本帖最后由 旭日东升 于 2012-6-26 09:16 编辑
Light Sensor blocks: 亮度传感器模块:
Light Sensor blocks are used to measure brightness. Greater value means darker (or lower reflection). Light Sensor consists of two blocks. Light Sensor Interface block is an interface block to the outside of a NXT controller model. Light Sensor Read block is used to read Light Sensor data. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. Data Type | uint16 | Dimension | [1 1] | Data Range | 0 to 1023 (raw A/D value) | Port ID | S1/S2/S3/S4 |
亮度传感器模块用于测量亮度。 值越大表明越黑（或者低的反射）。亮度传感器包括两个模块。亮度接口模块完成亮度传感器模块由外部到NXT控制器输入接口部分。亮度读取模块完成读取亮度值功能部分。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。 数据类型 | Uint16 | 数据维数 | [1 1] | 数据范围 | 0 到1023 (原始模拟/数字值) | 端口标号 | S1/S2/S3/S4 |
Touch Sensor blocks: 按键传感器模块：
Touch Sensor blocks are used to detect contact with an obstacle. If the Touch Sensor had contact with an obstacle, the sensor returns 1. The Touch Sensor consists of two blocks. Touch Sensor Interface block is an interface block to the outside of a NXT controller model. Touch Sensor Read block is used to read the Touch Sensor data. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. Data Type | Uint8 | Dimension | [1 1] | Data Range | 0(not touched), 1(touched) | Port ID | S1/S2/S3/S4 |
触碰传感器模块用于检测是否碰到障碍物。 如果触碰传感器碰到障碍物，传感器返回1.触碰传感器包含两个模块。触碰接口模块完成触碰传感器模块由外部到NXT控制器输入接口部分。触碰读取模块完成读取模块值功能部分。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。 数据类型 | Uint8 | 数据维数 | [1 1] | 数据范围 | 0（没有碰到）1（碰到） | 端口标号 | S1/S2/S3/S4 |
Sound Sensor blocks: 声音传感器模块
Sound Sensor blocks are used to measure the sound pressure. Smaller value means louder sound. Sound Sensor consists of two blocks. Sound Sensor Interface block is an interface block to the outside of a NXT controller model. Sound Sensor Read block is used to read Sound Sensor data. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. Data Type | Uint16 | Dimension | [1 1] | Data Range | 0 to 1023 (raw A/D value) | Port ID | S1/S2/S3/S4 |
声音传感器模块用于测量声音大小。越小的值意味越大的声音。声音传感器包含两个模块。声音接口模块完成声音传感器模块由外部到NXT控制器输入接口部分。声音读取模块完成读取模块值功能部分。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。 数据类型 | Uint16 | 数据维数 | [1 1] | 数据范围 | 0 到1023 (原始A/D 值) | 端口标号 | S1/S2/S3/S4 |
Revolution Sensor blocks: 转动角度传感器：
Revolution Sensor blocks are used to measure the revolution of a Servo Motor. Revolution Sensor consists of two blocks. Revolution Sensor Interface block is an interface block to the outside of a NXT controller model. Revolution Sensor Read block is used to read Servo Motor revolution data. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. Data Type | int32 | Dimension | [1 1] | Data Range | Range of int32 [deg] | Port ID | A/B/C |
旋转角度传感器模块用于测量伺服马达的转速。旋转角度传感器包含两个模块。旋转角度接口模块完成旋转角度传感器模块由外部到NXT控制器输入接口部分。旋转角度读取模块完成读取模块旋转角度值功能部分。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。 数据类型 | Int8 | 数据维数 | [1 1] | 数据范围 | -100到100 | 端口标号 | A/B/C |
Servo Motor blocks: 伺服马达模块：
Servo Motor blocks are used to control a Servo Motor. Servo Motor consists of two blocks. Servo Motor Interface block is an interface block to the outside of a NXT controller model. Servo Motor Write block is used to set Servo Motor control data. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. Data Type | int8 | Dimension | [1 1] | Data Range | -100 to100 | Port ID | A/B/C | Mode | Brake/Float |
伺服马达传感器模块用于控制伺服马达。伺服马达传感器包含两个模块。伺服马达接口模块完成伺服马达传感器模块由外部到NXT控制器输入接口部分。伺服马达写模块完成伺服马达设置控制功能部分。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口 数据类型 | Int8 | 数据维数 | [1 1] | 数据范围 | -100到100 | 端口标号 | A/B/C | 模式 | 制动/旋转 |
Battery Voltage blocks: 电池电压模块：
Battery Voltage blocks are used to monitor the battery voltage of NXT. Battery Voltage consists of two blocks. Battery Voltage Interface block is an interface block to the outside of a NXT controller model. Battery Voltage Read block is used to read battery voltage data. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. Data Type | uint16 | Dimension | [1 1] | Data Range | 0 to possible NXT maximum voltage value in mv (i.e. 9000 = 9.000 V) | Port ID | None |
