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iss17/08_feature_implementation_02
Wouter Horlings 5 年前
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共有 5 个文件被更改，包括 986 次插入 和 13 次删除
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  1. +15
    -0
      implementation/library/Motor/SG90.emx
  2. +924
    -0
      implementation/library/Motor/stepper.emx
  3. +22
    -0
      implementation/library/Motor/stepper2.emx
  4. +19
    -7
      implementation/library/Motor/stepper_control.emx
  5. +6
    -6
      implementation/library/Motor/stepper_model.emx

+ 15
- 0
implementation/library/Motor/SG90.emx
文件差异内容过多而无法显示
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+ 924
- 0
implementation/library/Motor/stepper.emx 查看文件

@@ -0,0 +1,924 @@
<?xml version="1.0" encoding="UTF-8"?>
<Document>
<Model version="4.8" build="4.8.2.10124">
<Sidops><![CDATA[model 128 184
description '<Information>
<Description>
<Version>4.8</Version>
<IsMainModel>0</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Motor\stepper.emx</LibraryPath>
<TimeStamp>2020-7-22 10:04:43</TimeStamp>
</Description>
</Information>';
type Mainmodel
end;
implementation bg
submodels
stepper 464 224
description '<Information>
<Description>
<Version>4.8</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
<LibraryPath>Motor\stepper2.emx</LibraryPath>
<TimeStamp>2020-7-22 10:04:39</TimeStamp>
</Description>
</Information>';
type Submodel
ports
signal in angle;
rotation out p;
end;
icon bg bottom
figures
rectangle 432 208 496 240 color 0 fill 15132390;
text 'name' 464 224 color 0 'Clear Sans' 16;
end;
implementation bg
submodels
I 560 104
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\I.emx</LibraryPath>
<TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
type I
ports
power in p;
signal out state;
restrictions
causality preferred in p;
end;
icon bg bottom
figures
text 'I' 560 104 color 0 18 bold;
end;
implementation eq
parameters
real global I_phase;
equations
state = int(p.e);
p.f = state / I_phase;
implementation_end;
I1 608 328
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\I.emx</LibraryPath>
<TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
type I
ports
power in p;
signal out state;
restrictions
causality preferred in p;
end;
icon bg bottom
figures
text 'I' 608 328 color 0 18 bold;
end;
implementation eq
parameters
real global I_phase;
equations
state = int(p.e);
p.f = state / I_phase;
implementation_end;
I2 752 160
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\I.emx</LibraryPath>
<TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
type I
ports
power in p;
signal out state;
restrictions
causality preferred in p;
end;
icon bg bottom
figures
text 'I' 752 160 color 0 18 bold;
end;
implementation eq
parameters
real i = 8e-5 {kg.m2};
real global RotorInertia;
equations
state = int(p.e);
p.f = state / (i+RotorInertia);
implementation_end;
MGY_a 656 160
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\MGY.emx</LibraryPath>
<TimeStamp>2011-11-29 16:03:53</TimeStamp>
</Description>
</Information>';
type MGY
ports
power in p1;
power out p2;
signal in r;
restrictions
causality constraint equal p1 p2;
end;
icon bg bottom
figures
text 'MGY' 656 160 color 0 18 bold;
end;
implementation eq
equations
p1.e = r * p2.f;
p2.e = r * p1.f;
implementation_end;
MGY_b 656 272
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\MGY.emx</LibraryPath>
<TimeStamp>2011-11-29 16:03:53</TimeStamp>
</Description>
</Information>';
type MGY
ports
power in p1;
power out p2;
signal in r;
restrictions
causality constraint equal p1 p2;
end;
icon bg bottom
figures
text 'MGY' 656 272 color 0 18 bold;
end;
implementation eq
equations
p1.e = r * p2.f;
p2.e = r * p1.f;
implementation_end;
MSe_a 512 160
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\MSe.emx</LibraryPath>
<TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
type MSe
ports
