// controller for the bouncingball
//

macro timeOut = 0.001;
macro K = -24254;
macro epsilon = 0.01;

module Controller(hybrid real position, hybrid real velocity, hybrid real force) {

	hybrid real t;	
	t = 0;
	
	while(true) {
		//sample the plant	
		// discrete logic of controller
		next(t) = 0;
		if (0 <= velocity and velocity <= epsilon and epsilon <= position) 
			next(force) = K;
		else
			next(force) = 0;

		// to enable the plant to see the change
		flow {} until (true);

		// hold the actuator
		flow {
			drv(t) <- 1.0;
		} until (cont(t) >= timeOut);
	}
}