TreatAsAtomicUnit	  on		  RTWSystemCode		  "Auto"		  RTWFcnNameOpts	  "Auto"		  RTWFileNameOpts	  "Auto"		  System {		    Name		    "delay 500 ms"		    Location		    [480, 369, 978, 669]		    Open		    off		    ModelBrowserVisibility  off		    ModelBrowserWidth	    200		    ScreenColor		    "white"		    PaperOrientation	    "landscape"		    PaperPositionMode	    "auto"		    PaperType		    "usletter"		    PaperUnits		    "inches"		    ZoomFactor		    "100"		    Block {		    BlockType		    EnablePort		    Name		    "Enable"		    Ports		    []		    Position		    [235, 20, 255, 40]		    StatesWhenEnabling	    "reset"		    ShowOutputPort	    off		    ZeroCross		    off		    }		    Block {		    BlockType		    Constant		    Name		    "Constant"		    Position		    [150, 160, 180, 190]		    Value		    "1"		    VectorParams1D	    on		    }		    Block {		    BlockType		    Constant		    Name		    "Constant1"		    Position		    [215, 220, 245, 250]		    Value		    "0.5"		    VectorParams1D	    on		    }		    Block {		    BlockType		    Integrator		    Name		    "Integrator"		    Ports		    [1, 1]		    Position		    [250, 160, 280, 190]		    ExternalReset	    "none"		    InitialConditionSource  "internal"		    InitialCondition	    "0"		    LimitOutput		    off		    UpperSaturationLimit    "inf"		    LowerSaturationLimit    "-inf"		    ShowSaturationPort	    off		    ShowStatePort	    off		    AbsoluteTolerance	    "auto"		    ZeroCross		    off		    }		    Block {		    BlockType		    RelationalOperator		    Name		    "Relational\nOperator"		    Position		    [335, 167, 365, 198]		    Operator		    ">"		    ZeroCross		    off		    }		    Block {		    BlockType		    Outport		    Name		    "step"		    Position		    [395, 103, 425, 117]		    Port		    "1"		    OutputWhenDisabled	    "reset"		    InitialOutput	    "0"		    }		    Line {		    SrcBlock		    "Relational\nOperator"		    SrcPort		    1		    Points		    "[0, -40; -55, 0; 0, -40; 60, 0; 0"", 5]"		    DstBlock		    "step"		    DstPort		    1		    }		    Line {		    SrcBlock		    "Constant1"		    SrcPort		    1		    Points		    [70, 0]		    DstBlock		    "Relational\nOperator"		    DstPort		    2		    }		    Line {		    SrcBlock		    "Integrator"		    SrcPort		    1		    DstBlock		    "Relational\nOperator"		    DstPort		    1		    }		    Line {		    SrcBlock		    "Constant"		    SrcPort		    1		    DstBlock		    "Integrator"		    DstPort		    1		    }		  }		}		Block {		  BlockType		  RelationalOperator		  Name			  "object"		  Position		  [130, 167, 160, 198]		  ForegroundColor	  "magenta"		  Operator		  ">"		  ZeroCross		  off		}		Block {		  BlockType		  Outport		  Name			  "obstacle"		  Position		  [180, 85, 210, 100]		  Orientation		  "up"		  ForegroundColor	  "darkGreen"		  Port			  "1"		  OutputWhenDisabled	  "held"		  InitialOutput		  "[]"		}		Line {		  SrcBlock		  "break\ndependency"		  SrcPort		  1		  Points		  [-65, 0]		  DstBlock		  "delay 500 ms"		  DstPort		  enable		}		Line {		  SrcBlock		  "Product"		  SrcPort		  1		  DstBlock		  "obstacle"		  DstPort		  1		}		Line {		  SrcBlock		  "move_up"		  SrcPort		  1		  DstBlock		  "break\ndependency"		  DstPort		  1		}		Line {		  SrcBlock		  "armature_current"		  SrcPort		  1		  Points		  [30, 0; 0, 45]		  DstBlock		  "object"		  DstPort		  1		}		Line {		  SrcBlock		  "delay 500 ms"		  SrcPort		  1		  Points		  [-45, 0]		  DstBlock		  "Product"		  DstPort		  2		}		Line {		  SrcBlock		  "object"		  SrcPort		  1		  Points		  [20, 0]		  DstBlock		  "Product"		  DstPort		  1		}		Line {		  SrcBlock		  "Constant1"		  SrcPort		  1		  DstBlock		  "object"		  DstPort		  2		}	      }	    }	    Block {	      BlockType		      Logic	      Name		      "either"	      Ports		      [2, 1]	      Position		      [385, 96, 415, 129]	      ForegroundColor	      "darkGreen"	      Operator		      "OR"	      Inputs		      "2"	    }	    Block {	      BlockType		      Outport	      Name		      "reset"	      Position		      [440, 108, 470, 122]	      Port		      "1"	      OutputWhenDisabled      "held"	      InitialOutput	      "[]"	    }	    Block {	      BlockType		      Outport	      Name		      "obstacle"	      Position		      [440, 47, 470, 63]	      Port		      "2"	      OutputWhenDisabled      "held"	      InitialOutput	      "[]"	    }	    Block {	      BlockType		      Outport	      Name		      "endstop"	      Position		      [440, 163, 470, 177]	      Port		      "3"	      OutputWhenDisabled      "held"	      InitialOutput	      "[]"	    }	    Line {	      SrcBlock		      "detect_obstacle"	      SrcPort		      1	      Points		      [0, 0; 15, 0]	      Branch {		Points			[0, 50]		DstBlock		"either"		DstPort			1	      }	      Branch {		DstBlock		"obstacle"		