//@pausable
do {
	accept(Tick);
	
	//@nonblockable
	accept(ch:ModeChange)
	if (ch != null) {
		modeFine = ! modeFine;
	}
	
	accept(plantState:PlantStateSignal);

	lforce = 0;
	if modeFine {	
		lforce = plantState.position * 0.1020408 + plantState.velocity * 0.4081633 + plantState.angle * 26.63102  + angularVelocity * 4.2040816;
	} else {
		lforce = plantState.position * 417.95918 + plantState.velocity * 208.97954 + plantState.angle * 613.55954 + angularVelocity * 136.4898;
	}
	this.plant.ReceptionControl( new ControlSignal(force => lforce));
	} while(true);