45 lines
1.2 KiB
XML
45 lines
1.2 KiB
XML
<?xml version='1.0' encoding='UTF-8' ?>
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<!--
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##############################################
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# Copyright (c) Joshua Davidson (it0uchpods) #
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##############################################
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-->
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<system name="pushback">
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<property>/sim/model/pushback/target-speed-fps</property>
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<channel name="Pushback">
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<switch name="systems/pushback/linked">
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<default value="-1"/>
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<test value="0">
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/sim/model/pushback/position-norm gt 0.95
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/gear/gear/wow == 1
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gear/unit[0]/wheel-speed-fps lt 50
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</test>
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</switch>
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<summer name="systems/pushback/speed-error">
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<input>/sim/model/pushback/target-speed-fps</input>
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<input>-gear/unit[0]/wheel-speed-fps</input>
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</summer>
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<pid name="systems/pushback/force">
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<input>systems/pushback/speed-error</input>
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<kp>/sim/model/pushback/kp</kp>
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<ki>/sim/model/pushback/ki</ki>
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<kd>/sim/model/pushback/kd</kd>
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<trigger>systems/pushback/linked</trigger>
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<output>/sim/model/pushback/force</output>
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</pid>
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<switch name="systems/pushback/force-output">
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<default value="0"/>
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<test value="systems/pushback/force">
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systems/pushback/linked == 0
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</test>
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<output>external_reactions/pushback/magnitude</output>
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</switch>
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</channel>
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</system>
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