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                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="1600.0" y="410.0"/>
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                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:9aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:SENSORS:9" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU:SENSORS:9#identifier" parent="out_robotfile:robotBlock:robot_ECU:SENSORS:9" style="noLabel=0;opacity=0" value="P03_LEFTLASER" vertex="1">
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="130.0"/>
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                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU:SENSORS:10aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU:SENSORS:10" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_ECU:SENSORS:10#identifier" parent="in_robotfile:robotBlock:robot_ECU:SENSORS:10" style="noLabel=0;opacity=0" value="SONAR" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU:BUT:1" ordering="11" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
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                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="1600.0" y="450.0"/>
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                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:BUT:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:BUT:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU:BUT:1#identifier" parent="out_robotfile:robotBlock:robot_ECU:BUT:1" style="noLabel=0;opacity=0" value="GND" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_ECU:BUT:2" ordering="4" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
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                                                    <data column="0" line="0" value="4"/>
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                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="4.0"/>
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="170.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU:BUT:2aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU:BUT:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
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                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_ECU:BUT:2#identifier" parent="in_robotfile:robotBlock:robot_ECU:BUT:2" style="noLabel=0;opacity=0" value="EMGCY" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_ECU:BUT:3" ordering="5" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
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                                                    <data column="0" line="0" value="5"/>
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                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="5.0"/>
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="210.0"/>
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                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU:BUT:3aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU:BUT:3" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_ECU:BUT:3#identifier" parent="in_robotfile:robotBlock:robot_ECU:BUT:3" style="noLabel=0;opacity=0" value="SW_USER" vertex="1">
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                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU:LWHEEL:1" ordering="12" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
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                                                <Array as="equations" scilabClass="ScilabList"/>
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                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:LWHEEL:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:1#identifier" parent="out_robotfile:robotBlock:robot_ECU:LWHEEL:1" style="noLabel=0;opacity=0" value="LMOTOR1" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU:LWHEEL:2" ordering="13" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="1600.0" y="530.0"/>
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                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:2aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:LWHEEL:2" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:2#identifier" parent="out_robotfile:robotBlock:robot_ECU:LWHEEL:2" style="noLabel=0;opacity=0" value="LMOTOR2" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU:LWHEEL:3" ordering="14" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
                                                <ScilabString as="exprs" height="1" width="1">
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="1600.0" y="570.0"/>
                                            </ExplicitOutBlock>
                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:LWHEEL:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:3#identifier" parent="out_robotfile:robotBlock:robot_ECU:LWHEEL:3" style="noLabel=0;opacity=0" value="LMOTOR3" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU:RWHEEL:1" ordering="15" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
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                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="1600.0" y="610.0"/>
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                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:RWHEEL:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:1#identifier" parent="out_robotfile:robotBlock:robot_ECU:RWHEEL:1" style="noLabel=0;opacity=0" value="RMOTOR1" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU:RWHEEL:2" ordering="16" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
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                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="1600.0" y="650.0"/>
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                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:2aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:RWHEEL:2" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:2#identifier" parent="out_robotfile:robotBlock:robot_ECU:RWHEEL:2" style="noLabel=0;opacity=0" value="RMOTOR2" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU:RWHEEL:3" ordering="17" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="1600.0" y="690.0"/>
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                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:RWHEEL:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:3#identifier" parent="out_robotfile:robotBlock:robot_ECU:RWHEEL:3" style="noLabel=0;opacity=0" value="RMOTOR3" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <SuperBlock id="robotfile:robotBlock:robot_ECU_ECU1" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="ECU1">
                                                <SuperBlockDiagram as="child" background="-1" title="ECU1"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
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                                                    <mxGraphModel as="model">
                                                        <root>
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                                                            <mxCell id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>                            <!-- Puertos 	 (dentro) -->
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                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="2000.0" y="50.0"/>
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                                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:1#identifier" parent="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:1" style="noLabel=0;opacity=0" value="VINMCU" vertex="1">
                                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1p1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
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                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
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                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="2000.0" y="90.0"/>
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                                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:2aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:2" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:3" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1p1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
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                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="50.0"/>
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                                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:4" ordering="3" parent="robotfile:robotBlock:robot_ECU_ECU1p1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
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                                                                                                <ScilabDouble height="1" width="1">
                                                                                                    <data column="0" line="0" realPart="0.0"/>
                                                                                                </ScilabDouble>
                                                                                                <ScilabDouble height="1" width="1">
                                                                                                    <data column="0" line="0" realPart="0.0"/>
                                                                                                </ScilabDouble>
                                                                                                <Array scilabClass="ScilabList"/>
                                                                                            </Array>
                                                                                            <ScilabString height="1" width="1">
                                                                                                <data column="0" line="0" value="OUT_f"/>
                                                                                            </ScilabString>
                                                                                            <Array scilabClass="ScilabList">
                                                                                                <ScilabString height="1" width="1">
                                                                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
                                                                                                </ScilabString>
                                                                                            </Array>
                                                                                        </Array>
                                                                                    </Array>
                                                                                    <ScilabString height="1" width="1">
                                                                                        <data column="0" line="0" value=""/>
                                                                                    </ScilabString>
                                                                                    <Array scilabClass="ScilabList"/>
                                                                                </Array>
                                                                                <Array as="oDState" scilabClass="ScilabList"/>
                                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                                <mxGeometry as="geometry" height="116.0" width="260.0" x="100.0" y="20.0"/>
                                                                            </SuperBlock><!-- Puertos 	 (fuera) -->
                                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1_DBG:DRE:1b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1_DBG" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="dbgLedBlinkTimer">
                                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                                                                            </ExplicitOutputPort>
                                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1_DBG:DRE:1b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1_DBG" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="dbgLedBlinkTimer">
                                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                                                                            </ExplicitInputPort>
                                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1_DBG:PINOUT:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1_DBG" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="DBG_LED">
                                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
                                                                            </ExplicitOutputPort>
                                                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_ECU1_MCU1_DBG:PINOUT:1" >
                                                                                <mxGeometry as="geometry">
                                                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                                                </mxGeometry>
                                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1_MCU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1p0"/>
                                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1_DBG:PINOUT:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1_DBG" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LED">
                                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
                                                                                </ExplicitOutputPort>
                                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:15aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:15" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                                                </ExplicitInputPort>
                                                                            </ExplicitLink>
                                                                            <mxCell connectable="0" id="robotfile:robotBlock:robot_ECU_ECU1_MCU1_DBG#identifier" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1_DBG" style="noLabel=0;opacity=0" value="DbgLed" vertex="1">
                                                                                <mxGeometry as="geometry" x="130.0" y="76.0"/>
                                                                            </mxCell>
                                                                        </root>
                                                                    </mxGraphModel>
                                                                    <mxCell as="defaultParent" id="robotfile:robotBlock:robot_ECU_ECU1_MCU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1p0"/>
                                                                </SuperBlockDiagram>
                                                                <Array as="realParameters" scilabClass="ScilabMList">
                                                                    <ScilabString height="1" width="5">
                                                                        <data column="0" line="0" value="diagram"/>
                                                                        <data column="1" line="0" value="props"/>
                                                                        <data column="2" line="0" value="objs"/>
                                                                        <data column="3" line="0" value="version"/>
                                                                        <data column="4" line="0" value="contrib"/>
                                                                    </ScilabString>
                                                                    <Array scilabClass="ScilabTList">
                                                                        <ScilabString height="1" width="11">
                                                                            <data column="0" line="0" value="params"/>
                                                                            <data column="1" line="0" value="wpar"/>
                                                                            <data column="2" line="0" value="title"/>
                                                                            <data column="3" line="0" value="tol"/>
                                                                            <data column="4" line="0" value="tf"/>
                                                                            <data column="5" line="0" value="context"/>
                                                                            <data column="6" line="0" value="void1"/>
                                                                            <data column="7" line="0" value="options"/>
                                                                            <data column="8" line="0" value="void2"/>
                                                                            <data column="9" line="0" value="void3"/>
                                                                            <data column="10" line="0" value="doc"/>
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                                                                        <ScilabString height="1" width="1">
                                                                            <data column="0" line="0" value="MCU1"/>
                                                                        </ScilabString>
                                                                        <ScilabDouble height="7" width="1">
                                                                            <data column="0" line="0" realPart="1.0E-6"/>
                                                                            <data column="0" line="1" realPart="1.0E-6"/>
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                                                                            <data column="0" line="3" realPart="100001.0"/>
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                                                                        <ScilabDouble height="1" width="1">
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                                                                        <ScilabString height="1" width="1">
                                                                            <data column="0" line="0" value=""/>
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                                                                        <ScilabDouble height="0" width="0"/>
                                                                        <Array scilabClass="ScilabTList">
                                                                            <ScilabString height="1" width="6">
                                                                                <data column="0" line="0" value="scsopt"/>
                                                                                <data column="1" line="0" value="3D"/>
                                                                                <data column="2" line="0" value="Background"/>
                                                                                <data column="3" line="0" value="Link"/>
                                                                                <data column="4" line="0" value="ID"/>
                                                                                <data column="5" line="0" value="Cmap"/>
                                                                            </ScilabString>
                                                                            <Array scilabClass="ScilabList">
                                                                                <ScilabBoolean height="1" width="1">
                                                                                    <data column="0" line="0" value="true"/>
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                                                                            <Array scilabClass="ScilabList">
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                                                                    <Array scilabClass="ScilabList">
                                                                        <Array scilabClass="ScilabMList">
                                                                            <ScilabString height="1" width="5">
                                                                                <data column="0" line="0" value="Block"/>
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                                                                                <data column="3" line="0" value="gui"/>
                                                                                <data column="4" line="0" value="doc"/>
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                                                                            <Array scilabClass="ScilabMList">
                                                                                <ScilabString height="1" width="19">
                                                                                    <data column="0" line="0" value="graphics"/>
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                                                                                    <data column="3" line="0" value="flip"/>
                                                                                    <data column="4" line="0" value="theta"/>
                                                                                    <data column="5" line="0" value="exprs"/>
                                                                                    <data column="6" line="0" value="pin"/>
                                                                                    <data column="7" line="0" value="pout"/>
                                                                                    <data column="8" line="0" value="pein"/>
                                                                                    <data column="9" line="0" value="peout"/>
                                                                                    <data column="10" line="0" value="gr_i"/>
                                                                                    <data column="11" line="0" value="id"/>
                                                                                    <data column="12" line="0" value="in_implicit"/>
                                                                                    <data column="13" line="0" value="out_implicit"/>
                                                                                    <data column="14" line="0" value="in_style"/>
                                                                                    <data column="15" line="0" value="out_style"/>
                                                                                    <data column="16" line="0" value="in_label"/>
                                                                                    <data column="17" line="0" value="out_label"/>
                                                                                    <data column="18" line="0" value="style"/>
                                                                                </ScilabString>
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                                                                                <ScilabBoolean height="1" width="1">
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                                                                                <Array scilabClass="ScilabList">
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                                                                            <Array scilabClass="ScilabMList">
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                                                                                    <data column="5" line="0" value="out"/>
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                                                                                    <data column="9" line="0" value="evtout"/>
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                                                                                    <data column="16" line="0" value="blocktype"/>
                                                                                    <data column="17" line="0" value="firing"/>
                                                                                    <data column="18" line="0" value="dep_ut"/>
                                                                                    <data column="19" line="0" value="label"/>
                                                                                    <data column="20" line="0" value="nzcross"/>
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                                                                                <Array scilabClass="ScilabList"/>
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                                                                        <Array scilabClass="ScilabMList">
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                                                            </SuperBlock><!-- Puertos 	 (fuera) -->
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                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
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                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
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                                                            </ExplicitLink>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="WCTRL_RX">
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                                                            </ExplicitInputPort>
                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:3b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="WCTRL_TX">