electric out p;
signal in effort;
restrictions
causality fixed out p;
end;
icon bg bottom
figures
text 'MSe' 512 160 color 0 18 bold;
end;
implementation eq
variables
real flow;
equations
p.e = effort;
flow = p.f;
implementation_end;
MSe_b 512 272
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\MSe.emx</LibraryPath>
<TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
type MSe
ports
electric out p;
signal in effort;
restrictions
causality fixed out p;
end;
icon bg bottom
figures
text 'MSe' 512 272 color 0 18 bold;
end;
implementation eq
variables
real flow;
equations
p.e = effort;
flow = p.f;
implementation_end;
plug angle 406.3 216;
plug p 896.6 216;
OneJunction 840 216
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
<TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
knot OneJunction
ports
rotation knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 840 216 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
OneJunction1 584 160
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
<TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
knot OneJunction
ports
electric knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 584 160 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
OneJunction2 584 272
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
<TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
knot OneJunction
ports
electric knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 584 272 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
OneJunction3 752 216
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
<TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
knot OneJunction
ports
rotation knot duplicatable none p [1];
signal knot out flow [1];
restrictions
causality constraint one_out p;
end;
icon bg
figures
text '1' 752 216 color 0 18 bold;
end;
implementation eq
equations
sum (direct (p.e)) = 0;
equal (collect (p.f));
flow = first (p.f);
implementation_end;
R 608 104
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\R.emx</LibraryPath>
<TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
type R
ports
power in p;
end;
icon bg bottom
figures
text 'R' 608 104 color 0 18 bold;
end;
implementation eq
parameters
real global R_phase;
equations
p.e = R_phase * p.f;
implementation_end;
R1 560 328
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\R.emx</LibraryPath>
<TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
type R
ports
power in p;
end;
icon bg bottom
figures
text 'R' 560 328 color 0 18 bold;
end;
implementation eq
parameters
real global R_phase;
equations
p.e = R_phase * p.f;
implementation_end;
R2 824 264
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\R.emx</LibraryPath>
<TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
type R
ports
power in p;
end;
icon bg bottom
figures
text 'R' 824 264 color 0 18 bold;
end;
implementation eq
parameters
real r = 1.0e-3;
equations
p.e = r * p.f;
implementation_end;
RotorAngle 656 216
description '<Description><Version>4.0</Version>
<LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<TimeStamp>2007-11-1 22:32:1</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
type Submodel
ports
signal out output_b;
signal out output_a;
signal in omega {rad/s} ;
signal out output_d;
end;
icon bg
figures
rectangle 616 200 696 232 color 0 fill 15132390;
text 'name' 656 216 color 0 'Clear Sans' 16;
end;
implementation eq
parameters
real global fluxLinkage;
real global detentTorque;
variables
real global p;
real angle {rad};
equations
angle = int(omega);
output_a = -p * fluxLinkage * sin(p * angle);
output_b = p * fluxLinkage * sin(p * angle - pi / 2);
output_d = detentTorque * sin(2 * p * angle);
implementation_end;
Se 752 272
description '<Information>
<Description>
<Version>4.2</Version>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<LibraryPath>Bond Graph\MSe.emx</LibraryPath>
<TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