DstPort			1	      }	    }	    Line {	      SrcBlock		      "detect_endstop"	      SrcPort		      1	      Points		      [0, 0; 15, 0]	      Branch {		DstBlock		"endstop"		DstPort			1	      }	      Branch {		Points			[0, -50]		DstBlock		"either"		DstPort			2	      }	    }	    Line {	      SrcBlock		      "either"	      SrcPort		      1	      DstBlock		      "reset"	      DstPort		      1	    }	    Line {	      SrcBlock		      "armature_current"	      SrcPort		      1	      DstBlock		      "Abs"	      DstPort		      1	    }	    Line {	      SrcBlock		      "move_up"	      SrcPort		      1	      DstBlock		      "detect_obstacle"	      DstPort		      1	    }	    Line {	      SrcBlock		      "Abs"	      SrcPort		      1	      Points		      [15, 0; 0, 50]	      Branch {		Points			[0, -100]		DstBlock		"detect_obstacle"		DstPort			2	      }	      Branch {		DstBlock		"detect_endstop"		DstPort			1	      }	    }	  }	}	Block {	  BlockType		  SubSystem	  Name			  "validate_driver_state"	  Ports			  [4, 1]	  Position		  [210, 70, 330, 200]	  ShowPortLabels	  on	  TreatAsAtomicUnit	  off	  RTWSystemCode		  "Auto"	  RTWFcnNameOpts	  "Auto"	  RTWFileNameOpts	  "Auto"	  System {	    Name		    "validate_driver_state"	    Location		    [69, 319, 668, 674]	    Open		    off	    ModelBrowserVisibility  off	    ModelBrowserWidth	    200	    ScreenColor		    "white"	    PaperOrientation	    "landscape"	    PaperPositionMode	    "auto"	    PaperType		    "usletter"	    PaperUnits		    "inches"	    ZoomFactor		    "100"	    Block {	      BlockType		      Inport	      Name		      "neutral"	      Position		      [75, 58, 105, 72]	      Port		      "1"	      LatchInput	      off	      Interpolate	      on	    }	    Block {	      BlockType		      Inport	      Name		      "up"	      Position		      [75, 128, 105, 142]	      Port		      "2"	      LatchInput	      off	      Interpolate	      on	    }	    Block {	      BlockType		      Inport	      Name		      "down"	      Position		      [70, 213, 100, 227]	      Port		      "3"	      LatchInput	      off	      Interpolate	      on	    }	    Block {	      BlockType		      Inport	      Name		      "reset"	      Position		      [65, 308, 95, 322]	      ForegroundColor	      "darkGreen"	      Port		      "4"	      LatchInput	      off	      Interpolate	      on	    }	    Block {	      BlockType		      From	      Name		      "From1"	      Position		      [45, 242, 105, 258]	      ForegroundColor	      "darkGreen"	      CloseFcn		      "tagdialog Close"	      GotoTag		      "reset"	    }	    Block {	      BlockType		      From	      Name		      "From2"	      Position		      [55, 157, 115, 173]	      ForegroundColor	      "darkGreen"	      CloseFcn		      "tagdialog Close"	      GotoTag		      "reset"	    }	    Block {	      BlockType		      Goto	      Name		      "Goto1"	      Position		      [135, 307, 195, 323]	      ForegroundColor	      "darkGreen"	      GotoTag		      "reset"	      TagVisibility	      "local"	    }	    Block {	      BlockType		      Mux	      Name		      "Mux"	      Ports		      [3, 1]	      Position		      [485, 131, 490, 169]	      ShowName		      off	      Inputs		      "3"	      DisplayOption	      "bar"	    }	    Block {	      BlockType		      SubSystem	      Name		      "check_down"	      Ports		      [2, 1]	      Position		      [140, 204, 250, 266]	      ForegroundColor	      "gray"	      ShowPortLabels	      on	      TreatAsAtomicUnit	      off	      RTWSystemCode	      "Auto"	      RTWFcnNameOpts	      "Auto"	      RTWFileNameOpts	      "Auto"	      System {		Name			"check_down"		Location		[195, 316, 666, 577]		Open			off		ModelBrowserVisibility	off		ModelBrowserWidth	200		ScreenColor		"white"		PaperOrientation	"landscape"		PaperPositionMode	"auto"		PaperType		"usletter"		PaperUnits		"inches"		ZoomFactor		"100"		Block {		  BlockType		  Inport		  Name			  "action"		  Position		  [75, 33, 105, 47]		  Port			  "1"		  LatchInput		  off		  Interpolate		  on		}		Block {		  BlockType		  Inport		  Name			  "reset"		  Position		  [75, 88, 105, 102]		  Port			  "2"		  LatchInput		  off		  Interpolate		  on		}		Block {		  BlockType		  Logic		  Name			  "allow_action"		  Ports			  [2, 1]		  Position		  [230, 51, 260, 84]		  Operator		  "AND"		  Inputs		  "2"		}		Block {		  BlockType		  Logic		  Name			  "overrule"		  Ports			  [1, 1]		  Position		  [130, 78, 155, 112]		  Operator		  "NOT"		  Inputs		  "2"		}		Block {		  BlockType		  Outport		  Name			  "checked_action"		  Position		  [340, 63, 370, 77]		  Port			  "1"		  OutputWhenDisabled	  "held"		  InitialOutput		  "[]"		}		Line {		  SrcBlock		  "overrule"		  SrcPort		  1		  Points		  [25, 0; 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