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                                                            </ExplicitOutputPort>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:4b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="EMGCY">
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                                                            <ExplicitLink id="link_in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:4" >
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                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1:EMGCY:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_ECU1:EMGCY:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:4b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="EMGCY">
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                                                            </ExplicitLink>
                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:5b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CAN_TX">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
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                                                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:5" >
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                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:5b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CAN_TX">
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                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CAN_TX">
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                                                            </ExplicitLink>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:6b2" ordering="4" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CAN_RX">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
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                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:7b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LED1">
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                                                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:7" >
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                                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
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                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:7b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LED1">
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                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_LEDS:PINOUT:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LED1">
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                                                            </ExplicitLink>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:8b2" ordering="5" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="RC">
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                                                            <ExplicitLink id="link_in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:8" >
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                                                                    <mxPoint as="targetPoint" x="100.0" y="180.0"/>
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                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1:RC:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_ECU1:RC:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:8b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="RC">
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                                                            </ExplicitLink>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:9b2" ordering="6" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SERIAL3_RX">
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                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:10b2" ordering="4" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SERIAL3_TX">
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                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:11b2" ordering="7" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="ROS_RX">
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                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:12b2" ordering="5" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="ROS_TX">
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                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:13b2" ordering="6" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LED2">
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                                                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:13" >
                                                                <mxGeometry as="geometry">
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                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
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                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_LEDS:PINOUT:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LED2">
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                                                            </ExplicitLink>
                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:14b2" ordering="7" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LED3">
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                                                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:14" >
                                                                <mxGeometry as="geometry">
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                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
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                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_LEDS:PINOUT:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LED3">
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                                                            </ExplicitLink>
                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:15b2" ordering="8" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="DBG_LED">
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                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:16b2" ordering="8" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SW_USER">
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                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:17b2" ordering="9" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SONAR">
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                                                            <ExplicitLink id="link_in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:17" >
                                                                <mxGeometry as="geometry">
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                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1:RC:4aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_ECU1:RC:4" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:17b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SONAR">
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                                                            </ExplicitLink>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:18b2" ordering="10" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="DC_LEFT_NEG">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="396.0"/>
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                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:19b2" ordering="11" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="DC_LEFT_POS">
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                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:20b2" ordering="9" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
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                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:20b2" ordering="12" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="476.0"/>
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                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:21b2" ordering="10" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
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                                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:21" >
                                                                <mxGeometry as="geometry">
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                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
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                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:IMU:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU_ECU1:IMU:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                                </ExplicitInputPort>
                                                            </ExplicitLink>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:22b2" ordering="13" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="DC_RIGHT_NEG">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="516.0"/>
                                                            </ExplicitInputPort>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:23b2" ordering="14" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="DC_RIGHT_POS">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="556.0"/>
                                                            </ExplicitInputPort>
                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:24b2" ordering="11" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="DC_LEFT_MOD">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="436.0"/>
                                                            </ExplicitOutputPort>
                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:25b2" ordering="12" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="DC_RIGHT_MOD">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="476.0"/>
                                                            </ExplicitOutputPort>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:26b2" ordering="15" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="3V3MCU">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="596.0"/>
                                                            </ExplicitInputPort>
                                                            <ExplicitLink id="link_in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:26" >
                                                                <mxGeometry as="geometry">
                                                                    <mxPoint as="sourcePoint" x="40.0" y="180.0"/>
                                                                    <mxPoint as="targetPoint" x="100.0" y="180.0"/>
                                                                </mxGeometry>
                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1:J3V3:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_ECU1:J3V3:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                                                </ExplicitOutputPort>
                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:26b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="3V3MCU">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="596.0"/>
                                                                </ExplicitInputPort>
                                                            </ExplicitLink>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:27b2" ordering="16" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VINMCU">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="636.0"/>
                                                            </ExplicitInputPort>
                                                            <ExplicitLink id="link_in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:27" >
                                                                <mxGeometry as="geometry">
                                                                    <mxPoint as="sourcePoint" x="40.0" y="180.0"/>
                                                                    <mxPoint as="targetPoint" x="100.0" y="180.0"/>
                                                                </mxGeometry>
                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1:J5V1:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_ECU1:J5V1:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                                                </ExplicitOutputPort>
                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:27b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VINMCU">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="636.0"/>
                                                                </ExplicitInputPort>
                                                            </ExplicitLink>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:29b2" ordering="17" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SW_USER_OLD">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="676.0"/>
                                                            </ExplicitInputPort>
                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:30b2" ordering="13" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="J26">
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                                                            </ExplicitOutputPort>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:37b2" ordering="18" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="BAT_SENSE">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="716.0"/>
                                                            </ExplicitInputPort>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:DRE:1b2" ordering="19" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="colPresent">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="756.0"/>
                                                            </ExplicitInputPort>
                                                            <mxCell connectable="0" id="robotfile:robotBlock:robot_ECU_ECU1_MCU1#identifier" parent="robotfile:robotBlock:robot_ECU_ECU1_MCU1" style="noLabel=0;opacity=0" value="MCU1" vertex="1">
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                                                            </mxCell>
                                                            <SuperBlock id="robotfile:robotBlock:robot_ECU_ECU1_SW_USER" parent="robotfile:robotBlock:robot_ECU_ECU1p1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="SW_USER">
                                                                <SuperBlockDiagram as="child" background="-1" title="SW_USER"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
                                                                    <Array as="context" scilabClass="String[]">
                                                                        <add value=""/>
                                                                    </Array>
                                                                    <mxGraphModel as="model">
                                                                        <root>
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                                                                            <mxCell id="robotfile:robotBlock:robot_ECU_ECU1_SW_USERp1" parent="robotfile:robotBlock:robot_ECU_ECU1_SW_USERp0"/>                            <!-- Puertos 	 (dentro) -->
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                                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="400.0" y="50.0"/>
                                                                            </ExplicitOutBlock>
                                                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1_SW_USER:PINOUT:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU_ECU1_SW_USER:PINOUT:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                                            </ExplicitInputPort>
                                                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU_ECU1_SW_USER:PINOUT:1#identifier" parent="out_robotfile:robotBlock:robot_ECU_ECU1_SW_USER:PINOUT:1" style="noLabel=0;opacity=0" value="SW_USER_OLD" vertex="1">
                                                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_ECU_ECU1_SW_USER:PINOUT:2" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1_SW_USERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
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                                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="50.0"/>
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                                                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_SW_USER:PINOUT:2aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_ECU1_SW_USER:PINOUT:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                                        </root>
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                                                                                <ScilabDouble height="1" width="1">
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                                                                                <Array scilabClass="ScilabList"/>
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                                                                            <ScilabString height="1" width="1">
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                                                                            <Array scilabClass="ScilabList">
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                                                                    <Array scilabClass="ScilabList"/>
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                                                                <Array as="oDState" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="236.0" width="260.0" x="1240.0" y="20.0"/>
                                                            </SuperBlock><!-- Puertos 	 (fuera) -->
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:1b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CAN_TX">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
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                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                                                            </ExplicitInputPort>
                                                            <ExplicitLink id="link_in_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:2" >
                                                                <mxGeometry as="geometry">
                                                                    <mxPoint as="sourcePoint" x="40.0" y="180.0"/>
                                                                    <mxPoint as="targetPoint" x="100.0" y="180.0"/>
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                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1:J15:2aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_ECU1:J15:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
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                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
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                                                            </ExplicitLink>
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:3b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="3V3">
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                                                            <ExplicitLink id="link_in_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:3" >
                                                                <mxGeometry as="geometry">
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                                                                    <mxPoint as="targetPoint" x="100.0" y="180.0"/>
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                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1:JVROS1:3aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_ECU1:JVROS1:3" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                                                </ExplicitOutputPort>
                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="3V3">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
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                                                            </ExplicitLink>
                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:4b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CAN_RX">
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                                                            </ExplicitOutputPort>
                                                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:4" >
                                                                <mxGeometry as="geometry">
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                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:4b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CAN_RX">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                                                                </ExplicitOutputPort>
                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_MCU1:PINOUT:6b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CAN_RX">
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                                                            </ExplicitLink>
                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:6b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANL">
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                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:6b2" ordering="4" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANL">
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                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:7b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANH">
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                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_CANTR:PINOUT:7b2" ordering="5" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANH">
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                                                            <mxCell connectable="0" id="robotfile:robotBlock:robot_ECU_ECU1_CANTR#identifier" parent="robotfile:robotBlock:robot_ECU_ECU1_CANTR" style="noLabel=0;opacity=0" value="CANTR" vertex="1">
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                                                            <SuperBlock id="robotfile:robotBlock:robot_ECU_ECU1_POWDIODE" parent="robotfile:robotBlock:robot_ECU_ECU1p1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="POWDIODE">
                                                                <SuperBlockDiagram as="child" background="-1" title="POWDIODE"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
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                                                                        <root>
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                                                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_POWDIODE:POWDIODE:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_ECU1_POWDIODE:POWDIODE:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU_ECU1_POWDIODE:POWDIODE:2" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1_POWDIODEp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
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                                                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1_POWDIODE:POWDIODE:2aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU_ECU1_POWDIODE:POWDIODE:2" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                                                    <data column="8" line="0" value="evtin"/>
                                                                                    <data column="9" line="0" value="evtout"/>
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                                                                                    <data column="11" line="0" value="dstate"/>
                                                                                    <data column="12" line="0" value="odstate"/>
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                                                                                    <data column="14" line="0" value="ipar"/>
                                                                                    <data column="15" line="0" value="opar"/>
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                                                                                    <data column="17" line="0" value="firing"/>
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                                                                                    <data column="20" line="0" value="nzcross"/>
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                                                                                <Array scilabClass="ScilabList"/>
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                                                                                <Array scilabClass="ScilabList"/>
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                                                                            <Array scilabClass="ScilabList">
                                                                                <ScilabString height="1" width="1">
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                                                                    </Array>
                                                                    <ScilabString height="1" width="1">
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                                                                    <Array scilabClass="ScilabList"/>
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                                                                <Array as="oDState" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="76.0" width="260.0" x="1620.0" y="20.0"/>
                                                            </SuperBlock><!-- Puertos 	 (fuera) -->
