DualTrackIndependentTorqueMotors

DualTrackIndependentTorqueMotors is Physics3D.System:
    min_effort is Real: Math.NEG_INF
    max_effort is Real: Math.INF

    left_drive_shaft  is DriveTrain.Shaft:
        inertia.inertia: 0.01
    right_drive_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.01

    left_brake_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.01
    right_brake_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.01

    left_final_drive_shaft  is DriveTrain.Shaft:
        inertia.inertia: 0.01
    right_final_drive_shaft is DriveTrain.Shaft:
        inertia.inertia: 0.01

    left_motor is DriveTrain.TorqueMotor:
        min_effort: min_effort
        max_effort: max_effort
        connectors: [left_drive_shaft.input]
    right_motor is DriveTrain.TorqueMotor:
        min_effort: min_effort
        max_effort: max_effort
        connectors: [right_drive_shaft.input]

    left_brake is DriveTrain.ManualBrake:
        connectors: [left_drive_shaft.output, left_brake_shaft.input]
    right_brake is DriveTrain.ManualBrake:
        connectors: [right_drive_shaft.output, right_brake_shaft.input]

    left_final_drive is DriveTrain.Gear:
        connectors: [left_brake_shaft.output, left_final_drive_shaft.input]
    right_final_drive is DriveTrain.Gear:
        connectors: [right_brake_shaft.output, right_final_drive_shaft.input]

    left_actuator is DriveTrain.Actuator:
        connector_1d: left_final_drive_shaft.output
    right_actuator is DriveTrain.Actuator:
        connector_1d: right_final_drive_shaft.output