new 2d lib and test

.gitignore

@@ -1,3 +1,2 @@
 build/
-__pycache__*
+__pycache__*
-exporttest/out

BondGraph/_2D/package.mo

@@ -25,10 +25,10 @@ package _2D
     
         // Flows are all equal
         for i in 2:N loop
-            s[i] * P[i].f = s[i-1] * P[i-1].f;
+            P[i].f = P[i-1].f;
         end for;
     
-        f = P[1].f; // * s[1];
+        f = -1 * P[1].f * s[1];
         
         annotation(
         Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "1", textStyle = {TextStyle.Bold, TextStyle.UnderLine}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}));
@@ -48,15 +48,15 @@ package _2D
   equation
       // Flows sum to zero, with signs from bond directions
       for j in 1:2 loop
-       sum(s[i] * P[i].f[j] for i in 1:N) = 0;
+	      sum(s[i] * P[i].f[j] for i in 1:N) = 0;
       end for;
   
       // Efforts are all equal
       for i in 2:N loop
-          s[i] * P[i].e = s[i-1] * P[i-1].e;
+          P[i].e = P[i-1].e;
       end for;
   
-      e = P[1].e; // * s[1] ;
+      e = P[1].e;
       
         annotation(
         Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "0", textStyle = {TextStyle.Bold, TextStyle.UnderLine}), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
@@ -130,23 +130,6 @@ package _2D
     Diagram(graphics));
     end Sf;
 
-    model MuxDemux "Combine/split two 1D bond ports and one 2D multibond port"
-        BondGraph.BondPort p1 "1D input channel 1" annotation(
-        Placement(transformation(extent = {{-110, 30}, {-90, 50}}), iconTransformation(extent = {{-110, 30}, {-90, 50}})));
-        BondGraph.BondPort p2 "1D input channel 2" annotation(
-        Placement(transformation(extent = {{-110, -50}, {-90, -30}}), iconTransformation(extent = {{-110, -50}, {-90, -30}})));
-        BondPort p "2D multibond output" annotation(
-        Placement(transformation(extent = {{90, -10}, {110, 10}}), iconTransformation(extent = {{90, -10}, {110, 10}})));
-    equation
-        // Power-preserving grouping of effort/flow pairs
-        p.e = {p1.e, p2.e};
-        p1.f = p.f[1];
-        p2.f = p.f[2];
-        annotation(
-        Icon(graphics = {Line(points = {{-70, 40}, {-30, 40}, {-10, 0}, {70, 0}}, thickness = 2), Line(points = {{-70, -40}, {-30, -40}, {-10, 0}}, thickness = 2), Line(points = {{0, 30}, {0, -30}}, thickness = 8), Text(origin = {0, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
-        Diagram(graphics));
-    end MuxDemux;
-
     model TF "Bond graph 2D transformer"
         BondPort p1 "Port 1" annotation(
         Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
@@ -238,4 +221,4 @@ package _2D
     Icon(graphics = {Text(origin = {50, 0}, extent = {{-50, 100}, {50, -100}}, textString = "R", textStyle = {TextStyle.Bold}), Line(origin = {-45.22, 20.19}, points = {{-58.7774, -20.1934}, {21.2226, -20.1934}, {-38.7774, 19.8066}}, thickness = 5), Line(origin = {-9.81, -8.19}, points = {{-10.1934, 48.1934}, {-10.1934, -31.8066}}, thickness = 5), Line(origin = {-78, 16}, points = {{-26, 0}, {30, 0}}, thickness = 5)}),
     uses(Modelica(version = "4.1.0")),
     Diagram(graphics));
-end _2D;
+end _2D;

BondGraph/package.mo

@@ -25,10 +25,10 @@ package BondGraph
   
       // Flows are all equal
       for i in 2:N loop
-          s[i] * P[i].f = s[i-1] * P[i-1].f;
+          P[i].f = P[i-1].f;
       end for;
   
-      f = P[1].f; // * s[1];
+      f = -1 * P[1].f * s[1];
   
       annotation(
       Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "1"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),
@@ -52,10 +52,10 @@ package BondGraph
 
         // Efforts are all equal
         for i in 2:N loop
-            s[i] * P[i].e = s[i-1] * P[i-1].e;
+            P[i].e = P[i-1].e;
         end for;
 
-        e = P[1].e; // * s[1];
+        e = P[1].e * s[1];
 
         annotation(
         Icon(graphics = {Text(extent = {{-100, 100}, {100, -100}}, textString = "0"), Text(origin = {50, 80}, textColor = {0, 0, 255}, extent = {{-50, 20}, {50, -20}}, textString = "%name")}),