type MSe
ports
power out p;
signal in effort;
restrictions
causality fixed out p;
end;
icon bg bottom
figures
text 'MSe' 752 272 color 0 18 bold;
end;
implementation eq
variables
real flow;
equations
p.e = effort;
flow = p.f;
implementation_end;
Splitter1 720 216
description '<Description><Version>4.0</Version>
<LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
<TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
</Description>';
knot Splitter
ports
signal knot duplicatable out output [1];
signal knot in input [1];
end;
icon bg ellipse
figures
ellipse 716.8 212.8 723.2 219.2 color -1 fill 0;
ellipse 715.7 211.7 724.3 220.3 color -1;
terminals
input 720 216 fixed;
end;
implementation eq
equations
collect (output) = input;
implementation_end;
Submodel2 512 216
description '<Description><Version>4.0</Version>
<LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
<KeepParameterValues>False</KeepParameterValues>
<TimeStamp>2007-11-1 22:32:1</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
type 'Submodel-Equation'
ports
signal in angle;
signal out a;
signal out b;
end;
implementation eq
parameters
real global u_max {V};
real global angle_step;
real max_a {m/s2};
variables
real current_angle;
real c,s;
real global p;
boolean hidden eventa, eventb;
equations
if time < 10 then
a = u_max * -sign (cos (p*angle));
eventa = event(a);
b = u_max * sign (sin (p*angle));
eventb = event(b);
current_angle = angle;
else
a = u_max * -sign (cos (p*current_angle));
eventa = event(a);
b = u_max * sign (sin (p*current_angle));
eventb = event(b);
end;
implementation_end;
end;
connections
angle -> Submodel2\angle;
I2\p <= OneJunction3\p;
MGY_a\p2 => OneJunction3\p;
MGY_b\p2 => OneJunction3\p;
MSe_a\p => OneJunction1\p;
MSe_b\p => OneJunction2\p;
OneJunction\p => p;
OneJunction1\p => I\p;
OneJunction1\p => MGY_a\p1;
OneJunction1\p => R\p;
OneJunction2\p => I1\p;
OneJunction2\p => MGY_b\p1;
OneJunction2\p => R1\p;
OneJunction3\flow -> Splitter1\input;
OneJunction3\p => OneJunction\p;
OneJunction3\p => R2\p;
RotorAngle\output_a -> MGY_a\r;
RotorAngle\output_b -> MGY_b\r;
RotorAngle\output_d -> Se\effort;
Se\p => OneJunction3\p;
Splitter1\output -> RotorAngle\omega;
Submodel2\a -> MSe_a\effort;
Submodel2\b -> MSe_b\effort;
end;
implementation_end;
end;
connections
end;
implementation_end;
]]>
</Sidops>
</Model>
<Experiments>
<DefaultExperiment><![CDATA[Experiment 1]]>
</DefaultExperiment>
<Experiment>
<Name>Experiment 1</Name>
<CreatedBy></CreatedBy>
<Info></Info>
<ExpData>
<VersionNumber>4.8</VersionNumber>
<ModelProperties>
</ModelProperties>
<Variables>
<Parameters>
<Variable>
<Name>angle_step</Name>
<Value>0</Value>
</Variable>
<Variable>
<Name>detentTorque</Name>
<Value>0</Value>
</Variable>
<Variable>
<Name>fluxLinkage</Name>
<Value>0</Value>
</Variable>
<Variable>
<Name>I_phase</Name>
<Value>0</Value>
</Variable>
<Variable>
<Name>R_phase</Name>
<Value>0</Value>
</Variable>
<Variable>
<Name>RotorInertia</Name>
<Value>0</Value>
</Variable>
<Variable>
<Name>Submodel2\max_a</Name>
<Unit>m/s2</Unit>
<Value>0</Value>
</Variable>
<Variable>
<Name>u_max</Name>
<Unit>V</Unit>
<Value>0</Value>
</Variable>
</Parameters>
<Initials>
<Variable>
<Name>Stepper\I1\state_initial</Name>
<Value>0</Value>
</Variable>
<Variable>
<Name>Stepper\I2\state_initial</Name>
<Value>0</Value>
</Variable>
<Variable>
<Name>Stepper\I\state_initial</Name>
<Value>0</Value>
</Variable>
<Variable>
<Name>Stepper\RotorAngle\angle_initial</Name>
<Value>0</Value>
</Variable>
</Initials>
</Variables>
<PlotSpecs>
<VarNames>
<VarName>time</VarName>
</VarNames>
<Plots>
<Plot>
<PlotType>GraphPlot</PlotType>
<BasePlot>
<PlotId>1</PlotId>
<UseWindowsBGColor>false</UseWindowsBGColor>
<BGColor>16777215</BGColor>
<PlotIsVisible>true</PlotIsVisible>
</BasePlot>
<Grid>
<DrawGrid>true</DrawGrid>
<GridColor>15780518</GridColor>
<GridBorderLineColor>12624260</GridBorderLineColor>
