streamInput" Name="streamInput"> |
| <Property LongName="SerialPort_3.streamInput.readerType" Type="1">0</Property> |
| <Property LongName="SerialPort_3.streamInput.subsampling" Type="1">1</Property> |
| </Input> |
| <Input LongName="SerialPort_3.rts_state" Name="rts_state"> |
| <Property LongName="SerialPort_3.rts_state.readerType" Type="1">0</Property> |
| <Property LongName="SerialPort_3.rts_state.subsampling" Type="1">1</Property> |
| </Input> |
| <Input LongName="SerialPort_3.dtr_state" Name="dtr_state"> |
| <Property LongName="SerialPort_3.dtr_state.readerType" Type="1">0</Property> |
| <Property LongName="SerialPort_3.dtr_state.subsampling" Type="1">1</Property> |
| </Input> |
| <Output LongName="SerialPort_3.streamOutput" Name="streamOutput"> |
| <Property LongName="SerialPort_3.streamOutput.fifosize" Type="1">32</Property> |
| <Property LongName="SerialPort_3.streamOutput.periodic" Type="0">false</Property> |
| <Property LongName="SerialPort_3.streamOutput.subsampling" Type="1">1</Property> |
| </Output> |
| <Property LongName="SerialPort_3.port" Type="3"><![CDATA[COM1]]></Property> |
| <Property LongName="SerialPort_3.use_ring" Type="0">false</Property> |
| <Property LongName="SerialPort_3.baudrate" Type="4"><![CDATA[10|5|110|300|1200|2400|4800|9600|19200|38400|57600|115200]]></Property> |
| <Property LongName="SerialPort_3.parity" Type="4"><![CDATA[5|0|None|Even|Odd|Mark|Space]]></Property> |
| <Property LongName="SerialPort_3.stopbits" Type="4"><![CDATA[3|0|1|2|1,5]]></Property> |
| <Property LongName="SerialPort_3.byteSize" Type="4"><![CDATA[4|3|5|6|7|8]]></Property> |
| <Property LongName="SerialPort_3.flowControl" Type="4"><![CDATA[3|0|None|Xon/Xoff|Hardware (RTS/CTS)]]></Property> |
| <Property LongName="SerialPort_3.XonChar" Type="1">17</Property> |
| <Property LongName="SerialPort_3.XoffChar" Type="1">19</Property> |
| <Property LongName="SerialPort_3.min" Type="1">50</Property> |
| <Property LongName="SerialPort_3.wtime" Type="1">10000</Property> |
| <Property LongName="SerialPort_3.use_non_standard_baudrate" Type="0">false</Property> |
| <Property LongName="SerialPort_3.non_standard_baudrate" Type="1">10000</Property> |
| <Property LongName="SerialPort_3.verbose" Type="0">false</Property> |
| <Property LongName="SerialPort_3.threaded" Type="0">true</Property> |
| <Property LongName="SerialPort_3.priority" Type="1">255</Property> |
| <Property LongName="SerialPort_3.autoStart" Type="0">false</Property> |
| </Component> |
| <Connection Input="wifibot_serial_2.ileft_and_right_speeds" Output="Vectorizer_4.outputInteger"/> |
| <Connection Input="wifibot_serial_2.iStream8" Output="SerialPort_3.streamOutput"/> |
| <Connection Input="SerialPort_3.streamInput" Output="wifibot_serial_2.oStream8"/> |
| <Input Name="left_motor_ctl" Target="Vectorizer_4.input1"/> |
| <Input Name="right_motor_ctl" Target="Vectorizer_4.input2"/> |
| <RTBoardView ID="JavaStudio1.0"> |
| <Description/> |
| <ComponentBox InstanceName="Vectorizer_4" reversed="false"> |
| <Description/> |
| <InputInfos Name="input2"> |
| <Description/> |
| </InputInfos> |
| <InputInfos Name="input1"> |
| <Description/> |
| </InputInfos> |
| <OutputInfos Name="outputInteger64"> |
| <Description/> |
| </OutputInfos> |
| <OutputInfos Name="outputInteger"> |
| <Description/> |
| </OutputInfos> |
| <OutputInfos Name="outputFloat"> |
| <Description/> |
| </OutputInfos> |
| <OutputInfos Name="outputFloat32"> |
| <Description/> |
| </OutputInfos> |
| </ComponentBox> |
| <ComponentBox InstanceName="wifibot_serial_2" reversed="false"> |
| <Description/> |
| <InputInfos Name="ileft_and_right_speeds"> |
| <Description/> |
| </InputInfos> |
| <InputInfos Name="iStream8"> |
| <Description/> |
| </InputInfos> |
| <OutputInfos Name="odometers_left_right"> |
| <Description/> |
| </OutputInfos> |
| <OutputInfos Name="current"> |
| <Description/> |
| </OutputInfos> |
| <OutputInfos Name="version"> |
| <Description/> |
| </OutputInfos> |
| <OutputInfos Name="oStream8"> |
| <Description/> |
| </OutputInfos> |
| <OutputInfos Name="speeds_left_right"> |
| <Description/> |
| </OutputInfos> |
| <OutputInfos Name="battery"> |
| <Description/> |
| </OutputInfos> |
| <OutputInfos Name="infrared_left_right"> |
| <Description/> |
| </OutputInfos> |
| </ComponentBox> |
| <ComponentBox InstanceName="SerialPort_3" reversed="false"> |
| <Description/> |
| <InputInfos Name="streamInput"> |
| <Description/> |
| </InputInfos> |
| <InputInfos Name="rts_state"> |
| <Description/> |
| </InputInfos> |
| <InputInfos Name="dtr_state"> |
| <Description/> |
| </InputInfos> |
| <OutputInfos Name="streamOutput"> |
| <Description/> |
| </OutputInfos> |
| </ComponentBox> |
| <InputBox InstanceName="right_motor_ctl" reversed="false" x="152" y="296" z="-1"> |
| <Description/> |
| </InputBox> |
| <InputBox InstanceName="left_motor_ctl" reversed="false" x="152" y="136" z="-1"> |
| <Description/> |
| </InputBox> |
| <ConnectionShape InstanceName="wifibot_serial_2.ileft_and_right_speeds" color="0"/> |
| <ConnectionShape InstanceName="wifibot_serial_2.iStream8" color="0"/> |
| <ConnectionShape InstanceName="SerialPort_3.streamInput" color="0"/> |
| </RTBoardView> |
| </MacroComponentModel> |
| </MacroPackage> |