EmbeddedControl.mo

@@ -1,369 +0,0 @@
-package EmbeddedControl
-  extends Modelica.Icons.Package;
-
-  package Boundary
-    model ADC
-    	extends Modelica.Blocks.Icons.DiscreteBlock;
-        parameter Real stepSize = 0.1;
-        parameter Real scale = 1;
-        Modelica.Blocks.Interfaces.RealInput u annotation(
-        Placement(transformation(origin = {-122, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
-        Modelica.Blocks.Interfaces.IntegerOutput y annotation(
-        Placement(transformation(origin = {86, -34}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
-    Modelica.Blocks.Interfaces.BooleanInput tickInput annotation(
-        Placement(transformation(origin = {-130, -88}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
-    	discrete Integer y_internal(start=0, fixed=true);
-    	
-    algorithm
-    	when tickInput then
-    		y_internal := integer(floor((scale*u)/stepSize+ 0.5));
-    	end when;
-    
-    equation
-    	y = y_internal;
-        
-        annotation(
-        Documentation(info = "<html>
-    <p>Integer analog-to-digital conversion block.</p>
-    <p>The real-valued input <code>u</code> is quantized to an integer code using:</p>
-    <p><code>y = floor((scale*u)/stepSize + 0.5)</code></p>
-    <p>This produces a rounded integer representation of the scaled input, intended for embedded-style control chains that operate on integer counts.</p>
-    <p>Parameters:</p>
-    <ul>
-    <li><code>stepSize</code>: physical value represented by one integer step</li>
-    <li><code>scale</code>: additional scaling applied before quantization</li>
-    </ul>
-    </html>"),
-        Icon(graphics = {Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {255, 85, 0}, thickness = 1.25), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "AD")}));
-    end ADC;
-    
-    model DAC
-    	extends Modelica.Blocks.Icons.DiscreteBlock;
-        parameter Real stepSize = 0.1;
-        parameter Real scale = 1;
-        Modelica.Blocks.Interfaces.IntegerInput u annotation(
-        Placement(transformation(origin = {-136, -2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
-        Modelica.Blocks.Interfaces.RealOutput y annotation(
-        Placement(transformation(origin = {126, 10}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
-    	Modelica.Blocks.Interfaces.BooleanInput tickInput annotation(
-        Placement(transformation(origin = {-130, -88}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
-    
-    protected
-      discrete Real yReal(start = 0, fixed = true);
-      
-    algorithm
-      when tickInput then
-    	yReal := (stepSize * scale) * u;
-      end when;
-    equation
-      y = yReal;
-    
-        annotation(
-        Documentation(info = "<html>
-    <p>Integer digital-to-analog conversion block.</p>
-    <p>The integer input <code>u</code> is mapped back to a real-valued physical signal using:</p>
-    <p><code>y = (stepSize*scale)*u</code></p>
-    <p>When used with matching parameter values, this block acts as the inverse conversion of the ADC block.</p>
-    <p>Parameters:</p>
-    <ul>
-    <li><code>stepSize</code>: physical value represented by one integer step</li>
-    <li><code>scale</code>: output scaling factor</li>
-    </ul>
-    </html>"),
-        Diagram(graphics),
-        Icon(graphics = {Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {0, 0, 127}, thickness = 1.25, smooth = Smooth.Bezier), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "DA")}));
-    end DAC;
-  extends Modelica.Icons.Package;
-
-    model tickGenerator
-      extends Modelica.Blocks.Interfaces.partialBooleanSource;
-  Modelica.Blocks.Interfaces.IntegerOutput tickPeriodUs annotation(
-        Placement(transformation(origin = {134, -58}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, -80}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Blocks.Sources.SampleTrigger sampleTrigger(period = period)  annotation(
-        Placement(transformation(extent = {{-10, -10}, {10, 10}})));
-    	parameter Modelica.Units.SI.Time period = 0.1;
-    equation
-    tickPeriodUs = integer(period*1000*1000);
-  connect(sampleTrigger.y, y) annotation(
