// plant for the bouncing ball
//

macro g = -9.81;

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

	while(true) {

		flow {
			drv(position) <- cont(velocity);
			drv(velocity) <- cont(force) + g;
	
			// to maintain values of variables
			drv(force) <- 0;
		
		} until(cont(position) <= 0 and cont(velocity) < 0);
		
		next(velocity) = -velocity/2.0;
	
		// to enable the plant to see the change
		flow {} until (true);
	}	
}