                                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1_POWDIODE:POWDIODE:1b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1_POWDIODE" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
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                                                            </ExplicitInputPort>
                                                            <ExplicitLink id="link_in_robotfile:robotBlock:robot_ECU_ECU1_POWDIODE:POWDIODE:1" >
                                                                <mxGeometry as="geometry">
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                                                                    <mxPoint as="targetPoint" x="100.0" y="180.0"/>
                                                                </mxGeometry>
                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1:CAN1:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_ECU1:CAN1:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                                                </ExplicitOutputPort>
                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_ECU1_POWDIODE:POWDIODE:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_POWDIODE" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                                                                </ExplicitInputPort>
                                                            </ExplicitLink>
                                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1_POWDIODE:POWDIODE:2b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1_POWDIODE" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VINMCU">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                                                            </ExplicitOutputPort>
                                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_ECU1_POWDIODE:POWDIODE:2" >
                                                                <mxGeometry as="geometry">
                                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                                </mxGeometry>
                                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1_POWDIODE:POWDIODE:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1_POWDIODE" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VINMCU">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                                                                </ExplicitOutputPort>
                                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                                </ExplicitInputPort>
                                                            </ExplicitLink>
                                                            <mxCell connectable="0" id="robotfile:robotBlock:robot_ECU_ECU1_POWDIODE#identifier" parent="robotfile:robotBlock:robot_ECU_ECU1_POWDIODE" style="noLabel=0;opacity=0" value="POWDIODE" vertex="1">
                                                                <mxGeometry as="geometry" x="130.0" y="56.0"/>
                                                            </mxCell>
                                                        </root>
                                                    </mxGraphModel>
                                                    <mxCell as="defaultParent" id="robotfile:robotBlock:robot_ECU_ECU1p1" parent="robotfile:robotBlock:robot_ECU_ECU1p0"/>
                                                </SuperBlockDiagram>
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                                                        <data column="4" line="0" value="contrib"/>
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                                                    <Array scilabClass="ScilabTList">
                                                        <ScilabString height="1" width="11">
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                                                            <data column="4" line="0" value="tf"/>
                                                            <data column="5" line="0" value="context"/>
                                                            <data column="6" line="0" value="void1"/>
                                                            <data column="7" line="0" value="options"/>
                                                            <data column="8" line="0" value="void2"/>
                                                            <data column="9" line="0" value="void3"/>
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                                                        <ScilabString height="1" width="1">
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                                                                <data column="2" line="0" value="Background"/>
                                                                <data column="3" line="0" value="Link"/>
                                                                <data column="4" line="0" value="ID"/>
                                                                <data column="5" line="0" value="Cmap"/>
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                                                            <Array scilabClass="ScilabList">
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                                                            <Array scilabClass="ScilabMList">
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                                                                    <data column="8" line="0" value="pein"/>
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                                                                    <data column="0" line="0" value=""/>
                                                                </ScilabString>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="OUT_f;flip=false;mirror=false"/>
                                                                </ScilabString>
                                                            </Array>
                                                            <Array scilabClass="ScilabMList">
                                                                <ScilabString height="1" width="23">
                                                                    <data column="0" line="0" value="model"/>
                                                                    <data column="1" line="0" value="sim"/>
                                                                    <data column="2" line="0" value="in"/>
                                                                    <data column="3" line="0" value="in2"/>
                                                                    <data column="4" line="0" value="intyp"/>
                                                                    <data column="5" line="0" value="out"/>
                                                                    <data column="6" line="0" value="out2"/>
                                                                    <data column="7" line="0" value="outtyp"/>
                                                                    <data column="8" line="0" value="evtin"/>
                                                                    <data column="9" line="0" value="evtout"/>
                                                                    <data column="10" line="0" value="state"/>
                                                                    <data column="11" line="0" value="dstate"/>
                                                                    <data column="12" line="0" value="odstate"/>
                                                                    <data column="13" line="0" value="rpar"/>
                                                                    <data column="14" line="0" value="ipar"/>
                                                                    <data column="15" line="0" value="opar"/>
                                                                    <data column="16" line="0" value="blocktype"/>
                                                                    <data column="17" line="0" value="firing"/>
                                                                    <data column="18" line="0" value="dep_ut"/>
                                                                    <data column="19" line="0" value="label"/>
                                                                    <data column="20" line="0" value="nzcross"/>
                                                                    <data column="21" line="0" value="nmode"/>
                                                                    <data column="22" line="0" value="equations"/>
                                                                </ScilabString>
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="output"/>
                                                                </ScilabString>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="-1.0"/>
                                                                </ScilabDouble>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="-2.0"/>
                                                                </ScilabDouble>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="-1.0"/>
                                                                </ScilabDouble>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <Array scilabClass="ScilabList"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="2.0"/>
                                                                </ScilabDouble>
                                                                <Array scilabClass="ScilabList"/>
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="c"/>
                                                                </ScilabString>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabBoolean height="1" width="2">
                                                                    <data column="0" line="0" value="false"/>
                                                                    <data column="1" line="0" value="false"/>
                                                                </ScilabBoolean>
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
                                                                </ScilabString>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="0.0"/>
                                                                </ScilabDouble>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="0.0"/>
                                                                </ScilabDouble>
                                                                <Array scilabClass="ScilabList"/>
                                                            </Array>
                                                            <ScilabString height="1" width="1">
                                                                <data column="0" line="0" value="OUT_f"/>
                                                            </ScilabString>
                                                            <Array scilabClass="ScilabList">
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
                                                                </ScilabString>
                                                            </Array>
                                                        </Array>
                                                    </Array>
                                                    <ScilabString height="1" width="1">
                                                        <data column="0" line="0" value=""/>
                                                    </ScilabString>
                                                    <Array scilabClass="ScilabList"/>
                                                </Array>
                                                <Array as="oDState" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="4036.0" width="260.0" x="100.0" y="20.0"/>
                                            </SuperBlock><!-- Puertos 	 (fuera) -->
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:1b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VINMCU">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="WCTRL_RX">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:3b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="WCTRL_TX">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:4b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="116.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:4" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:WCTRL:4b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="116.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:BUT:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:BUT:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:ROS:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:ROS:2b2" ordering="4" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="ROS_RX">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="156.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:ROS:3b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="ROS_TX">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:ROS:4b2" ordering="4" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:SERIAL3:1b2" ordering="5" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:SERIAL3:2b2" ordering="5" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SERIAL3_RX">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="196.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:SERIAL3:3b2" ordering="6" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SERIAL3_TX">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="236.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:SERIAL3:4b2" ordering="7" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="276.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:CAN1:1b2" ordering="8" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="316.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:CAN1:2b2" ordering="6" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANH">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="236.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU_ECU1:CAN1:2" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:CAN1:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANH">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="236.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:11b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANH">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="356.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:CAN1:2b2" ordering="9" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANH">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="356.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:CAN1:3b2" ordering="7" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANL">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="276.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU_ECU1:CAN1:3" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:CAN1:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANL">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="276.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:12b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANL">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="396.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:CAN1:3b2" ordering="10" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANL">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="396.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:CAN1:4b2" ordering="11" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="436.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:IMU:1b2" ordering="12" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="476.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:IMU:2b2" ordering="8" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="316.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_ECU1:IMU:2" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:IMU:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="316.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:2aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:SENSORS:2" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:IMU:2b2" ordering="13" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="516.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:IMU:3b2" ordering="9" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="356.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_ECU1:IMU:3" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:IMU:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="356.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:SENSORS:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:IMU:4b2" ordering="14" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="556.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:RC:1b2" ordering="15" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="RC">
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                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:4b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV26:1b2" ordering="89" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
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                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:JV26:2b2" ordering="30" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:4b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV26:3b2" ordering="90" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="3V3">
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                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV27:1b2" ordering="91" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
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                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:JV27:2b2" ordering="31" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:JV27:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:4b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                            </ExplicitLink>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV27:3b2" ordering="92" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="3V3">
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                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV28:1b2" ordering="93" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
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                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:JV28:2b2" ordering="32" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU_ECU1:JV28:2" >
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                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
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                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:JV28:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:4b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV28:3b2" ordering="94" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="3V3">
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                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV29:1b2" ordering="95" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
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                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:JV29:2b2" ordering="33" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU_ECU1:JV29:2" >
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                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
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                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_ECU1:JV29:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:4b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV29:3b2" ordering="96" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="3V3">
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                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV30:1b2" ordering="97" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
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                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:JV30:2b2" ordering="34" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU_ECU1:JV30:2" >
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                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
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                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:4b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV30:3b2" ordering="98" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="3V3">
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                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV31:1b2" ordering="99" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
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                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_ECU1:JV31:2b2" ordering="35" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU_ECU1:JV31:2" >
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                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_ECU1:JV31:3b2" ordering="100" parent="robotfile:robotBlock:robot_ECU_ECU1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="3V3">
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                                            <mxCell connectable="0" id="robotfile:robotBlock:robot_ECU_ECU1#identifier" parent="robotfile:robotBlock:robot_ECU_ECU1" style="noLabel=0;opacity=0" value="ECU1" vertex="1">
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                                            <SuperBlock id="robotfile:robotBlock:robot_ECU_PORTEXT" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="PORTEXT">
                                                <SuperBlockDiagram as="child" background="-1" title="PORTEXT"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
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                                                        <add value=""/>
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                                                    <mxGraphModel as="model">
                                                        <root>
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                                                            <mxCell id="robotfile:robotBlock:robot_ECU_PORTEXTp1" parent="robotfile:robotBlock:robot_ECU_PORTEXTp0"/>                            <!-- Puertos 	 (dentro) -->
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                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="50.0"/>
                                                            </ExplicitInBlock>
                                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:1#identifier" parent="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:1" style="noLabel=0;opacity=0" value="GND" vertex="1">
                                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:2" ordering="2" parent="robotfile:robotBlock:robot_ECU_PORTEXTp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                                <ScilabString as="exprs" height="1" width="1">
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                                                                <ScilabDouble as="integerParameters" height="1" width="1">
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                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="90.0"/>
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                                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:2aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:2#identifier" parent="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:2" style="noLabel=0;opacity=0" value="I2C_SCL" vertex="1">
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                                                            <Array scilabClass="ScilabMList">
                                                                <ScilabString height="1" width="23">
                                                                    <data column="0" line="0" value="model"/>
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                                                                    <data column="2" line="0" value="in"/>
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                                                                    <data column="4" line="0" value="intyp"/>
                                                                    <data column="5" line="0" value="out"/>
                                                                    <data column="6" line="0" value="out2"/>
                                                                    <data column="7" line="0" value="outtyp"/>
                                                                    <data column="8" line="0" value="evtin"/>
                                                                    <data column="9" line="0" value="evtout"/>
                                                                    <data column="10" line="0" value="state"/>
                                                                    <data column="11" line="0" value="dstate"/>
                                                                    <data column="12" line="0" value="odstate"/>
                                                                    <data column="13" line="0" value="rpar"/>
                                                                    <data column="14" line="0" value="ipar"/>
                                                                    <data column="15" line="0" value="opar"/>
                                                                    <data column="16" line="0" value="blocktype"/>
                                                                    <data column="17" line="0" value="firing"/>
                                                                    <data column="18" line="0" value="dep_ut"/>
                                                                    <data column="19" line="0" value="label"/>
                                                                    <data column="20" line="0" value="nzcross"/>
                                                                    <data column="21" line="0" value="nmode"/>
                                                                    <data column="22" line="0" value="equations"/>
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                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="output"/>
                                                                </ScilabString>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="-1.0"/>