-        Line(points = {{12, 0}, {110, 0}}, color = {255, 0, 255}));
-    annotation(
-        Diagram(graphics),
-        Icon(graphics = {Line(points = {{-60, -70}, {-60, 70}}), Line(points = {{-20, -70}, {-20, 70}}), Line(points = {{20, -70}, {20, 70}}), Line(points = {{60, -70}, {60, 70}})}));
-end tickGenerator;
-    annotation(
-      Icon(graphics = {Line(origin = {-48.92, -4.33}, points = {{-35.0829, -47.6744}, {-17.0829, 18.3256}, {-3.08288, -9.6744}, {10.9171, 48.3256}, {34.9171, 14.3256}, {34.9171, 14.3256}}, color = {0, 0, 127}, thickness = 1.5, smooth = Smooth.Bezier), Line( points = {{0, 81}, {0, -81}}, pattern = LinePattern.Dash, thickness = 2.75), Line(origin = {54, -10}, points = {{-36, -42}, {-36, -20}, {-30, -20}, {-30, -10}, {-20, -10}, {-20, 10}, {-6, 10}, {-6, 4}, {6, 4}, {6, 42}, {28, 42}, {28, 18}, {36, 18}, {36, 6}, {36, 6}}, color = {255, 85, 0}, thickness = 1.5)}));
-  end Boundary;
-
-  package Math
-  extends Modelica.Icons.Package;
-
-    model DDifference
-    	extends EmbeddedControl.Bases.discreteIntegerSISO;
-    
-    	discrete Integer x(start=0, fixed=true) "Initial or guess value of state";
-    	
-    protected
-    	discrete Integer y_internal(start=0, fixed=true);
-    	
-    algorithm
-    	if tickUpdate then
-    		y_internal := u - pre(x);
-    		x := u;
-    	end if;
-    	
-    equation
-    	y = y_internal;
-    
-    annotation(
-        Diagram(graphics),
-        Icon(graphics = {Text(textColor = {156, 156, 156}, extent = {{-30, 14}, {86, 60}}, textString = "D"), Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Line(origin = {-9, -4}, points = {{-63, 66}, {-63, 40}, {-53, 40}, {-53, -20}, {-39, -20}, {-39, -54}, {3, -54}, {3, -66}, {63, -66}, {63, -66}}, color = {255, 85, 0}, thickness = 0.5)}));
-    end DDifference;
-
-    model DAccumulate
-    	extends EmbeddedControl.Bases.discreteIntegerSISO;
-    	discrete Integer y_internal(start=0, fixed=true);	
-    	
-    algorithm
-    	if tickUpdate then
-    		y_internal := u + pre(y_internal);
-    	end if;
-    	
-    equation
-    	y = y_internal;
-    
-    annotation(
-        Diagram(graphics),
-        Icon(graphics = {Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Text(textColor = {156, 156, 156}, extent = {{0, -70}, {60, -10}}, textString = "A"), Line(origin = {-2, -1}, points = {{-70, -73}, {-70, -53}, {-48, -53}, {-48, -33}, {-26, -33}, {-26, -9}, {-2, -9}, {-2, 11}, {22, 11}, {22, 33}, {46, 33}, {46, 57}, {70, 57}, {70, 73}}, color = {255, 85, 0}, thickness = 0.5)}));
-end DAccumulate;
-
-    model UnitDelay
-      extends EmbeddedControl.Bases.discreteIntegerSISO;
-      discrete Integer x(start=0, fixed=true) "Initial or guess value of state";
-    protected
-      discrete Integer y_internal(start=0, fixed=true);
-algorithm
-    	if tickUpdate then
-    		y_internal := pre(x);
-    		x := u;
-    	end if;
-    equation
-    	y = y_internal;
-    annotation(
-        Icon(graphics = {Text(textColor = {255, 85, 0},extent = {{-100, 100}, {100, -100}}, textString = "z"), Text(origin = {58, 50}, textColor = {255, 85, 0}, extent = {{-24, 22}, {24, -22}}, textString = "-1")}));
-end UnitDelay;
-
-    model Gain
-      extends EmbeddedControl.Bases.discreteIntegerSISO;
-      parameter Integer k = 1;
-    protected
-      discrete Integer y_internal(start=0, fixed=true);
-    algorithm
-    	y_internal := k * u;
-    equation
-    	y = y_internal;
-    
-    annotation(
-        Icon(graphics = {Text(textColor = {255, 85, 0}, extent = {{-100, 100}, {100, -100}}, textString = "k"), Text(extent = {{-150, -140}, {150, -100}}, textString = "k=%k")}),
-    Diagram(graphics));
-    end Gain;
-    
-    model FractionalGain
-      extends Bases.discreteIntegerSISO;
-      parameter Integer k = 1;
-      parameter Integer f = 1;
-    protected
-      discrete Integer y_internal(start=0, fixed=true);
-    algorithm
-        y_internal := div((k*u),f);
-    equation
-    	y = y_internal;
-      annotation(
-        Icon(graphics = {Text(textColor = {255, 85, 0}, extent = {{-100, 100}, {100, -100}}, textString = "k"), Text(extent = {{-150, -140}, {150, -100}}, textString = "k=%k f=%f")}),
