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