av=(lv-gv)/r sysphs trq=f*r sysphs gf=0 sysphs der(z)=setSpd-curSpd sysphs u=kp*(setSpd-curSpd)+ki*z sysphs thCmd=u*pConst sysphs trq=inTrq*trqCoef sysphs aS1=-aS2 sysphs lS=-aS1*radius sysphs trq1+trq2=0 sysphs fFluid+fSolid=0 sysphs fFluid=0.5*density*v^2*dragCoef*crossSec sysphs sSolid-sFluid=v sysphs f=m*g*sin(angle) sysphs if time<chg then speedOut=speed1; else speedOut=speed2; end if sysphs vel=0 sysphs f=m*der(lSpeed) sysphs if time > start and time < stop then slope=rise; else slope=flat; end if sysphs vel=0