DriveTrain/ManualBrake.openplx
ManualBrake

ManualBrake is Physics1D.Interactions.Mate:
    with Physics.Signals.Torque1DOutputTrait
    with Physics.Signals.RelativeVelocity1DOutputTrait
    with Physics.Signals.FractionInputTrait
    with Physics.Signals.FractionOutputTrait
    .doc: """
Brake is a mechanism that applies a counter torque against a rotor,
gradually reducing its motion until it comes to a complete stop.

A typical brake assembly consists of the caliper, brake pads, and hydraulically actuated pistons.
The pistons exert force on the brake pads, pressing them firmly against the rotating disk to generate
friction and slow down the rotor.

A brake has an engagement and disengagement process. Note that the engagement fraction,
indicates the position of the brake pedal relative to the movement of the brake pads during braking operations.

A value of 0 indicates that the brake is fully disengaged, meaning that the brake pedal is lifted up fully,
no braking torque is applied (free rotation). A value of 1 refers to a fully engaged brake, meaning that the
brake pedal is pressed down fully, full braking (maximum torque transfer) is applied.
During the engaging and disengaging process, the engagement fraction is varying within the range of [0,1].
This parameter simulates how much braking force is applied based on the pedal position.

Note that the brake functions similarly to a Clutch, but in reverse. While a clutch engages when the pedal is fully released,
a brake engages when the pedal is fully pressed.

"""

    initial_engagement_fraction is Real
    torque_capacity is Real
    min_relative_slip_ratio is Real

    slip_velocity_output is Physics.Signals.RelativeVelocity1DOutput:
        source: this
        enabled: false
    torque_output is Physics.Signals.Torque1DOutput:
        source: this
        enabled: false
    engagement_fraction_input is Physics.Signals.FractionInput:
        source: this
    engagement_fraction_output is Physics.Signals.FractionOutput:
        source: this
        enabled: false