DriveTrain/AutomaticBrake.openplx
AutomaticBrake

AutomaticBrake is ManualBrake:
    with Physics.Signals.DurationInputTrait
    with Physics.Signals.DurationOutputTrait
    .doc: """
Extends the manual brake with an automatic engage/disengage feature.
engagement_duration determine how long it takes to go from fully
open to fully engaged, while the disengagement_duration determine the time for disengagement.
The boolean EngageInput is used to engage and disengage the brake.

When using the automatic feature the engagement_fraction parameter is irrelevant.

The automatic brake is engaged by sending true on the engage_input, and disengaged by sending false.
initially_engaged will tell wether the brake is engaged or not before any signal has been sent.
"""
    engagement_duration is Real: 0.1
    disengagement_duration is Real: 0.1
    initially_engaged is Bool: false

    engage_input is Physics.Signals.EngageInput:
        source: this
    engaged_output is Physics.Signals.EngagedOutput:
        enabled: false
        source: this

    engagement_duration_input is Physics.Signals.DurationInput:
        source: this

    engagement_duration_output is Physics.Signals.DurationOutput:
        source: this
        enabled: false

    disengagement_duration_input is Physics.Signals.DurationInput:
        source: this

    disengagement_duration_output is Physics.Signals.DurationOutput:
        source: this
        enabled: false