// BouncingBallPlantController
// System
macro g = -9.81;
macro restCoef = 0.5;
macro y0 = 10;

module BouncingBallPlant(event real ?initialPosition, hybrid real position, hybrid real velocity) {

	position = initialPosition;

	while (true) {

		flow {
			drv(position) <- cont(velocity);
			drv(velocity) <- g;
		
		} until(cont(position) <= 0 and cont(velocity) < 0);
		
		next(velocity) = -velocity * restCoef;
	
		flow {} until (true);
	}

} drivenby {
	//initial position
	initialPosition = y0;
	// running 
    for(i=0..250) pause;
}