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                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="-2.0"/>
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                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="-1.0"/>
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                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
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                                                                <ScilabDouble height="0" width="0"/>
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                                                                <Array scilabClass="ScilabList"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="2.0"/>
                                                                </ScilabDouble>
                                                                <Array scilabClass="ScilabList"/>
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="c"/>
                                                                </ScilabString>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabBoolean height="1" width="2">
                                                                    <data column="0" line="0" value="false"/>
                                                                    <data column="1" line="0" value="false"/>
                                                                </ScilabBoolean>
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
                                                                </ScilabString>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="0.0"/>
                                                                </ScilabDouble>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="0.0"/>
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                                                                <Array scilabClass="ScilabList"/>
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                                                            <ScilabString height="1" width="1">
                                                                <data column="0" line="0" value="OUT_f"/>
                                                            </ScilabString>
                                                            <Array scilabClass="ScilabList">
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
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                                                            </Array>
                                                        </Array>
                                                    </Array>
                                                    <ScilabString height="1" width="1">
                                                        <data column="0" line="0" value=""/>
                                                    </ScilabString>
                                                    <Array scilabClass="ScilabList"/>
                                                </Array>
                                                <Array as="oDState" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="236.0" width="260.0" x="480.0" y="20.0"/>
                                            </SuperBlock><!-- Puertos 	 (fuera) -->
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:1b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:3b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:3b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:4b2" ordering="4" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:5b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P00_FRONTLASER">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:5" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:5b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P00_FRONTLASER">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:6aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:SENSORS:6" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:6b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P01_RIGHTLASER">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="116.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:6" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:6b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P01_RIGHTLASER">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="116.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:7aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:SENSORS:7" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:7b2" ordering="4" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P02_REARLASER">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="156.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:7" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:7b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P02_REARLASER">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="156.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:8aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:SENSORS:8" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:8b2" ordering="5" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P03_LEFTLASER">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="196.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:8" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_PORTEXT:PINOUT:8b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P03_LEFTLASER">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="196.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:9aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:SENSORS:9" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <mxCell connectable="0" id="robotfile:robotBlock:robot_ECU_PORTEXT#identifier" parent="robotfile:robotBlock:robot_ECU_PORTEXT" style="noLabel=0;opacity=0" value="PORTEXT" vertex="1">
                                                <mxGeometry as="geometry" x="130.0" y="136.0"/>
                                            </mxCell>
                                            <SuperBlock id="robotfile:robotBlock:robot_ECU_LVESC" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="LVESC">
                                                <SuperBlockDiagram as="child" background="-1" title="LVESC"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
                                                    <Array as="context" scilabClass="String[]">
                                                        <add value=""/>
                                                    </Array>
                                                    <mxGraphModel as="model">
                                                        <root>
                                                            <mxCell id="robotfile:robotBlock:robot_ECU_LVESCp0"/>
                                                            <mxCell id="robotfile:robotBlock:robot_ECU_LVESCp1" parent="robotfile:robotBlock:robot_ECU_LVESCp0"/>                            <!-- Puertos 	 (dentro) -->
                                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:1" ordering="1" parent="robotfile:robotBlock:robot_ECU_LVESCp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
                                                                <ScilabString as="exprs" height="1" width="1">
                                                                    <data column="0" line="0" value="1"/>
                                                                </ScilabString>
                                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                                    <data column="0" line="0" realPart="1.0"/>
                                                                </ScilabDouble>
                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="400.0" y="50.0"/>
                                                            </ExplicitOutBlock>
                                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                            </ExplicitInputPort>
                                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:1#identifier" parent="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:1" style="noLabel=0;opacity=0" value="5V" vertex="1">
                                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                                            </mxCell>
                                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:2" ordering="1" parent="robotfile:robotBlock:robot_ECU_LVESCp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                                <ScilabString as="exprs" height="1" width="1">
                                                                    <data column="0" line="0" value="1"/>
                                                                </ScilabString>
                                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                                    <data column="0" line="0" realPart="1.0"/>
                                                                </ScilabDouble>
                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="50.0"/>
                                                            </ExplicitInBlock>
                                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:2aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                                            </ExplicitOutputPort>
                                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:2#identifier" parent="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:2" style="noLabel=0;opacity=0" value="VCC" vertex="1">
                                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                                            </mxCell>
                                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:3" ordering="2" parent="robotfile:robotBlock:robot_ECU_LVESCp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                                <ScilabString as="exprs" height="1" width="1">
                                                                    <data column="0" line="0" value="2"/>
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                                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                                    <data column="0" line="0" realPart="2.0"/>
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                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="90.0"/>
                                                            </ExplicitInBlock>
                                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:3aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:3" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                                            </ExplicitOutputPort>
                                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:3#identifier" parent="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:3" style="noLabel=0;opacity=0" value="GND" vertex="1">
                                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                                            </mxCell>
                                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:4" ordering="3" parent="robotfile:robotBlock:robot_ECU_LVESCp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                                <ScilabString as="exprs" height="1" width="1">
                                                                    <data column="0" line="0" value="3"/>
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                                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                                    <data column="0" line="0" realPart="3.0"/>
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                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="130.0"/>
                                                            </ExplicitInBlock>
                                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:4aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:4" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                                            </ExplicitOutputPort>
                                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:4#identifier" parent="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:4" style="noLabel=0;opacity=0" value="ADC_EXT" vertex="1">
                                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                                            </mxCell>
                                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:5" ordering="2" parent="robotfile:robotBlock:robot_ECU_LVESCp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
                                                                <ScilabString as="exprs" height="1" width="1">
                                                                    <data column="0" line="0" value="2"/>
                                                                </ScilabString>
                                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                                    <data column="0" line="0" realPart="2.0"/>
                                                                </ScilabDouble>
                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="400.0" y="90.0"/>
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                                                                    <data column="0" line="0" realPart="0.0"/>
                                                                </ScilabDouble>
                                                                <Array scilabClass="ScilabList"/>
                                                            </Array>
                                                            <ScilabString height="1" width="1">
                                                                <data column="0" line="0" value="OUT_f"/>
                                                            </ScilabString>
                                                            <Array scilabClass="ScilabList">
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
                                                                </ScilabString>
                                                            </Array>
                                                        </Array>
                                                    </Array>
                                                    <ScilabString height="1" width="1">
                                                        <data column="0" line="0" value=""/>
                                                    </ScilabString>
                                                    <Array scilabClass="ScilabList"/>
                                                </Array>
                                                <Array as="oDState" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="436.0" width="260.0" x="860.0" y="20.0"/>
                                            </SuperBlock><!-- Puertos 	 (fuera) -->
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:1b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:1" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:4aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:SENSORS:4" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:2b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:4b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="ADC_EXT">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:5b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="WCTRL_RX">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:6b2" ordering="4" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="WCTRL_TX">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:7b2" ordering="5" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="ADC_EXT2">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:8b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MA">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="116.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:8b2" ordering="6" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MA">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="236.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:9b2" ordering="4" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MB">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="156.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:9b2" ordering="7" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MB">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="276.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:10b2" ordering="5" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MC">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="196.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:10b2" ordering="8" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MC">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="316.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:11b2" ordering="6" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANH">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="236.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:11b2" ordering="9" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANH">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="356.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:12b2" ordering="7" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANL">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="276.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_LVESC:PINOUT:12b2" ordering="10" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANL">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="396.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_LVESC:MOTOR:1b2" ordering="8" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LMOTOR1">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="316.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_LVESC:MOTOR:1" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_LVESC:MOTOR:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M1">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="316.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:LWHEEL:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_LVESC:MOTOR:2b2" ordering="9" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LMOTOR2">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="356.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_LVESC:MOTOR:2" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_LVESC:MOTOR:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M2">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="356.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:2aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:LWHEEL:2" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_LVESC:MOTOR:3b2" ordering="10" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LMOTOR3">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="396.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_LVESC:MOTOR:3" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_LVESC:MOTOR:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_LVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M3">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="396.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:LWHEEL:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <mxCell connectable="0" id="robotfile:robotBlock:robot_ECU_LVESC#identifier" parent="robotfile:robotBlock:robot_ECU_LVESC" style="noLabel=0;opacity=0" value="LVESC" vertex="1">
                                                <mxGeometry as="geometry" x="130.0" y="236.0"/>
                                            </mxCell>
                                            <SuperBlock id="robotfile:robotBlock:robot_ECU_RVESC" parent="robotfile:robotBlock:robot_ECUp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="RVESC">
                                                <SuperBlockDiagram as="child" background="-1" title="RVESC"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
                                                    <Array as="context" scilabClass="String[]">
                                                        <add value=""/>
                                                    </Array>
                                                    <mxGraphModel as="model">
                                                        <root>
                                                            <mxCell id="robotfile:robotBlock:robot_ECU_RVESCp0"/>
                                                            <mxCell id="robotfile:robotBlock:robot_ECU_RVESCp1" parent="robotfile:robotBlock:robot_ECU_RVESCp0"/>                            <!-- Puertos 	 (dentro) -->
                                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:1" ordering="1" parent="robotfile:robotBlock:robot_ECU_RVESCp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
                                                                <ScilabString as="exprs" height="1" width="1">
                                                                    <data column="0" line="0" value="1"/>
                                                                </ScilabString>
                                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                                    <data column="0" line="0" realPart="1.0"/>
                                                                </ScilabDouble>
                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="400.0" y="50.0"/>
                                                            </ExplicitOutBlock>
                                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                            </ExplicitInputPort>
                                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:1#identifier" parent="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:1" style="noLabel=0;opacity=0" value="5V" vertex="1">
                                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                                            </mxCell>
                                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:2" ordering="1" parent="robotfile:robotBlock:robot_ECU_RVESCp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                                <ScilabString as="exprs" height="1" width="1">
                                                                    <data column="0" line="0" value="1"/>
                                                                </ScilabString>
                                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                                    <data column="0" line="0" realPart="1.0"/>
                                                                </ScilabDouble>
                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="50.0"/>
                                                            </ExplicitInBlock>
                                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:2aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                                            </ExplicitOutputPort>
                                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:2#identifier" parent="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:2" style="noLabel=0;opacity=0" value="VCC" vertex="1">
                                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                                            </mxCell>
                                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:3" ordering="2" parent="robotfile:robotBlock:robot_ECU_RVESCp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                                <ScilabString as="exprs" height="1" width="1">
                                                                    <data column="0" line="0" value="2"/>
                                                                </ScilabString>
                                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                                    <data column="0" line="0" realPart="2.0"/>
                                                                </ScilabDouble>
                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="90.0"/>
                                                            </ExplicitInBlock>
                                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:3aux" ordering="1" parent="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:3" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                                            </ExplicitOutputPort>
                                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:3#identifier" parent="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:3" style="noLabel=0;opacity=0" value="GND" vertex="1">
                                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                                            </mxCell>
                                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:4" ordering="3" parent="robotfile:robotBlock:robot_ECU_RVESCp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                                <ScilabString as="exprs" height="1" width="1">
                                                                    <data column="0" line="0" value="3"/>
                                                                </ScilabString>
                                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                                    <data column="0" line="0" realPart="3.0"/>
                                                                </ScilabDouble>
                                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                                <Array as="equations" scilabClass="ScilabList"/>
                                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="130.0"/>
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                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="-2.0"/>
                                                                </ScilabDouble>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="-1.0"/>
                                                                </ScilabDouble>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <Array scilabClass="ScilabList"/>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="2.0"/>
                                                                </ScilabDouble>
                                                                <Array scilabClass="ScilabList"/>
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="c"/>
                                                                </ScilabString>
                                                                <ScilabDouble height="0" width="0"/>
