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- // outdated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 {}
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