电池电压模块用于监*控NXT的电池电压。电池电压包括两个模块。电池电压接口完成电池电压模块由外部到NXT控制器输入接口部分。电池电压读取模块用于读取电池电压。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。 数据类型 | Uint16 | 数据维数 | [1 1] | 数据范围 | 0 到NXT最大可能的电压mv (例如 9000 = 9.000 V) | 端口号 | 无 |
System Clock blocks:
系统时钟模块：
System Clock blocks are used to read the system tick of NXT. System Clock consists of two blocks. System Clock Interface block has no input/output, however, it supplies system tick to System Clock Read block during simulation. System Clock Read block is used to read system tick data. They will be used to implement an appropriate device API in the generated code. In the real NXT, system tick is started from 0 when the NXT was turned on. (It is not started when the ECRobot application program begins)
| | | | | 0 to maximum of uint32 in mille-second | | |
系统时钟模块用于读取NXT系统时间计次数目。系统时钟包含两个模块。系统时钟接口模块没有输入和输出接口，不过，在仿真时提供系统计算次数给系统时钟读取模块。系统时钟读取模块是用来读取系统时钟数据。在代码生成时将编码运行正确设备接口。在真正的NXT中，当NXT被打开系统时钟计次是从0开始。 （ECRobot应用程序开始下载时，系统时间不开始计次）
Sound WAV blocks: 声音WAV语音模块:
Sound WAV Tone blocks are used to generate sound which is saved as a 8bit monoral WAV file. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. For more detailed information about how to use Sound Tone block, please see samples/TestSoundWAV.mdl. Data Type | Freq: uint32, Dur:uint32 | Dimension | [1 1] | Data Range |
| Port ID | None |
声音WAV语音模块产生声音的通过8比特位WAV文件产生。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。如需有关如何使用声音语音模块的更详细信息，请参阅sample/ TestSoundWAV.mdl。
数据类型 | 频率：uint32,时长：uint32, | 数据维数 | [1 1] | 数据范围 |
| 端口号 | 无 |
Ultrasonic Sensor blocks: 超声波传感器模块：
Ultrasonic Sensor blocks are used to measure the distance from an obstacle or to detect an obstacle without contact. Ultrasonic Sensor blocks consist of two blocks. Ultrasonic Sensor Interface block is an interface block to the outside of a NXT controller model. Ultrasonic Sensor Read block is used to read Ultrasonic Sensor data. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. | | | | | 0 to 255 [cm], -1 (the sensor is not ready for measurement) | | |
超声波传感器模块用于不接触方式测量两个物体间距离。超声波传感器包含两个模块。超声波接口完成超声波模块由外部到NXT控制器输入接口部分。超声波读取模块用于超声波传感器数据读取。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。
Bluetooth Rx blocks: 蓝牙接收模块：
Bluetooth Rx blocks represent Bluetooth wireless communication from PC to NXT. Bluetooth blocks consist of two blocks. Bluetooth Rx Interface block is an interface block to the outside of the NXT controller model. Bluetooth Rx Read block is used to read data. Bluetooth Rx blocks are allowed to allocate only a single instance in a model. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. Bluetooth connection is supported for only PC - NXT (not supported for NXT - NXT). 蓝牙接收模块表示PC同NXT的通过蓝牙通信。蓝牙接收模块包含两个模块。蓝牙接收接口块是模块由NXT到控制器模型外部接口。蓝牙接收读模块用于读取数据。蓝牙接收模块在模型中仅允许放置一个实例。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。支持蓝牙连接方式有PC – NXT（不支持NXT – NXT模式）
NXT GamePad Data Logger block: NXT游戏手柄记录模块
nxtOSEK has provided a utility tool which is called NXT GamePad. NXT GamePad enables user to remotely control a NXT which has nxtOSEK via Bluetooth by using a PC analog game pad controller. Since V1.01, user also has been able to select 'Analog Stick Control' and/or 'NXT Data Acquisition' features depending on purposes. Even if user did not have an analog game pad, NXT GamePad could be used for only 'NXT Data Acquisition' (data logging). For more detailed information about NXT GamePad, please see http://lejos-osek.sourceforge.net/nxtgamepad.htm NXT GamePad Data Logger block does not affect simulation result, but it will be used to implement an appropriate device API in the generated code. Data1 and Data2 could be used for logging Analog GamePad inputs. The logged data could be stored into a CSV file and it is useful to analyze the behavior of NXT application in MATLAB. NXT GamePad Data Logger block should not be used with Bluetooth Tx Write block/NXT GamePad ADC Data Logger block in a model.