<GridZeroLineColor>0</GridZeroLineColor>
<XTicks>10</XTicks>
<YTicks>10</YTicks>
<ZTicks>10</ZTicks>
<Use3DLook>false</Use3DLook>
</Grid>
<PlotBGColor>16777215</PlotBGColor>
<ShowPlotTitle>true</ShowPlotTitle>
<TitlePosition>1</TitlePosition>
<PlotTitle>Stepper</PlotTitle>
<ShowXValues>true</ShowXValues>
<Fonts>
<TitleFont>
<Name>Arial</Name>
<Height>12</Height>
<PitchFamily>34</PitchFamily>
<Weight>400</Weight>
<Italic>0</Italic>
<UnderLine>0</UnderLine>
<StrikeOut>0</StrikeOut>
<Color>0</Color>
</TitleFont>
<LabelFont>
<Name>Arial</Name>
<Height>12</Height>
<PitchFamily>34</PitchFamily>
<Weight>400</Weight>
<Italic>0</Italic>
<UnderLine>0</UnderLine>
<StrikeOut>0</StrikeOut>
<Color>0</Color>
</LabelFont>
<ValuesFont>
<Name>Arial</Name>
<Height>10</Height>
<PitchFamily>34</PitchFamily>
<Weight>400</Weight>
<Italic>0</Italic>
<UnderLine>0</UnderLine>
<StrikeOut>0</StrikeOut>
<Color>0</Color>
</ValuesFont>
<LegendFont>
<Name>Arial</Name>
<Height>12</Height>
<PitchFamily>34</PitchFamily>
<Weight>400</Weight>
<Italic>0</Italic>
<UnderLine>0</UnderLine>
<StrikeOut>0</StrikeOut>
<Color>0</Color>
</LegendFont>
</Fonts>
<SharedXAxis>true</SharedXAxis>
<SharedYAxis>true</SharedYAxis>
<SharedZAxis>false</SharedZAxis>
<XAxes>
<Axis>
<Minimum>0.0</Minimum>
<Maximum>10.0</Maximum>
<Linear>true</Linear>
<Scaling>3</Scaling>
<Label>time</Label>
</Axis>
</XAxes>
<YAxes>
<Axis>
<Minimum>0.0</Minimum>
<Maximum>10.0</Maximum>
<Linear>true</Linear>
<Scaling>2</Scaling>
<Label></Label>
</Axis>
</YAxes>
<ZAxes>
</ZAxes>
<Curves>
<Curve>
<LineColor>3355111</LineColor>
<LineStyle>1</LineStyle>
<TickColor>3355111</TickColor>
<TickStyle>0</TickStyle>
<CurveVisible>true</CurveVisible>
<PixelThresshold>1</PixelThresshold>
<LineThickness>1</LineThickness>
<LineOrder>1</LineOrder>
<ShowYValues>true</ShowYValues>
<XCurveData>
<ShowUnit>true</ShowUnit>
<VarName>time</VarName>
</XCurveData>
</Curve>
</Curves>
<Legenda>
<ShowLegenda>true</ShowLegenda>
<BorderPenColor>0</BorderPenColor>
<BackgroundColor>16777215</BackgroundColor>
</Legenda>
</Plot>
</Plots>
<PlotPanels>
<PlotPanel>
<PlotPanelId>1</PlotPanelId>
<PlotPanelVisible>true</PlotPanelVisible>
<Name>Window 1</Name>
<Tiling>0</Tiling>
<PlotIds>
<PlotId>1</PlotId>
</PlotIds>
<ToggleState>Base</ToggleState>
</PlotPanel>
</PlotPanels>
<WindowRectangles virtualDesktopWidth="5760" virtualDesktopHeight="1080">
<WindowRectangle monitor="1" left="-1920" top="0" right="0" bottom="1080" plotpanelid="1">
0.130729 0.114815 0.9375 0.896296
</WindowRectangle>
</WindowRectangles>
</PlotSpecs>
<RunSpecs>
<SimulatorSettings>
<StartTime>0.0</StartTime>
<FinishTime>10.0</FinishTime>
<AllowPassFinishTime>false</AllowPassFinishTime>
<Warp>false</Warp>
<FPGonio>false</FPGonio>
<UseOutputAfterEach>false</UseOutputAfterEach>
<OutputAfterEach>0.1</OutputAfterEach>
<EventEpsilon>1.0e-6</EventEpsilon>
<AlgebraicTolerance>1.0e-7</AlgebraicTolerance>
<SteadyStateAnalysis>false</SteadyStateAnalysis>
<UpdateHoldInstructions>true</UpdateHoldInstructions>
</SimulatorSettings>
<IntegrationMethods>
<IntegrationMethod>
<Name>Euler</Name>
<StepSize>0.01</StepSize>
<AutoStepSize>false</AutoStepSize>
</IntegrationMethod>
<IntegrationMethod>
<Name>BackwardEuler</Name>
<AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
<RelativeTolerance>1.0e-5</RelativeTolerance>
<AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
<AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
<StepSize>0.01</StepSize>
<Alpha>1.0</Alpha>
</IntegrationMethod>
<IntegrationMethod>
<Name>AdamsBashforth</Name>
<StepSize>0.01</StepSize>
<AutoStepSize>false</AutoStepSize>
</IntegrationMethod>
<IntegrationMethod>
<Name>RungeKutta2</Name>
<StepSize>0.01</StepSize>
<AutoStepSize>false</AutoStepSize>
</IntegrationMethod>
<IntegrationMethod>
<Name>RungeKutta4</Name>
<StepSize>0.01</StepSize>
<AutoStepSize>false</AutoStepSize>
</IntegrationMethod>
<IntegrationMethod>
