function [sys,x0,str,ts]=moteanimation(t,x,u,flag,params,xInit,yInit);%ANIMATION S-function for animating the motion of the motes.switch flag, case 0,  [sys,x0,str,ts] = mdlInitializeSizes(params,xInit,yInit); case 2,  sys = mdlUpdate(t,x,u); case 3,  sys = mdlOutputs(t,x,u); case 9,  sys = mdlTerminate(t,x,u); otherwise  error(['Unhandled flag = ',num2str(flag)]);end%=============================================================================% mdlInitializeSizes%=============================================================================function [sys,x0,str,ts]=mdlInitializeSizes(params,xInit,yInit)global motehdl ID ball redScore blueScore% Read parametersnumMotes = params(1);ts = params(2);xmax = params(3);ymax = params(4);% Initialize the figure for use with this simulationfigure(1),clf;title('MOTE SOCCER');set(gcf,'Renderer','OpenGL');set(gcf,'Position',[0 20 550 800])  %[700 500 700 1050])grid onset(gca,'Xlim',[-xmax xmax],'Ylim',[-ymax ymax],'nextplot','add');set(gca,'XTickLabel',[]);set(gca,'YTickLabel',[]);set(gca, 'XTick', [-xmax+0.5 0 xmax-0.5],'XColor', [0 0 0]);set(gca, 'YTick', [-ymax+3 0 ymax-3],'YColor', [0 0 0]);set(gca,'Color',[0 0.8 0]);moteradius = 0.8;C1 = [0.9 0 0];  % red teamC2 = [0 0 0.9]; % blue teamC3 = [0.2 0.2 0.2];C4 = [0.9 0.7 0]; % ball colorfor k=1:3  Cteam1(1,1,k)=C1(k);  Cteam2(1,1,k)=C2(k);  Cteam1(1,2,k)=C3(k);  Cteam2(1,2,k)=C3(k);end  grad = 0:10:360;X = moteradius*cos(grad*pi/180); Y = moteradius*sin(grad*pi/180); ball = patch(0.8*X, 0.8*Y, C4);  goalX = [-5 -5 5 5 4 4 -4 -4];goalY = [-3 -0.1 -0.1 -3 -3 -1 -1 -3] + ymax;goal1 = patch(goalX, goalY, [0.8 0.8 0.8]);goal1 = patch(goalX, -goalY, [0.8 0.8 0.8]);score = text(-xmax+1, ymax-2, 'SCORE:');set(score, 'FontSize', 18);redScore = text(-xmax+9, ymax-2, '0');set(redScore, 'FontSize', 18, 'Color', [1 0 0]);blueScore = text(-xmax+11, ymax-2, '0');set(blueScore, 'FontSize', 18, 'Color', [0 0 1]);for k = 1:numMotes    moteX=[X'+xInit(k) 0.5*X'+xInit(k)];  moteY=[Y'+yInit(k) 0.5*Y'+yInit(k)];    if (k <= numMotes/2)    C = Cteam1;  else    C = Cteam2;  end    motehdl(k) = patch(moteX, moteY, C);  ID(k) = text(xInit(k)-1.5*moteradius, yInit(k)+1.5*moteradius, num2str(k));endsizes = simsizes;sizes.NumContStates  = 0;sizes.NumDiscStates  = 0;          sizes.NumOutputs     = 0;sizes.NumInputs      = 2*numMotes; % x and y sizes.DirFeedthrough = 0;sizes.NumSampleTimes = 1;   sys = simsizes(sizes);x0  = [];str = [];ts  = [ts 0]; % Hybrid block%=============================================================================% mdlOutputs%=============================================================================function [sys]=mdlOutputs(t,x,u)sys = [];%=============================================================================% mdlUpdate%=============================================================================function [sys]=mdlUpdate(t,x,u)global motehdl ID ball xBall yBallnumMotes = length(motehdl);moteradius = 0.8;grad = 0:10:360;X = moteradius*cos(grad*pi/180); Y = moteradius*sin(grad*pi/180); set(ball, 'XData', 0.8*X+xBall, 'YData', 0.8*Y+yBall);  %update graphicsfor k=1:numMotes  moteX=[X'+u(k) 0.5*X'+u(k)];  moteY=[Y'+u(k+numMotes) 0.5*Y'+u(k+numMotes)];    set(motehdl(k),'XData', moteX, 'YData', moteY);  set(ID(k), 'Position', [u(k)-1.5*moteradius u(k+numMotes)+1.5*moteradius]); enddrawnow;sys=[];%=============================================================================% mdlTerminate% Perform any end of simulation tasks.%=============================================================================function sys=mdlTerminate(t,x,u)sys = [];