                                                                <ScilabBoolean height="1" width="2">
                                                                    <data column="0" line="0" value="false"/>
                                                                    <data column="1" line="0" value="false"/>
                                                                </ScilabBoolean>
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
                                                                </ScilabString>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="0.0"/>
                                                                </ScilabDouble>
                                                                <ScilabDouble height="1" width="1">
                                                                    <data column="0" line="0" realPart="0.0"/>
                                                                </ScilabDouble>
                                                                <Array scilabClass="ScilabList"/>
                                                            </Array>
                                                            <ScilabString height="1" width="1">
                                                                <data column="0" line="0" value="OUT_f"/>
                                                            </ScilabString>
                                                            <Array scilabClass="ScilabList">
                                                                <ScilabString height="1" width="1">
                                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
                                                                </ScilabString>
                                                            </Array>
                                                        </Array>
                                                    </Array>
                                                    <ScilabString height="1" width="1">
                                                        <data column="0" line="0" value=""/>
                                                    </ScilabString>
                                                    <Array scilabClass="ScilabList"/>
                                                </Array>
                                                <Array as="oDState" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="436.0" width="260.0" x="1240.0" y="20.0"/>
                                            </SuperBlock><!-- Puertos 	 (fuera) -->
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:1b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:1" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:4aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:SENSORS:4" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:2b2" ordering="1" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:4b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="ADC_EXT">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:5b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="TX_SDA">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:6b2" ordering="4" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="RX_SCL">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:7b2" ordering="5" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="ADC_EXT2">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:8b2" ordering="3" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MA">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="116.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:8b2" ordering="6" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MA">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="236.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:9b2" ordering="4" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MB">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="156.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:9b2" ordering="7" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MB">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="276.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:10b2" ordering="5" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MC">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="196.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:10b2" ordering="8" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="MC">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="316.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:11b2" ordering="6" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANH">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="236.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:11b2" ordering="9" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANH">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="356.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:12b2" ordering="7" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANL">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="276.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU_RVESC:PINOUT:12b2" ordering="10" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="CANL">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="396.0"/>
                                            </ExplicitInputPort>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_RVESC:MOTOR:1b2" ordering="8" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="RMOTOR1">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="316.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_RVESC:MOTOR:1" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_RVESC:MOTOR:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M1">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="316.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:RWHEEL:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_RVESC:MOTOR:2b2" ordering="9" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="RMOTOR2">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="356.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_RVESC:MOTOR:2" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_RVESC:MOTOR:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M2">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="356.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:2aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:RWHEEL:2" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU_RVESC:MOTOR:3b2" ordering="10" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="RMOTOR3">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="396.0"/>
                                            </ExplicitOutputPort>
                                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU_RVESC:MOTOR:3" >
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU_RVESC:MOTOR:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU_RVESC" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M3">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="396.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_ECU:RWHEEL:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <mxCell connectable="0" id="robotfile:robotBlock:robot_ECU_RVESC#identifier" parent="robotfile:robotBlock:robot_ECU_RVESC" style="noLabel=0;opacity=0" value="RVESC" vertex="1">
                                                <mxGeometry as="geometry" x="130.0" y="236.0"/>
                                            </mxCell>
                                        </root>
                                    </mxGraphModel>
                                    <mxCell as="defaultParent" id="robotfile:robotBlock:robot_ECUp1" parent="robotfile:robotBlock:robot_ECUp0"/>
                                </SuperBlockDiagram>
                                <Array as="realParameters" scilabClass="ScilabMList">
                                    <ScilabString height="1" width="5">
                                        <data column="0" line="0" value="diagram"/>
                                        <data column="1" line="0" value="props"/>
                                        <data column="2" line="0" value="objs"/>
                                        <data column="3" line="0" value="version"/>
                                        <data column="4" line="0" value="contrib"/>
                                    </ScilabString>
                                    <Array scilabClass="ScilabTList">
                                        <ScilabString height="1" width="11">
                                            <data column="0" line="0" value="params"/>
                                            <data column="1" line="0" value="wpar"/>
                                            <data column="2" line="0" value="title"/>
                                            <data column="3" line="0" value="tol"/>
                                            <data column="4" line="0" value="tf"/>
                                            <data column="5" line="0" value="context"/>
                                            <data column="6" line="0" value="void1"/>
                                            <data column="7" line="0" value="options"/>
                                            <data column="8" line="0" value="void2"/>
                                            <data column="9" line="0" value="void3"/>
                                            <data column="10" line="0" value="doc"/>
                                        </ScilabString>
                                        <ScilabDouble height="1" width="6">
                                            <data column="0" line="0" realPart="600.0"/>
                                            <data column="1" line="0" realPart="450.0"/>
                                            <data column="2" line="0" realPart="0.0"/>
                                            <data column="3" line="0" realPart="0.0"/>
                                            <data column="4" line="0" realPart="600.0"/>
                                            <data column="5" line="0" realPart="450.0"/>
                                        </ScilabDouble>
                                        <ScilabString height="1" width="1">
                                            <data column="0" line="0" value="ECU"/>
                                        </ScilabString>
                                        <ScilabDouble height="7" width="1">
                                            <data column="0" line="0" realPart="1.0E-6"/>
                                            <data column="0" line="1" realPart="1.0E-6"/>
                                            <data column="0" line="2" realPart="1.0E-10"/>
                                            <data column="0" line="3" realPart="100001.0"/>
                                            <data column="0" line="4" realPart="0.0"/>
                                            <data column="0" line="5" realPart="1.0"/>
                                            <data column="0" line="6" realPart="0.0"/>
                                        </ScilabDouble>
                                        <ScilabDouble height="1" width="1">
                                            <data column="0" line="0" realPart="100000.0"/>
                                        </ScilabDouble>
                                        <ScilabString height="1" width="1">
                                            <data column="0" line="0" value=""/>
                                        </ScilabString>
                                        <ScilabDouble height="0" width="0"/>
                                        <Array scilabClass="ScilabTList">
                                            <ScilabString height="1" width="6">
                                                <data column="0" line="0" value="scsopt"/>
                                                <data column="1" line="0" value="3D"/>
                                                <data column="2" line="0" value="Background"/>
                                                <data column="3" line="0" value="Link"/>
                                                <data column="4" line="0" value="ID"/>
                                                <data column="5" line="0" value="Cmap"/>
                                            </ScilabString>
                                            <Array scilabClass="ScilabList">
                                                <ScilabBoolean height="1" width="1">
                                                    <data column="0" line="0" value="true"/>
                                                </ScilabBoolean>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="33.0"/>
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                                            </Array>
                                            <ScilabDouble height="1" width="2">
                                                <data column="0" line="0" realPart="8.0"/>
                                                <data column="1" line="0" realPart="1.0"/>
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                                            <ScilabDouble height="1" width="2">
                                                <data column="0" line="0" realPart="1.0"/>
                                                <data column="1" line="0" realPart="5.0"/>
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                                            <Array scilabClass="ScilabList">
                                                <ScilabDouble height="1" width="2">
                                                    <data column="0" line="0" realPart="5.0"/>
                                                    <data column="1" line="0" realPart="1.0"/>
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                                                <ScilabDouble height="1" width="2">
                                                    <data column="0" line="0" realPart="4.0"/>
                                                    <data column="1" line="0" realPart="1.0"/>
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                                            </Array>
                                            <ScilabDouble height="1" width="3">
                                                <data column="0" line="0" realPart="0.8"/>
                                                <data column="1" line="0" realPart="0.8"/>
                                                <data column="2" line="0" realPart="0.8"/>
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                                        </Array>
                                        <ScilabDouble height="0" width="0"/>
                                        <ScilabDouble height="0" width="0"/>
                                        <Array scilabClass="ScilabList"/>
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                                    <Array scilabClass="ScilabList">
                                        <Array scilabClass="ScilabMList">
                                            <ScilabString height="1" width="5">
                                                <data column="0" line="0" value="Block"/>
                                                <data column="1" line="0" value="graphics"/>
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                                                    <data column="0" line="0" value="robotfile:robotBlock:input2"/>
                                                </ScilabString>
                                            </Array>
                                        </Array>
                                        <Array scilabClass="ScilabMList">
                                            <ScilabString height="1" width="5">
                                                <data column="0" line="0" value="Block"/>
                                                <data column="1" line="0" value="graphics"/>
                                                <data column="2" line="0" value="model"/>
                                                <data column="3" line="0" value="gui"/>
                                                <data column="4" line="0" value="doc"/>
                                            </ScilabString>
                                            <Array scilabClass="ScilabMList">
                                                <ScilabString height="1" width="19">
                                                    <data column="0" line="0" value="graphics"/>
                                                    <data column="1" line="0" value="orig"/>
                                                    <data column="2" line="0" value="sz"/>
                                                    <data column="3" line="0" value="flip"/>
                                                    <data column="4" line="0" value="theta"/>
                                                    <data column="5" line="0" value="exprs"/>
                                                    <data column="6" line="0" value="pin"/>
                                                    <data column="7" line="0" value="pout"/>
                                                    <data column="8" line="0" value="pein"/>
                                                    <data column="9" line="0" value="peout"/>
                                                    <data column="10" line="0" value="gr_i"/>
                                                    <data column="11" line="0" value="id"/>
                                                    <data column="12" line="0" value="in_implicit"/>
                                                    <data column="13" line="0" value="out_implicit"/>
                                                    <data column="14" line="0" value="in_style"/>
                                                    <data column="15" line="0" value="out_style"/>
                                                    <data column="16" line="0" value="in_label"/>
                                                    <data column="17" line="0" value="out_label"/>
                                                    <data column="18" line="0" value="style"/>
                                                </ScilabString>
                                                <ScilabDouble height="1" width="2">
                                                    <data column="0" line="0" realPart="220.0"/>
                                                    <data column="1" line="0" realPart="-100.0"/>
                                                </ScilabDouble>
                                                <ScilabDouble height="1" width="2">
                                                    <data column="0" line="0" realPart="20.0"/>
                                                    <data column="1" line="0" realPart="20.0"/>
                                                </ScilabDouble>
                                                <ScilabBoolean height="1" width="1">
                                                    <data column="0" line="0" value="true"/>
                                                </ScilabBoolean>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="0.0"/>
                                                </ScilabDouble>
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="2"/>
                                                </ScilabString>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="0.0"/>
                                                </ScilabDouble>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <Array scilabClass="ScilabList">
                                                    <ScilabString height="1" width="1">
                                                        <data column="0" line="0" value="xstringb(orig(1),orig(2),&quot;OUT_f&quot;,sz(1),sz(2));"/>
                                                    </ScilabString>
                                                    <ScilabDouble height="1" width="1">
                                                        <data column="0" line="0" realPart="8.0"/>
                                                    </ScilabDouble>
                                                </Array>
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="output2"/>
                                                </ScilabString>
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="E"/>
                                                </ScilabString>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false"/>
                                                </ScilabString>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value=""/>
                                                </ScilabString>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="OUT_f;flip=false;mirror=false"/>
                                                </ScilabString>
                                            </Array>
                                            <Array scilabClass="ScilabMList">
                                                <ScilabString height="1" width="23">
                                                    <data column="0" line="0" value="model"/>
                                                    <data column="1" line="0" value="sim"/>
                                                    <data column="2" line="0" value="in"/>
                                                    <data column="3" line="0" value="in2"/>
                                                    <data column="4" line="0" value="intyp"/>
                                                    <data column="5" line="0" value="out"/>
                                                    <data column="6" line="0" value="out2"/>
                                                    <data column="7" line="0" value="outtyp"/>
                                                    <data column="8" line="0" value="evtin"/>
                                                    <data column="9" line="0" value="evtout"/>
                                                    <data column="10" line="0" value="state"/>
                                                    <data column="11" line="0" value="dstate"/>
                                                    <data column="12" line="0" value="odstate"/>
                                                    <data column="13" line="0" value="rpar"/>
                                                    <data column="14" line="0" value="ipar"/>
                                                    <data column="15" line="0" value="opar"/>
                                                    <data column="16" line="0" value="blocktype"/>
                                                    <data column="17" line="0" value="firing"/>
                                                    <data column="18" line="0" value="dep_ut"/>
                                                    <data column="19" line="0" value="label"/>
                                                    <data column="20" line="0" value="nzcross"/>
                                                    <data column="21" line="0" value="nmode"/>
                                                    <data column="22" line="0" value="equations"/>
                                                </ScilabString>
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="output"/>
                                                </ScilabString>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="-1.0"/>
                                                </ScilabDouble>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="-2.0"/>
                                                </ScilabDouble>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="-1.0"/>
                                                </ScilabDouble>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <Array scilabClass="ScilabList"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="2.0"/>
                                                </ScilabDouble>
                                                <Array scilabClass="ScilabList"/>
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="c"/>
                                                </ScilabString>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabBoolean height="1" width="2">
                                                    <data column="0" line="0" value="false"/>
                                                    <data column="1" line="0" value="false"/>
                                                </ScilabBoolean>
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
                                                </ScilabString>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="0.0"/>
                                                </ScilabDouble>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="0.0"/>
                                                </ScilabDouble>
                                                <Array scilabClass="ScilabList"/>
                                            </Array>
                                            <ScilabString height="1" width="1">
                                                <data column="0" line="0" value="OUT_f"/>
                                            </ScilabString>
                                            <Array scilabClass="ScilabList">
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
                                                </ScilabString>
                                            </Array>
                                        </Array>
                                    </Array>
                                    <ScilabString height="1" width="1">
                                        <data column="0" line="0" value=""/>
                                    </ScilabString>
                                    <Array scilabClass="ScilabList"/>
                                </Array>
                                <Array as="oDState" scilabClass="ScilabList"/>
                                <Array as="equations" scilabClass="ScilabList"/>
                                <mxGeometry as="geometry" height="716.0" width="260.0" x="100.0" y="20.0"/>
                            </SuperBlock><!-- Puertos 	 (fuera) -->
