// outdated

semantic adaptation power_sa
for continuous time
input ports up, down, reaction_torque
output ports armature_current, motor_speed
in rules {} // needs to be detected exactly when reaction_torque starts to change rapidly -> zero crossing on derivative abs(reaction_torque') >! 100
out rules {}
control rules {}

semantic adaptation window_sa
for continuous time
input ports motor_speed
output ports height, window_reaction_torque
in rules {}
out rules {}
control rules {}

semantic adaptation obstacle_sa
for continuous time
input ports height
output ports obstacle_reaction_torque
in rules {}
out rules {}
control rules {}