NXT GamePad main dialog and the logged data in CSV file NXT手柄数据记录块不影响仿真结果，但是在代码生成时将编码运行正确设备接口。记录模拟手柄通过Data1和Data2作为输入。记录数据可以存储到CSV文件，并分析用于NXT在MATLAB应用数据分析是非常有用的。
Acceleration Sensor blocks: 定位传感器模块：
Acceleration Sensor blocks are used to measure acceleration in three axes. Acceleration Sensor is not a standard LEGO product, but made by HiTechnic ( [url=http://www.hitechnic.com/]http://www.hitechnic.com/)[/url] Acceleration Sensor blocks consist of two blocks. Acceleration Sensor Interface block is an interface block to the outside of a NXT controller model. Acceleration Sensor Read block is used to read Acceleration Sensor data. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. | | | [1 3](index 1: x axis, index 2: y axis, index 3: z axis) | | | | |
定位传感器用于测量三维坐标上的位置。定位传感器不是标准的LEGO产品，它是由HiTechnic | | | [1 3](序号1: x 坐标, 序号 2: y 坐标, 序号3: z 坐标) | | | | |
Gyro Sensor blocks: 转动传感器模块：
Gyro Sensor blocks are used to measure a value representing the number of degrees per second of rotation. Gyro Sensor is not a standard LEGO product, but made by HiTechnic ([url=http://www.hitechnic.com/]http://www.hitechnic.com/)[/url]
Gyro Sensor consists of two blocks. Gyro Sensor Interface block is an interface block to the outside of a NXT controller model. Gyro Sensor Read block is used to read Gyro Sensor data. In simulation, these
blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. | | | | | 0 to 1023 (raw A/D value) | | |
转动传感器用于测量每秒转动的角度值。转动传感器不是标准的LEGO产品，它是由HiTechnic
Exported Function-Calls Scheduler block: 函数规划模块：
Typical embedded control system software (i.e. automotive power-train ECU software) is required to execute its control strategy at several different timings (i.e. initialization, asynchronous, periodical).
Exported Function-Calls Scheduler block controls the execution timing of Function-Call Subsystems during simulation according to specified parameters on the Block Parameters dialog. This parameter
information will also be used for ecrobot main.c file generation. Since Embedded Coder Robot NXT v3.16, Platform software can be configured either TOPPERS/OSEK or TOPPERS/JSP. TOPPERS/JSP
is complied with Japan original open RTOS specification “μITRON 4.0”.μITRON has been widely used in mainly consumer electronics, industrial machinery… for more than 20 years in Japan. 典型的嵌入式控制系统软件（例如：汽车动力传动系统的ECU软件）需要在几个不同时序上（即初始化，异步模式，定期）来执行它的控制策略。根据特定的参数对话框参数设置，在模拟执行时，
导出函数调用调度模块控制函数调用子系统。参数信息也将在ecrobot main.c文件中生成。由于嵌入式编码器机器人NXT v3.16，平台软件可配置TOPPERS/ OSEK或者TOPPERS / JSP。
TOPPERS / JSP遵守日本原先的开放RTOS规范“μITRON 4.0”。μITRON主要用于消费类电子产品，工业机械……它在日本已被广泛使用超过20年。
USB Rx blocks:
USB接收模块：
USB Rx blocks represent USB communication from PC to NXT. USB Rx blocks consist of two blocks. USB Rx Interface block is an interface block to the outside of the NXT controller model. USB Rx Read block is used to read data. USB Rx blocks are allowed to allocate only a single instance in a model. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. Data Type | uint8 | Dimension | 64 | Data Range | 0 to 255 | Port ID | None |
USB接收模块用于PC同NXT之间USB通讯使用。USB接收模块包含两个模块。USB接收接口块是模块由NXT到控制器模型外部接口。USB接收读模块用于读取数据。USB接收模块在模型中仅允许放置一个实例。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。
数据类型 | uint8 | 维数 | 64 | 数据范围 | 0 到255 | 端口号 | None |
USB Tx blocks: USB发送模块： USB Tx blocks represent USB communication from NXT to PC. USB Tx blocks consist of two blocks. USB Tx Interface block is an interface block to the outside of the NXT controller model. USB Tx Write block is used to send data. USB Tx blocks are allowed to allocate only a single instance in a model. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. Data Type | uint8 | Dimension | 64 | Data Range | 0 to 255 | Port ID | None |