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU:COMM_ROS:1b2" ordering="1" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="ROS_RX">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                            </ExplicitInputPort>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:COMM_ROS:2b2" ordering="1" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="ROS_TX">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                            </ExplicitOutputPort>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:SENSORS:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:SENSORS:1" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_Octo:PINOUT:4b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:SENSORS:2b2" ordering="3" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="116.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:SENSORS:2" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="116.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_Octo:PINOUT:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU:SENSORS:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                            </ExplicitInputPort>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:SENSORS:3b2" ordering="4" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="3V3MCU">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="156.0"/>
                            </ExplicitOutputPort>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:SENSORS:4b2" ordering="5" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="5V">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="196.0"/>
                            </ExplicitOutputPort>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:SENSORS:5b2" ordering="6" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="236.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:SENSORS:5" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:5b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="236.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_Octo:PINOUT:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:SENSORS:6b2" ordering="7" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P00_FRONTLASER">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="276.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:SENSORS:6" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:6b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="FRONTLASER">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="276.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_FRLASER:PINOUT:5b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P00_FRONTLASER">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:SENSORS:7b2" ordering="8" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P01_RIGHTLASER">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="316.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:SENSORS:7" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:7b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="RIGHTLASER">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="316.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:5b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P01_RIGHTLASER">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:SENSORS:8b2" ordering="9" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P02_REARLASER">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="356.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:SENSORS:8" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:8b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="REARLASER">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="356.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:5b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P02_REARLASER">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:SENSORS:9b2" ordering="10" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P03_LEFTLASER">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="396.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:SENSORS:9" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:SENSORS:9b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LEFTLASER">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="396.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:5b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P03_LEFTLASER">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU:SENSORS:10b2" ordering="3" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SONAR">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
                            </ExplicitInputPort>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:BUT:1b2" ordering="11" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="436.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:BUT:1" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:BUT:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="436.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_Octo:PINOUT:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU:BUT:2b2" ordering="4" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="EMGCY">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
                            </ExplicitInputPort>
                            <ExplicitLink id="link_in_robotfile:robotBlock:robot_ECU:BUT:2" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="40.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="100.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot:BUT:1aux" ordering="1" parent="in_robotfile:robotBlock:robot:BUT:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU:BUT:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="EMGCY">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_ECU:BUT:3b2" ordering="5" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SW_USER">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                            </ExplicitInputPort>
                            <ExplicitLink id="link_in_robotfile:robotBlock:robot_ECU:BUT:3" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="40.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="100.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot:BUT:2aux" ordering="1" parent="in_robotfile:robotBlock:robot:BUT:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_ECU:BUT:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SW_USER">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:1b2" ordering="12" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LMOTOR1">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="476.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_out_robotfile:robotBlock:robot_ECU:LWHEEL:1" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M1">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="476.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot:Movement:1aux" ordering="1" parent="out_robotfile:robotBlock:robot:Movement:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:2b2" ordering="13" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LMOTOR2">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="516.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:LWHEEL:2" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M2">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="516.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M2">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:3b2" ordering="14" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LMOTOR3">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="556.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:LWHEEL:3" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:LWHEEL:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M3">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="556.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M3">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:1b2" ordering="15" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="RMOTOR1">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="596.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:RWHEEL:1" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M1">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="596.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RWHEEL:WIRES:1b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M1">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:2b2" ordering="16" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="RMOTOR2">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="636.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:RWHEEL:2" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M2">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="636.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RWHEEL:WIRES:2b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M2">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:3b2" ordering="17" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="RMOTOR3">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="676.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_ECU:RWHEEL:3" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_ECU:RWHEEL:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M3">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="676.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RWHEEL:WIRES:3b2" ordering="2" parent="robotfile:robotBlock:robot_ECU" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="M3">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <mxCell connectable="0" id="robotfile:robotBlock:robot_ECU#identifier" parent="robotfile:robotBlock:robot_ECU" style="noLabel=0;opacity=0" value="ECU" vertex="1">
                                <mxGeometry as="geometry" x="130.0" y="376.0"/>
                            </mxCell>
                            <SuperBlock id="robotfile:robotBlock:robot_Octo" parent="robotfile:robotBlock:robotp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="OctoSonar">
                                <SuperBlockDiagram as="child" background="-1" title="OctoSonar"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
                                    <Array as="context" scilabClass="String[]">
                                        <add value=""/>
                                    </Array>
                                    <mxGraphModel as="model">
                                        <root>
                                            <mxCell id="robotfile:robotBlock:robot_Octop0"/>
                                            <mxCell id="robotfile:robotBlock:robot_Octop1" parent="robotfile:robotBlock:robot_Octop0"/>                            <!-- Puertos 	 (dentro) -->
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_Octo:PINOUT:1" ordering="1" parent="robotfile:robotBlock:robot_Octop1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="1"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="1.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="50.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_Octo:PINOUT:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_Octo:PINOUT:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_Octo:PINOUT:1#identifier" parent="in_robotfile:robotBlock:robot_Octo:PINOUT:1" style="noLabel=0;opacity=0" value="GND" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_Octo:PINOUT:2" ordering="2" parent="robotfile:robotBlock:robot_Octop1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="2"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="2.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="90.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_Octo:PINOUT:2aux" ordering="1" parent="in_robotfile:robotBlock:robot_Octo:PINOUT:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_Octo:PINOUT:2#identifier" parent="in_robotfile:robotBlock:robot_Octo:PINOUT:2" style="noLabel=0;opacity=0" value="VCC" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_Octo:PINOUT:3" ordering="1" parent="robotfile:robotBlock:robot_Octop1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="1"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="1.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="400.0" y="50.0"/>
                                            </ExplicitOutBlock>
                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_Octo:PINOUT:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_Octo:PINOUT:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                            </ExplicitInputPort>
                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_Octo:PINOUT:3#identifier" parent="out_robotfile:robotBlock:robot_Octo:PINOUT:3" style="noLabel=0;opacity=0" value="I2C_SDA" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_Octo:PINOUT:3" ordering="3" parent="robotfile:robotBlock:robot_Octop1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="3"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="3.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
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                                <Array as="equations" scilabClass="ScilabList"/>
                                <mxGeometry as="geometry" height="196.0" width="260.0" x="480.0" y="20.0"/>
                            </SuperBlock><!-- Puertos 	 (fuera) -->
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                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_Octo:PINOUT:2b2" ordering="2" parent="robotfile:robotBlock:robot_Octo" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_Octo:PINOUT:3b2" ordering="1" parent="robotfile:robotBlock:robot_Octo" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
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                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_Octo:PINOUT:4b2" ordering="4" parent="robotfile:robotBlock:robot_Octo" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
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                            <mxCell connectable="0" id="robotfile:robotBlock:robot_Octo#identifier" parent="robotfile:robotBlock:robot_Octo" style="noLabel=0;opacity=0" value="OctoSonar" vertex="1">
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                            <SuperBlock id="robotfile:robotBlock:robot_FRLASER" parent="robotfile:robotBlock:robotp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="FRLASER">
                                <SuperBlockDiagram as="child" background="-1" title="FRLASER"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
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                                        <add value=""/>
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                                    <mxGraphModel as="model">
                                        <root>
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                                            <mxCell id="robotfile:robotBlock:robot_FRLASERp1" parent="robotfile:robotBlock:robot_FRLASERp0"/>                            <!-- Puertos 	 (dentro) -->
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                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_FRLASER:PINOUT:2" ordering="2" parent="robotfile:robotBlock:robot_FRLASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
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                            </ExplicitInputPort>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_FRLASER:PINOUT:3b2" ordering="1" parent="robotfile:robotBlock:robot_FRLASER" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                            </ExplicitOutputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_FRLASER:PINOUT:3b2" ordering="3" parent="robotfile:robotBlock:robot_FRLASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
                            </ExplicitInputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_FRLASER:PINOUT:4b2" ordering="4" parent="robotfile:robotBlock:robot_FRLASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
                            </ExplicitInputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_FRLASER:PINOUT:5b2" ordering="5" parent="robotfile:robotBlock:robot_FRLASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P00_FRONTLASER">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                            </ExplicitInputPort>
                            <mxCell connectable="0" id="robotfile:robotBlock:robot_FRLASER#identifier" parent="robotfile:robotBlock:robot_FRLASER" style="noLabel=0;opacity=0" value="FRLASER" vertex="1">
                                <mxGeometry as="geometry" x="130.0" y="136.0"/>
                            </mxCell>
                            <SuperBlock id="robotfile:robotBlock:robot_RILASER" parent="robotfile:robotBlock:robotp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="RILASER">
                                <SuperBlockDiagram as="child" background="-1" title="RILASER"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
                                    <Array as="context" scilabClass="String[]">
                                        <add value=""/>
                                    </Array>
                                    <mxGraphModel as="model">
                                        <root>
                                            <mxCell id="robotfile:robotBlock:robot_RILASERp0"/>
                                            <mxCell id="robotfile:robotBlock:robot_RILASERp1" parent="robotfile:robotBlock:robot_RILASERp0"/>                            <!-- Puertos 	 (dentro) -->
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RILASER:PINOUT:1" ordering="1" parent="robotfile:robotBlock:robot_RILASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="1"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="1.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="50.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_RILASER:PINOUT:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:1#identifier" parent="in_robotfile:robotBlock:robot_RILASER:PINOUT:1" style="noLabel=0;opacity=0" value="VCC" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RILASER:PINOUT:2" ordering="2" parent="robotfile:robotBlock:robot_RILASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="2"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="2.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="90.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:2aux" ordering="1" parent="in_robotfile:robotBlock:robot_RILASER:PINOUT:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:2#identifier" parent="in_robotfile:robotBlock:robot_RILASER:PINOUT:2" style="noLabel=0;opacity=0" value="GND" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_RILASER:PINOUT:3" ordering="1" parent="robotfile:robotBlock:robot_RILASERp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="1"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="1.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="400.0" y="50.0"/>
                                            </ExplicitOutBlock>
                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_RILASER:PINOUT:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_RILASER:PINOUT:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                            </ExplicitInputPort>
                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_RILASER:PINOUT:3#identifier" parent="out_robotfile:robotBlock:robot_RILASER:PINOUT:3" style="noLabel=0;opacity=0" value="I2C_SDA" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RILASER:PINOUT:3" ordering="3" parent="robotfile:robotBlock:robot_RILASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="3"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="3.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="130.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:3aux" ordering="1" parent="in_robotfile:robotBlock:robot_RILASER:PINOUT:3" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:3#identifier" parent="in_robotfile:robotBlock:robot_RILASER:PINOUT:3" style="noLabel=0;opacity=0" value="I2C_SDA" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitLink id="link_robotfile:robotBlock:robot_RILASER:PINOUT:3">
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="60.0" y="250.0"/>
                                                    <mxPoint as="targetPoint" x="230.0" y="130.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_RILASERp1" parent="robotfile:robotBlock:robot_RILASERp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:3aux" ordering="1" parent="in_robotfile:robotBlock:robot_RILASER:PINOUT:3" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_RILASER:PINOUT:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_RILASER:PINOUT:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RILASER:PINOUT:4" ordering="4" parent="robotfile:robotBlock:robot_RILASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="4"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="4.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="170.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:4aux" ordering="1" parent="in_robotfile:robotBlock:robot_RILASER:PINOUT:4" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:4#identifier" parent="in_robotfile:robotBlock:robot_RILASER:PINOUT:4" style="noLabel=0;opacity=0" value="I2C_SCL" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RILASER:PINOUT:5" ordering="5" parent="robotfile:robotBlock:robot_RILASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="5"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="5.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="210.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:5aux" ordering="1" parent="in_robotfile:robotBlock:robot_RILASER:PINOUT:5" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:5#identifier" parent="in_robotfile:robotBlock:robot_RILASER:PINOUT:5" style="noLabel=0;opacity=0" value="P01_RIGHTLASER" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                        </root>
                                    </mxGraphModel>
                                    <mxCell as="defaultParent" id="robotfile:robotBlock:robot_RILASERp1" parent="robotfile:robotBlock:robot_RILASERp0"/>
                                </SuperBlockDiagram>
                                <Array as="realParameters" scilabClass="ScilabMList">
                                    <ScilabString height="1" width="5">
                                        <data column="0" line="0" value="diagram"/>
                                        <data column="1" line="0" value="props"/>
                                        <data column="2" line="0" value="objs"/>
                                        <data column="3" line="0" value="version"/>
                                        <data column="4" line="0" value="contrib"/>
                                    </ScilabString>
                                    <Array scilabClass="ScilabTList">
                                        <ScilabString height="1" width="11">
                                            <data column="0" line="0" value="params"/>
                                            <data column="1" line="0" value="wpar"/>
                                            <data column="2" line="0" value="title"/>
                                            <data column="3" line="0" value="tol"/>
                                            <data column="4" line="0" value="tf"/>
                                            <data column="5" line="0" value="context"/>
                                            <data column="6" line="0" value="void1"/>
                                            <data column="7" line="0" value="options"/>
                                            <data column="8" line="0" value="void2"/>
                                            <data column="9" line="0" value="void3"/>
                                            <data column="10" line="0" value="doc"/>
                                        </ScilabString>
                                        <ScilabDouble height="1" width="6">
                                            <data column="0" line="0" realPart="600.0"/>
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                                            <data column="5" line="0" realPart="450.0"/>
                                        </ScilabDouble>
                                        <ScilabString height="1" width="1">
                                            <data column="0" line="0" value="RILASER"/>
                                        </ScilabString>
                                        <ScilabDouble height="7" width="1">
                                            <data column="0" line="0" realPart="1.0E-6"/>
                                            <data column="0" line="1" realPart="1.0E-6"/>
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                                            <data column="0" line="3" realPart="100001.0"/>
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                                        <ScilabDouble height="1" width="1">
                                            <data column="0" line="0" realPart="100000.0"/>
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                                        <ScilabString height="1" width="1">
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                                        <ScilabDouble height="0" width="0"/>
                                        <Array scilabClass="ScilabTList">
                                            <ScilabString height="1" width="6">
                                                <data column="0" line="0" value="scsopt"/>
                                                <data column="1" line="0" value="3D"/>
                                                <data column="2" line="0" value="Background"/>
                                                <data column="3" line="0" value="Link"/>
                                                <data column="4" line="0" value="ID"/>
                                                <data column="5" line="0" value="Cmap"/>
                                            </ScilabString>
                                            <Array scilabClass="ScilabList">
                                                <ScilabBoolean height="1" width="1">
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                                                <ScilabDouble height="1" width="1">
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                                            <ScilabDouble height="1" width="2">
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                                    <Array scilabClass="ScilabList">
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                                            <Array scilabClass="ScilabMList">
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                                                    <data column="4" line="0" value="theta"/>
                                                    <data column="5" line="0" value="exprs"/>
                                                    <data column="6" line="0" value="pin"/>
                                                    <data column="7" line="0" value="pout"/>
                                                    <data column="8" line="0" value="pein"/>
                                                    <data column="9" line="0" value="peout"/>
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                                                    <data column="18" line="0" value="style"/>
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                                                <Array scilabClass="ScilabList">