<Name>RungeKutta8</Name>
<UseInitialStepSize>false</UseInitialStepSize>
<InitialStepSize>0.001</InitialStepSize>
<UseMaximumStepSize>false</UseMaximumStepSize>
<MaximumStepSize>1.0</MaximumStepSize>
<AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
<RelativeTolerance>1.0e-6</RelativeTolerance>
<SafetyFactor>0.9</SafetyFactor>
<Factor1>0.33</Factor1>
<Factor2>6.0</Factor2>
<Beta>0.0</Beta>
<UseMaxNrSteps>false</UseMaxNrSteps>
<MaxNrSteps>100000</MaxNrSteps>
<UseStiffDetection>false</UseStiffDetection>
<MaxNrStiffnessSteps>1000</MaxNrStiffnessSteps>
</IntegrationMethod>
<IntegrationMethod>
<Name>RungeKuttaFehlberg</Name>
<UseInitialStepSize>false</UseInitialStepSize>
<InitialStepSize>0.001</InitialStepSize>
<UseMaximumStepSize>false</UseMaximumStepSize>
<MaximumStepSize>1.0</MaximumStepSize>
<AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
<RelativeTolerance>1.0e-6</RelativeTolerance>
</IntegrationMethod>
<IntegrationMethod>
<Name>VodeAdams</Name>
<UseInitialStepSize>false</UseInitialStepSize>
<InitialStepSize>0.001</InitialStepSize>
<UseMaximumStepSize>false</UseMaximumStepSize>
<MaximumStepSize>1.0</MaximumStepSize>
<AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
<RelativeTolerance>1.0e-6</RelativeTolerance>
<VodeUseBDF>true</VodeUseBDF>
<VodeUseNewton>true</VodeUseNewton>
</IntegrationMethod>
<IntegrationMethod>
<Name>BDFMethod</Name>
<AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
<RelativeTolerance>1.0e-5</RelativeTolerance>
<AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
<AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
<UseInitialStepSize>false</UseInitialStepSize>
<InitialStepSize>0.001</InitialStepSize>
<UseMaximumStepSize>false</UseMaximumStepSize>
<MaximumStepSize>1.0</MaximumStepSize>
</IntegrationMethod>
<IntegrationMethod>
<Name>MeBDFiMethod</Name>
<AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
<RelativeTolerance>1.0e-5</RelativeTolerance>
<AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
<AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
<UseInitialStepSize>false</UseInitialStepSize>
<InitialStepSize>0.001</InitialStepSize>
<UseMaximumStepSize>false</UseMaximumStepSize>
<MaximumStepSize>1.0</MaximumStepSize>
</IntegrationMethod>
<SelectedIntegrationMethod>8</SelectedIntegrationMethod>
</IntegrationMethods>
</RunSpecs>
<MultipleRun>
<NrSteps>10</NrSteps>
<CopyFromStates>false</CopyFromStates>
<JoinParameterVariation>true</JoinParameterVariation>
<ClearAfterRun>true</ClearAfterRun>
<RedrawAfterRun>false</RedrawAfterRun>
<DrawDuringSimulation>true</DrawDuringSimulation>
<ActionBeforeOptimization>0</ActionBeforeOptimization>
<CompareValue>0.0</CompareValue>
<UseCompareValue>true</UseCompareValue>
<MultipleRunType>MultipleRun</MultipleRunType>
<Minimize>true</Minimize>
<OptimizationVariable></OptimizationVariable>
<ResulVarUsage>UseEndValue</ResulVarUsage>
<Tolerance>0.001</Tolerance>
<OptimizationMethod>BroydonFletcherGoldfarbShanno</OptimizationMethod>
<MultipleRunVariables>
</MultipleRunVariables>
</MultipleRun>
<ExportData>
<WriteAsText>true</WriteAsText>
<ReadAsText>true</ReadAsText>
<WriteHeader>true</WriteHeader>
<ReadHeader>true</ReadHeader>
<ReadFilename></ReadFilename>
<WriteFilename></WriteFilename>
<DoWrite>false</DoWrite>
<ExportVariables>
</ExportVariables>
<ImportVariables>
</ImportVariables>
</ExportData>
<BreakPoints>
</BreakPoints>
</ExpData>
</Experiment>
</Experiments>
</Document>

+ 22
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implementation/library/Motor/stepper2.emx
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+ 19
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implementation/library/Motor/stepper_control.emx
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+ 6
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implementation/library/Motor/stepper_model.emx
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