USB发送模块用于PC同NXT之间USB通讯使用。USB发送模块包含两个模块。USB发送接口块是模块由NXT到控制器模型外部接口。USB发送写模块用于读取数据。USB发送模块在模型中仅允许放置一个实例。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。
数据类型 | uint8 | 维数 | 64 | 数据范围 | 0 到255 | 端口号 | None |
USB Disconnect block: USB 断开连接模块： USB Disconnect block represents disconnection of a USB communication from NXT to PC. USB Disconnect block is used to disconnect a USB connection between the NXT and the PC. USB Disconnect block is allowed to allocate only a single instance in a model. In simulation, this block is just place holder; however, they will be used to implement an appropriate device API in the generated code. Data Type | uint8 | Dimension | 1 | Data Range | 1(request disconnection) / 0(not disconnect) | Port ID | None |
USB断开连接模块用于PC同NXT之间USB断开通讯使用。USB断开连接模块用于断开PC和NXT之间的USB连接。USB断开模块在模型中仅允许放置一个实例。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。 数据类型 | uint8 | 维数 | 64 | 数据范围 | 1（请求断开连接）/0（未断开连接） | 端口号 | None |
ENTER button blocks:
ENTER按键模块：
ENTER button blocks are used to detect contact with an obstacle. If the ENTER button is pressed, it returns 1. ENTER button blocks consist of two blocks. ENTER button Interface block is an interface block to the outside of a NXT controller model. ENTER button Read block is used to read the ENTER button status. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. | | | | | 0(not touched), 1(touched) | | |
ENTER 按键模块用于检测接触障碍物。如果ENTER键按下，它返回1。ENTER按键包含两个模块。ENTER按键接口模块是一个接口模块到外部的NXT控制模型中。ENTER按键读模块用于读ENTER按键的状态。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。
RUN button blocks: RUN按键模块：
RUN button blocks are used to detect contact with an obstacle. If the RUN button is pressed, it returns 1. RUN button blocks consist of two blocks. RUN button Interface block is an interface block to the outside of a NXT controller model. RUN button Read block is used to read the RUN button status. In simulation, these blocks are just place holders; however, they will be used to implement an appropriate device API in the generated code. | | | | | 0(not touched), 1(touched) | | |
RUN按键模块用于检测接触障碍物。如果RUN键按下，它返回1。RUN按键包含两个模块。RUN按键接口模块是一个接口模块到外部的NXT控制模型中。RUN按键读模块用于读RUN按键的状态。在仿真时，这些模块只是放置的元件；但是在代码生成时将编码运行正确设备接口。
OSEK Resource block: OSEK资源模块：
OSEK Resource block is used to implement the OSEK GetResource/ReleaseResource API at the beginning/end of the critical section. In Simulink, the critical section should be packed into an Atomic Subsystem and an OSEK Resource block should be allocated inside of the Atomic Subsystem with a specified Resource. To specify a Resource identifier in the block, you need to define the Resource identifier in the Exported Function-Call Scheduler block. The OSEK Resource block does not affect simulation and is only valid for code generation. OSEK资源模块用于在开始/结束的关键部分实现OSEK的getResource/ ReleaseResource API。在Simulink中，关键部分应该打包到原子子系统，同时OSEK资源模块将作为具体的资源放置到原子子系统中。在模块中指定特定的资源标识，你需要在导出函数呼叫调度模块中定义资源标识。 OSEK资源块不影响仿真和仅验证代码生成的有效的。
XY Map Graph block: XY平面地图模块：
XY Map Graph block is stored in the Utilities for simulation and it is useful to see the footprint of a robot on virtual track during simulation. XY Map Graph is based on a Simulink standard block which is called XY Graph. XY地图模块在仿真工具中，它用于跟踪机器人在仿真中的虚拟轨迹。XY地图图像是基于Simulink的标准XY图形模块。
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