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                                                    <ScilabDouble height="1" width="1">
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                                                <ScilabString height="1" width="1">
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                                            <Array scilabClass="ScilabMList">
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                                                    <data column="5" line="0" value="out"/>
                                                    <data column="6" line="0" value="out2"/>
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                                                    <data column="1" line="0" value="sim"/>
                                                    <data column="2" line="0" value="in"/>
                                                    <data column="3" line="0" value="in2"/>
                                                    <data column="4" line="0" value="intyp"/>
                                                    <data column="5" line="0" value="out"/>
                                                    <data column="6" line="0" value="out2"/>
                                                    <data column="7" line="0" value="outtyp"/>
                                                    <data column="8" line="0" value="evtin"/>
                                                    <data column="9" line="0" value="evtout"/>
                                                    <data column="10" line="0" value="state"/>
                                                    <data column="11" line="0" value="dstate"/>
                                                    <data column="12" line="0" value="odstate"/>
                                                    <data column="13" line="0" value="rpar"/>
                                                    <data column="14" line="0" value="ipar"/>
                                                    <data column="15" line="0" value="opar"/>
                                                    <data column="16" line="0" value="blocktype"/>
                                                    <data column="17" line="0" value="firing"/>
                                                    <data column="18" line="0" value="dep_ut"/>
                                                    <data column="19" line="0" value="label"/>
                                                    <data column="20" line="0" value="nzcross"/>
                                                    <data column="21" line="0" value="nmode"/>
                                                    <data column="22" line="0" value="equations"/>
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                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="output"/>
                                                </ScilabString>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="-1.0"/>
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                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="-2.0"/>
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                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="-1.0"/>
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                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
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                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <Array scilabClass="ScilabList"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="2.0"/>
                                                </ScilabDouble>
                                                <Array scilabClass="ScilabList"/>
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="c"/>
                                                </ScilabString>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabBoolean height="1" width="2">
                                                    <data column="0" line="0" value="false"/>
                                                    <data column="1" line="0" value="false"/>
                                                </ScilabBoolean>
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
                                                </ScilabString>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="0.0"/>
                                                </ScilabDouble>
                                                <ScilabDouble height="1" width="1">
                                                    <data column="0" line="0" realPart="0.0"/>
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                                                <Array scilabClass="ScilabList"/>
                                            </Array>
                                            <ScilabString height="1" width="1">
                                                <data column="0" line="0" value="OUT_f"/>
                                            </ScilabString>
                                            <Array scilabClass="ScilabList">
                                                <ScilabString height="1" width="1">
                                                    <data column="0" line="0" value="robotfile:robotBlock:output2"/>
                                                </ScilabString>
                                            </Array>
                                        </Array>
                                    </Array>
                                    <ScilabString height="1" width="1">
                                        <data column="0" line="0" value=""/>
                                    </ScilabString>
                                    <Array scilabClass="ScilabList"/>
                                </Array>
                                <Array as="oDState" scilabClass="ScilabList"/>
                                <Array as="equations" scilabClass="ScilabList"/>
                                <mxGeometry as="geometry" height="236.0" width="260.0" x="1240.0" y="20.0"/>
                            </SuperBlock><!-- Puertos 	 (fuera) -->
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:1b2" ordering="1" parent="robotfile:robotBlock:robot_RILASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                            </ExplicitInputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:2b2" ordering="2" parent="robotfile:robotBlock:robot_RILASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                            </ExplicitInputPort>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_RILASER:PINOUT:3b2" ordering="1" parent="robotfile:robotBlock:robot_RILASER" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                            </ExplicitOutputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:3b2" ordering="3" parent="robotfile:robotBlock:robot_RILASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
                            </ExplicitInputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:4b2" ordering="4" parent="robotfile:robotBlock:robot_RILASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
                            </ExplicitInputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_RILASER:PINOUT:5b2" ordering="5" parent="robotfile:robotBlock:robot_RILASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P01_RIGHTLASER">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                            </ExplicitInputPort>
                            <mxCell connectable="0" id="robotfile:robotBlock:robot_RILASER#identifier" parent="robotfile:robotBlock:robot_RILASER" style="noLabel=0;opacity=0" value="RILASER" vertex="1">
                                <mxGeometry as="geometry" x="130.0" y="136.0"/>
                            </mxCell>
                            <SuperBlock id="robotfile:robotBlock:robot_RELASER" parent="robotfile:robotBlock:robotp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="RELASER">
                                <SuperBlockDiagram as="child" background="-1" title="RELASER"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
                                    <Array as="context" scilabClass="String[]">
                                        <add value=""/>
                                    </Array>
                                    <mxGraphModel as="model">
                                        <root>
                                            <mxCell id="robotfile:robotBlock:robot_RELASERp0"/>
                                            <mxCell id="robotfile:robotBlock:robot_RELASERp1" parent="robotfile:robotBlock:robot_RELASERp0"/>                            <!-- Puertos 	 (dentro) -->
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RELASER:PINOUT:1" ordering="1" parent="robotfile:robotBlock:robot_RELASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="1"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="1.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="50.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_RELASER:PINOUT:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:1#identifier" parent="in_robotfile:robotBlock:robot_RELASER:PINOUT:1" style="noLabel=0;opacity=0" value="VCC" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RELASER:PINOUT:2" ordering="2" parent="robotfile:robotBlock:robot_RELASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="2"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="2.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="90.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:2aux" ordering="1" parent="in_robotfile:robotBlock:robot_RELASER:PINOUT:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:2#identifier" parent="in_robotfile:robotBlock:robot_RELASER:PINOUT:2" style="noLabel=0;opacity=0" value="GND" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_RELASER:PINOUT:3" ordering="1" parent="robotfile:robotBlock:robot_RELASERp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="1"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="1.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="400.0" y="50.0"/>
                                            </ExplicitOutBlock>
                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_RELASER:PINOUT:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_RELASER:PINOUT:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                            </ExplicitInputPort>
                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_RELASER:PINOUT:3#identifier" parent="out_robotfile:robotBlock:robot_RELASER:PINOUT:3" style="noLabel=0;opacity=0" value="I2C_SDA" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RELASER:PINOUT:3" ordering="3" parent="robotfile:robotBlock:robot_RELASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="3"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="3.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="130.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:3aux" ordering="1" parent="in_robotfile:robotBlock:robot_RELASER:PINOUT:3" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:3#identifier" parent="in_robotfile:robotBlock:robot_RELASER:PINOUT:3" style="noLabel=0;opacity=0" value="I2C_SDA" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitLink id="link_robotfile:robotBlock:robot_RELASER:PINOUT:3">
                                                <mxGeometry as="geometry">
                                                    <mxPoint as="sourcePoint" x="60.0" y="250.0"/>
                                                    <mxPoint as="targetPoint" x="230.0" y="130.0"/>
                                                </mxGeometry>
                                                <mxCell as="parent" id="robotfile:robotBlock:robot_RELASERp1" parent="robotfile:robotBlock:robot_RELASERp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:3aux" ordering="1" parent="in_robotfile:robotBlock:robot_RELASER:PINOUT:3" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_RELASER:PINOUT:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_RELASER:PINOUT:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RELASER:PINOUT:4" ordering="4" parent="robotfile:robotBlock:robot_RELASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="4"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="4.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="170.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:4aux" ordering="1" parent="in_robotfile:robotBlock:robot_RELASER:PINOUT:4" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:4#identifier" parent="in_robotfile:robotBlock:robot_RELASER:PINOUT:4" style="noLabel=0;opacity=0" value="I2C_SCL" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RELASER:PINOUT:5" ordering="5" parent="robotfile:robotBlock:robot_RELASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="5"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="5.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="210.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:5aux" ordering="1" parent="in_robotfile:robotBlock:robot_RELASER:PINOUT:5" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:5#identifier" parent="in_robotfile:robotBlock:robot_RELASER:PINOUT:5" style="noLabel=0;opacity=0" value="P02_REARLASER" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                        </root>
                                    </mxGraphModel>
                                    <mxCell as="defaultParent" id="robotfile:robotBlock:robot_RELASERp1" parent="robotfile:robotBlock:robot_RELASERp0"/>
                                </SuperBlockDiagram>
                                <Array as="realParameters" scilabClass="ScilabMList">
                                    <ScilabString height="1" width="5">
                                        <data column="0" line="0" value="diagram"/>
                                        <data column="1" line="0" value="props"/>
                                        <data column="2" line="0" value="objs"/>
                                        <data column="3" line="0" value="version"/>
                                        <data column="4" line="0" value="contrib"/>
                                    </ScilabString>
                                    <Array scilabClass="ScilabTList">
                                        <ScilabString height="1" width="11">
                                            <data column="0" line="0" value="params"/>
                                            <data column="1" line="0" value="wpar"/>
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                                            <data column="3" line="0" value="tol"/>
                                            <data column="4" line="0" value="tf"/>
                                            <data column="5" line="0" value="context"/>
                                            <data column="6" line="0" value="void1"/>
                                            <data column="7" line="0" value="options"/>
                                            <data column="8" line="0" value="void2"/>
                                            <data column="9" line="0" value="void3"/>
                                            <data column="10" line="0" value="doc"/>
                                        </ScilabString>
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                                            <data column="5" line="0" realPart="450.0"/>
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                                        <ScilabString height="1" width="1">
                                            <data column="0" line="0" value="RELASER"/>
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                                        <ScilabDouble height="7" width="1">
                                            <data column="0" line="0" realPart="1.0E-6"/>
                                            <data column="0" line="1" realPart="1.0E-6"/>
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                                            <data column="0" line="3" realPart="100001.0"/>
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                                        <ScilabDouble height="1" width="1">
                                            <data column="0" line="0" realPart="100000.0"/>
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                                        <ScilabString height="1" width="1">
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                                        <ScilabDouble height="0" width="0"/>
                                        <Array scilabClass="ScilabTList">
                                            <ScilabString height="1" width="6">
                                                <data column="0" line="0" value="scsopt"/>
                                                <data column="1" line="0" value="3D"/>
                                                <data column="2" line="0" value="Background"/>
                                                <data column="3" line="0" value="Link"/>
                                                <data column="4" line="0" value="ID"/>
                                                <data column="5" line="0" value="Cmap"/>
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                                            <Array scilabClass="ScilabList">
                                                <ScilabBoolean height="1" width="1">
                                                    <data column="0" line="0" value="true"/>
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                                                <ScilabDouble height="1" width="1">
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                                            <ScilabDouble height="1" width="2">
                                                <data column="0" line="0" realPart="8.0"/>
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                                            <ScilabDouble height="1" width="2">
                                                <data column="0" line="0" realPart="1.0"/>
                                                <data column="1" line="0" realPart="5.0"/>
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                                            <Array scilabClass="ScilabList">
                                                <ScilabDouble height="1" width="2">
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                                                <ScilabDouble height="1" width="2">
                                                    <data column="0" line="0" realPart="4.0"/>
                                                    <data column="1" line="0" realPart="1.0"/>
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                                            <ScilabDouble height="1" width="3">
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                                            <Array scilabClass="ScilabList">
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                                            </Array>
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                                        <Array scilabClass="ScilabMList">
                                            <ScilabString height="1" width="5">
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                                                <data column="1" line="0" value="graphics"/>
                                                <data column="2" line="0" value="model"/>
                                                <data column="3" line="0" value="gui"/>
                                                <data column="4" line="0" value="doc"/>
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                                            <Array scilabClass="ScilabMList">
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                                                    <data column="1" line="0" value="orig"/>
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                                                    <data column="3" line="0" value="flip"/>
                                                    <data column="4" line="0" value="theta"/>
                                                    <data column="5" line="0" value="exprs"/>
                                                    <data column="6" line="0" value="pin"/>
                                                    <data column="7" line="0" value="pout"/>
                                                    <data column="8" line="0" value="pein"/>
                                                    <data column="9" line="0" value="peout"/>
                                                    <data column="10" line="0" value="gr_i"/>
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                                                    <data column="16" line="0" value="in_label"/>
                                                    <data column="17" line="0" value="out_label"/>
                                                    <data column="18" line="0" value="style"/>
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                                            <Array scilabClass="ScilabMList">
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                                                    <data column="2" line="0" value="in"/>
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                                                    <data column="4" line="0" value="intyp"/>
                                                    <data column="5" line="0" value="out"/>
                                                    <data column="6" line="0" value="out2"/>
                                                    <data column="7" line="0" value="outtyp"/>
                                                    <data column="8" line="0" value="evtin"/>
                                                    <data column="9" line="0" value="evtout"/>
                                                    <data column="10" line="0" value="state"/>
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                                                    <data column="12" line="0" value="odstate"/>
                                                    <data column="13" line="0" value="rpar"/>
                                                    <data column="14" line="0" value="ipar"/>
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                                                    <data column="16" line="0" value="blocktype"/>
                                                    <data column="17" line="0" value="firing"/>
                                                    <data column="18" line="0" value="dep_ut"/>
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                                                    <data column="20" line="0" value="nzcross"/>
                                                    <data column="21" line="0" value="nmode"/>
                                                    <data column="22" line="0" value="equations"/>
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                                                <ScilabDouble height="1" width="1">
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                                                <ScilabDouble height="1" width="1">
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                                                <ScilabDouble height="0" width="0"/>
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                                                <ScilabDouble height="0" width="0"/>
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                                                <Array scilabClass="ScilabList"/>
                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabDouble height="1" width="1">
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                                                <Array scilabClass="ScilabList"/>
                                                <ScilabString height="1" width="1">
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                                                <ScilabDouble height="0" width="0"/>
                                                <ScilabBoolean height="1" width="2">
                                                    <data column="0" line="0" value="false"/>
                                                    <data column="1" line="0" value="false"/>
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                                                <ScilabString height="1" width="1">
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                                                <ScilabDouble height="1" width="1">
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                                                <ScilabDouble height="1" width="1">
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                                                <Array scilabClass="ScilabList"/>
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                                            <ScilabString height="1" width="1">
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                                            <Array scilabClass="ScilabList">
                                                <ScilabString height="1" width="1">
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                                            </Array>
                                        </Array>
                                    </Array>
                                    <ScilabString height="1" width="1">
                                        <data column="0" line="0" value=""/>
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                                    <Array scilabClass="ScilabList"/>
                                </Array>
                                <Array as="oDState" scilabClass="ScilabList"/>
                                <Array as="equations" scilabClass="ScilabList"/>
                                <mxGeometry as="geometry" height="236.0" width="260.0" x="1620.0" y="20.0"/>
                            </SuperBlock><!-- Puertos 	 (fuera) -->
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:1b2" ordering="1" parent="robotfile:robotBlock:robot_RELASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
                            </ExplicitInputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:2b2" ordering="2" parent="robotfile:robotBlock:robot_RELASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                            </ExplicitInputPort>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_RELASER:PINOUT:3b2" ordering="1" parent="robotfile:robotBlock:robot_RELASER" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                            </ExplicitOutputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:3b2" ordering="3" parent="robotfile:robotBlock:robot_RELASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
                            </ExplicitInputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:4b2" ordering="4" parent="robotfile:robotBlock:robot_RELASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
                            </ExplicitInputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_RELASER:PINOUT:5b2" ordering="5" parent="robotfile:robotBlock:robot_RELASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P02_REARLASER">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
                            </ExplicitInputPort>
                            <mxCell connectable="0" id="robotfile:robotBlock:robot_RELASER#identifier" parent="robotfile:robotBlock:robot_RELASER" style="noLabel=0;opacity=0" value="RELASER" vertex="1">
                                <mxGeometry as="geometry" x="130.0" y="136.0"/>
                            </mxCell>
                            <SuperBlock id="robotfile:robotBlock:robot_LELASER" parent="robotfile:robotBlock:robotp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="LELASER">
                                <SuperBlockDiagram as="child" background="-1" title="LELASER"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
                                    <Array as="context" scilabClass="String[]">
                                        <add value=""/>
                                    </Array>
                                    <mxGraphModel as="model">
                                        <root>
                                            <mxCell id="robotfile:robotBlock:robot_LELASERp0"/>
                                            <mxCell id="robotfile:robotBlock:robot_LELASERp1" parent="robotfile:robotBlock:robot_LELASERp0"/>                            <!-- Puertos 	 (dentro) -->
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_LELASER:PINOUT:1" ordering="1" parent="robotfile:robotBlock:robot_LELASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
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                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="1.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="50.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_LELASER:PINOUT:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:1#identifier" parent="in_robotfile:robotBlock:robot_LELASER:PINOUT:1" style="noLabel=0;opacity=0" value="VCC" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_LELASER:PINOUT:2" ordering="2" parent="robotfile:robotBlock:robot_LELASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
                                                    <data column="0" line="0" value="2"/>
                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="2.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="90.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:2aux" ordering="1" parent="in_robotfile:robotBlock:robot_LELASER:PINOUT:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:2#identifier" parent="in_robotfile:robotBlock:robot_LELASER:PINOUT:2" style="noLabel=0;opacity=0" value="GND" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_LELASER:PINOUT:3" ordering="1" parent="robotfile:robotBlock:robot_LELASERp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
                                                <ScilabString as="exprs" height="1" width="1">
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                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="1.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="400.0" y="50.0"/>
                                            </ExplicitOutBlock>
                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_LELASER:PINOUT:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_LELASER:PINOUT:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                            </ExplicitInputPort>
                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_LELASER:PINOUT:3#identifier" parent="out_robotfile:robotBlock:robot_LELASER:PINOUT:3" style="noLabel=0;opacity=0" value="I2C_SDA" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_LELASER:PINOUT:3" ordering="3" parent="robotfile:robotBlock:robot_LELASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
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                                                </ScilabString>
                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="3.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="130.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:3aux" ordering="1" parent="in_robotfile:robotBlock:robot_LELASER:PINOUT:3" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:3#identifier" parent="in_robotfile:robotBlock:robot_LELASER:PINOUT:3" style="noLabel=0;opacity=0" value="I2C_SDA" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitLink id="link_robotfile:robotBlock:robot_LELASER:PINOUT:3">
                                                <mxGeometry as="geometry">
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                                                <mxCell as="parent" id="robotfile:robotBlock:robot_LELASERp1" parent="robotfile:robotBlock:robot_LELASERp0"/>
                                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:3aux" ordering="1" parent="in_robotfile:robotBlock:robot_LELASER:PINOUT:3" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                                </ExplicitOutputPort>
                                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_LELASER:PINOUT:3aux" ordering="1" parent="out_robotfile:robotBlock:robot_LELASER:PINOUT:3" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="6.0"/>
                                                </ExplicitInputPort>
                                            </ExplicitLink>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_LELASER:PINOUT:4" ordering="4" parent="robotfile:robotBlock:robot_LELASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
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                                                <ScilabDouble as="integerParameters" height="1" width="1">
                                                    <data column="0" line="0" realPart="4.0"/>
                                                </ScilabDouble>
                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="170.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:4aux" ordering="1" parent="in_robotfile:robotBlock:robot_LELASER:PINOUT:4" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
                                                <mxGeometry as="geometry" height="8.0" width="8.0" x="20.0" y="6.0"/>
                                            </ExplicitOutputPort>
                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:4#identifier" parent="in_robotfile:robotBlock:robot_LELASER:PINOUT:4" style="noLabel=0;opacity=0" value="I2C_SCL" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
                                            </mxCell>
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_LELASER:PINOUT:5" ordering="5" parent="robotfile:robotBlock:robot_LELASERp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
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                                                <ScilabDouble as="integerParameters" height="1" width="1">
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
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                                <Array as="oDState" scilabClass="ScilabList"/>
                                <Array as="equations" scilabClass="ScilabList"/>
                                <mxGeometry as="geometry" height="236.0" width="260.0" x="2000.0" y="20.0"/>
                            </SuperBlock><!-- Puertos 	 (fuera) -->
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                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
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                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:2b2" ordering="2" parent="robotfile:robotBlock:robot_LELASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                            </ExplicitInputPort>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_LELASER:PINOUT:3b2" ordering="1" parent="robotfile:robotBlock:robot_LELASER" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                            </ExplicitOutputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:3b2" ordering="3" parent="robotfile:robotBlock:robot_LELASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SDA">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="116.0"/>
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                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:4b2" ordering="4" parent="robotfile:robotBlock:robot_LELASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="I2C_SCL">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="156.0"/>
                            </ExplicitInputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_LELASER:PINOUT:5b2" ordering="5" parent="robotfile:robotBlock:robot_LELASER" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="P03_LEFTLASER">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="196.0"/>
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                            <mxCell connectable="0" id="robotfile:robotBlock:robot_LELASER#identifier" parent="robotfile:robotBlock:robot_LELASER" style="noLabel=0;opacity=0" value="LELASER" vertex="1">
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                            <SuperBlock id="robotfile:robotBlock:robot_PSUPPLY" parent="robotfile:robotBlock:robotp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="PSUPPLY">
                                <SuperBlockDiagram as="child" background="-1" title="PSUPPLY"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
                                    <Array as="context" scilabClass="String[]">
                                        <add value=""/>
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                                    <mxGraphModel as="model">
                                        <root>
                                            <mxCell id="robotfile:robotBlock:robot_PSUPPLYp0"/>
                                            <mxCell id="robotfile:robotBlock:robot_PSUPPLYp1" parent="robotfile:robotBlock:robot_PSUPPLYp0"/>                            <!-- Puertos 	 (dentro) -->
                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_PSUPPLY:WIRES:1" ordering="1" parent="robotfile:robotBlock:robot_PSUPPLYp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="400.0" y="50.0"/>
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                                            <ExplicitInputPort dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_PSUPPLY:WIRES:1aux" ordering="1" parent="out_robotfile:robotBlock:robot_PSUPPLY:WIRES:1" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="out_robotfile:robotBlock:robot_PSUPPLY:WIRES:1#identifier" parent="out_robotfile:robotBlock:robot_PSUPPLY:WIRES:1" style="noLabel=0;opacity=0" value="VCC" vertex="1">
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                                            <ExplicitOutBlock id="out_robotfile:robotBlock:robot_PSUPPLY:WIRES:2" ordering="2" parent="robotfile:robotBlock:robot_PSUPPLYp1" simulationFunctionType="DEFAULT" style="OUT_f;flip=false;mirror=false" value="1">
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                                    <Array scilabClass="ScilabTList">
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                                                <data column="2" line="0" value="model"/>
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                                                <data column="4" line="0" value="doc"/>
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                                            <Array scilabClass="ScilabMList">
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                                                    <data column="4" line="0" value="theta"/>
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                                                    <data column="7" line="0" value="pout"/>
                                                    <data column="8" line="0" value="pein"/>
                                                    <data column="9" line="0" value="peout"/>
                                                    <data column="10" line="0" value="gr_i"/>
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                                                    <data column="9" line="0" value="evtout"/>
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                                                <Array scilabClass="ScilabList"/>
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                                                <ScilabBoolean height="1" width="2">
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                                                    <data column="1" line="0" value="false"/>
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                                                <ScilabString height="1" width="1">
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                                                <ScilabDouble height="1" width="1">
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                                                <ScilabDouble height="1" width="1">
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                                                <Array scilabClass="ScilabList"/>
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                                            <ScilabString height="1" width="1">
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                                            <Array scilabClass="ScilabList">
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                                    <ScilabString height="1" width="1">
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                                    <Array scilabClass="ScilabList"/>
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                                <Array as="oDState" scilabClass="ScilabList"/>
                                <Array as="equations" scilabClass="ScilabList"/>
                                <mxGeometry as="geometry" height="116.0" width="260.0" x="2380.0" y="20.0"/>
                            </SuperBlock><!-- Puertos 	 (fuera) -->
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_PSUPPLY:WIRES:1b2" ordering="1" parent="robotfile:robotBlock:robot_PSUPPLY" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
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                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_PSUPPLY:WIRES:1" >
                                <mxGeometry as="geometry">
                                    <mxPoint as="sourcePoint" x="360.0" y="180.0"/>
                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_PSUPPLY:WIRES:1b2" ordering="2" parent="robotfile:robotBlock:robot_PSUPPLY" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_Octo:PINOUT:2b2" ordering="2" parent="robotfile:robotBlock:robot_PSUPPLY" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="VCC">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
                                </ExplicitInputPort>
                            </ExplicitLink>
                            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot_PSUPPLY:WIRES:2b2" ordering="2" parent="robotfile:robotBlock:robot_PSUPPLY" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
                            </ExplicitOutputPort>
                            <ExplicitLink id="link_sibout_robotfile:robotBlock:robot_PSUPPLY:WIRES:2" >
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                                    <mxPoint as="targetPoint" x="440.0" y="180.0"/>
                                </mxGeometry>
                                <mxCell as="parent" id="robotfile:robotBlock:robotp1" parent="robotfile:robotBlock:robotp0"/>
                                <ExplicitOutputPort as="source" dataType="UNKNOW_TYPE" id="out_robotfile:robotBlock:robot_PSUPPLY:WIRES:2b2" ordering="2" parent="robotfile:robotBlock:robot_PSUPPLY" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
                                    <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="76.0"/>
                                </ExplicitOutputPort>
                                <ExplicitInputPort as="target" dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_Octo:PINOUT:1b2" ordering="2" parent="robotfile:robotBlock:robot_PSUPPLY" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="GND">
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                                </ExplicitInputPort>
                            </ExplicitLink>
                            <mxCell connectable="0" id="robotfile:robotBlock:robot_PSUPPLY#identifier" parent="robotfile:robotBlock:robot_PSUPPLY" style="noLabel=0;opacity=0" value="PSUPPLY" vertex="1">
                                <mxGeometry as="geometry" x="130.0" y="76.0"/>
                            </mxCell>
                            <SuperBlock id="robotfile:robotBlock:robot_LWHEEL" parent="robotfile:robotBlock:robotp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="LWHEEL">
                                <SuperBlockDiagram as="child" background="-1" title="LWHEEL"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
                                    <Array as="context" scilabClass="String[]">
                                        <add value=""/>
                                    </Array>
                                    <mxGraphModel as="model">
                                        <root>
                                            <mxCell id="robotfile:robotBlock:robot_LWHEELp0"/>
                                            <mxCell id="robotfile:robotBlock:robot_LWHEELp1" parent="robotfile:robotBlock:robot_LWHEELp0"/>                            <!-- Puertos 	 (dentro) -->
                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:1" ordering="1" parent="robotfile:robotBlock:robot_LWHEELp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="50.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_LWHEEL:WIRES:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:1#identifier" parent="in_robotfile:robotBlock:robot_LWHEEL:WIRES:1" style="noLabel=0;opacity=0" value="LMOTOR1" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:2" ordering="2" parent="robotfile:robotBlock:robot_LWHEELp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
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                                                <ScilabDouble as="integerParameters" height="1" width="1">
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
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                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:2aux" ordering="1" parent="in_robotfile:robotBlock:robot_LWHEEL:WIRES:2" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:2#identifier" parent="in_robotfile:robotBlock:robot_LWHEEL:WIRES:2" style="noLabel=0;opacity=0" value="LMOTOR2" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:3" ordering="3" parent="robotfile:robotBlock:robot_LWHEELp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
                                                <ScilabString as="exprs" height="1" width="1">
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                                                <ScilabDouble as="integerParameters" height="1" width="1">
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
                                                <Array as="equations" scilabClass="ScilabList"/>
                                                <mxGeometry as="geometry" height="20.0" width="20.0" x="40.0" y="130.0"/>
                                            </ExplicitInBlock>
                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:3aux" ordering="1" parent="in_robotfile:robotBlock:robot_LWHEEL:WIRES:3" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:3#identifier" parent="in_robotfile:robotBlock:robot_LWHEEL:WIRES:3" style="noLabel=0;opacity=0" value="LMOTOR3" vertex="1">
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                                    <mxCell as="defaultParent" id="robotfile:robotBlock:robot_LWHEELp1" parent="robotfile:robotBlock:robot_LWHEELp0"/>
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                                    <Array scilabClass="ScilabTList">
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                                            <data column="4" line="0" value="tf"/>
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                                            <data column="8" line="0" value="void2"/>
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                                        <ScilabString height="1" width="1">
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                                            <Array scilabClass="ScilabList">
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                                    <Array scilabClass="ScilabList"/>
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                                <Array as="oDState" scilabClass="ScilabList"/>
                                <Array as="equations" scilabClass="ScilabList"/>
                                <mxGeometry as="geometry" height="156.0" width="260.0" x="2760.0" y="20.0"/>
                            </SuperBlock><!-- Puertos 	 (fuera) -->
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:1b2" ordering="1" parent="robotfile:robotBlock:robot_LWHEEL" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LMOTOR1">
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                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:2b2" ordering="2" parent="robotfile:robotBlock:robot_LWHEEL" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LMOTOR2">
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                            </ExplicitInputPort>
                            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot_LWHEEL:WIRES:3b2" ordering="3" parent="robotfile:robotBlock:robot_LWHEEL" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LMOTOR3">
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                            <mxCell connectable="0" id="robotfile:robotBlock:robot_LWHEEL#identifier" parent="robotfile:robotBlock:robot_LWHEEL" style="noLabel=0;opacity=0" value="LWHEEL" vertex="1">
                                <mxGeometry as="geometry" x="130.0" y="96.0"/>
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                            <SuperBlock id="robotfile:robotBlock:robot_RWHEEL" parent="robotfile:robotBlock:robotp1" simulationFunctionType="DEFAULT" style="SUPER_f;flip=false;mirror=false" value="RWHEEL">
                                <SuperBlockDiagram as="child" background="-1" title="RWHEEL"><!--Xcos - 1.0 - scilab-branch-5.4-1363295645 - 20130315 0027-->
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                                        <add value=""/>
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                                    <mxGraphModel as="model">
                                        <root>
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                                                <Array as="equations" scilabClass="ScilabList"/>
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                                            <ExplicitOutputPort dataType="UNKNOW_TYPE" id="in_robotfile:robotBlock:robot_RWHEEL:WIRES:1aux" ordering="1" parent="in_robotfile:robotBlock:robot_RWHEEL:WIRES:1" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="">
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                                            <mxCell connectable="0" id="in_robotfile:robotBlock:robot_RWHEEL:WIRES:1#identifier" parent="in_robotfile:robotBlock:robot_RWHEEL:WIRES:1" style="noLabel=0;opacity=0" value="RMOTOR1" vertex="1">
                                                <mxGeometry as="geometry" relative="1" x="0.5" y="1.4"/>
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                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RWHEEL:WIRES:2" ordering="2" parent="robotfile:robotBlock:robot_RWHEELp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
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                                                <Array as="objectsParameters" scilabClass="ScilabList"/>
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                                            <ExplicitInBlock id="in_robotfile:robotBlock:robot_RWHEEL:WIRES:3" ordering="3" parent="robotfile:robotBlock:robot_RWHEELp1" simulationFunctionType="DEFAULT" style="IN_f;flip=false;mirror=false">
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                            </SuperBlock><!-- Puertos 	 (fuera) -->
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                    <Array scilabClass="ScilabList"/>
                </Array>
                <Array as="oDState" scilabClass="ScilabList"/>
                <Array as="equations" scilabClass="ScilabList"/>
                <mxGeometry as="geometry" height="116.0" width="260.0" x="100.0" y="20.0"/>
            </SuperBlock><!-- Puertos 	 (fuera) -->
            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot:BUT:1b2" ordering="1" parent="robotfile:robotBlock:robot" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="EMGCY">
                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="36.0"/>
            </ExplicitInputPort>
            <ExplicitInputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="in_robotfile:robotBlock:robot:BUT:2b2" ordering="2" parent="robotfile:robotBlock:robot" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="SW_USER">
                <mxGeometry as="geometry" height="8.0" width="8.0" x="-8.0" y="76.0"/>
            </ExplicitInputPort>
            <ExplicitOutputPort dataColumns="1" dataLines="1" dataType="REAL_MATRIX" id="out_robotfile:robotBlock:robot:Movement:1b2" ordering="1" parent="robotfile:robotBlock:robot" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0;flip=false;mirror=false" value="LMOTOR1">
                <mxGeometry as="geometry" height="8.0" width="8.0" x="260.0" y="36.0"/>
            </ExplicitOutputPort>
            <mxCell connectable="0" id="robotfile:robotBlock:robot#identifier" parent="robotfile:robotBlock:robot" style="noLabel=0;opacity=0" value="Robot" vertex="1">
                <mxGeometry as="geometry" x="130.0" y="76.0"/>
            </mxCell>
        </root>
    </mxGraphModel>
    <mxCell as="defaultParent" id="robotfile:robotp1" parent="robotfile:robotp0"/>
</XcosDiagram>