-        Diagram(graphics));
-    end FractionalGain;
-    
-    model DDifferentiate
-    	extends EmbeddedControl.Bases.discreteIntegerSISO;
-    
-    	discrete Integer x(start=0, fixed=true) "Initial or guess value of state";
-    	parameter Integer scaleNumerator = 1000000;
-    	outer Integer tickPeriodUs;
-    protected
-    	discrete Integer y_internal(start=0, fixed=true);
-    	
-    algorithm
-    	if tickUpdate then
-    		y_internal := integer((u - pre(x))*scaleNumerator / tickPeriodUs);
-    		x := u;
-    	end if;
-    	
-    equation	
-    	y = y_internal;
-    
-    	annotation(
-        Diagram(graphics),
-        Icon(graphics = {Text(textColor = {156, 156, 156}, extent = {{-30, 14}, {86, 60}}, textString = "DT1"), Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Line(origin = {-9, -4}, points = {{-63, 66}, {-63, 40}, {-53, 40}, {-53, -20}, {-39, -20}, {-39, -54}, {3, -54}, {3, -66}, {63, -66}, {63, -66}}, color = {255, 85, 0}, thickness = 0.5)}),
-  experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002));
-    end DDifferentiate;
-    
-    model DIntegrate
-     extends Bases.discreteIntegerSISO;
-      discrete Integer y_internal(start = 0, fixed = true);
-      	parameter Integer scaleDenominator = 1000000;
-    	outer Integer tickPeriodUs;
-    algorithm
-      if tickUpdate then
-        y_internal := u + pre(y_internal);
-      end if;
-    equation
-      y = integer(y_internal*tickPeriodUs / scaleDenominator);
-      annotation(
-        Diagram(graphics),
-        Icon(graphics = {Line(points = {{-90, -80}, {82, -80}}, color = {156, 156, 156}), Line(points = {{-80, 78}, {-80, -90}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{-80, 90}, {-88, 68}, {-72, 68}, {-80, 90}}), Polygon(lineColor = {156, 156, 156}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, points = {{90, -80}, {68, -72}, {68, -88}, {90, -80}}), Text(textColor = {156, 156, 156}, extent = {{0, -70}, {60, -10}}, textString = "I"), Line(origin = {-2, -1}, points = {{-70, -73}, {-70, -53}, {-48, -53}, {-48, -33}, {-26, -33}, {-26, -9}, {-2, -9}, {-2, 11}, {22, 11}, {22, 33}, {46, 33}, {46, 57}, {70, 57}, {70, 73}}, color = {255, 85, 0}, thickness = 0.5)}));
-    end DIntegrate;
-    
-    model ScaledGain
-    	extends Bases.discreteIntegerSISO;
-    	parameter Integer k = 1;
-      	parameter Integer scaleNumerator = 1000000;
-      	parameter Integer scaleDenominator = 1000000;
-    	outer Integer tickPeriodUs;
-    	parameter Boolean scaleMode = false;
-    protected
-      discrete Integer y_internal(start=0, fixed=true);
-    algorithm
-        if scaleMode then
-    		y_internal := integer(u * k * tickPeriodUs / scaleDenominator);
-    	else
-    		y_internal := integer(u * k * scaleNumerator / tickPeriodUs);
-    	end if;
-    equation
-    	y = y_internal;
-      
-      annotation(
-        Icon(graphics = {Text(textColor = {255, 85, 0}, extent = {{-100, 100}, {100, -100}}, textString = "k"), Text(extent = {{-150, -140}, {150, -100}}, textString = "k=%k")}),
-        Diagram(graphics));
-    end ScaledGain;
-
-    model Limiter
-    	extends EmbeddedControl.Bases.discreteIntegerSISO;
-    	parameter Integer limit = 100;
-    protected
-    	discrete Integer y_internal(start=0, fixed=true);
-    algorithm
-    	if u > limit then
-    		y_internal := limit;
-    	elseif u < -limit then
-    		y_internal := -limit;
-    	else
-    		y_internal := u;
-    	end if;
-    equation
-    	y = y_internal;
-
-    annotation(
-        Diagram(graphics),
-        Icon(graphics = {Line(points = {{0, -90}, {0, 68}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {192, 192, 192}, fillPattern = FillPattern.Solid, points = {{0, 90}, {-8, 68}, {8, 68}, {0, 90}}), Line(points = {{-90, 0}, {68, 0}}, color = {156, 156, 156}), Polygon(lineColor = {156, 156, 156}, fillColor = {192, 192, 192}, fillPattern = FillPattern.Solid, points = {{90, 0}, {68, -8}, {68, 8}, {90, 0}}), Line(origin = {-36, -36}, points = {{-46, -24}, {-8, -24}, {-8, -8}, {8, -8}, {8, 10}, {22, 10}, {22, 24}, {22, 24}}, color = {255, 85, 0}, thickness = 0.5), Line(origin = {34.5, 20}, points = {{-48.5, -32}, {-34.5, -32}, {-34.5, -20}, {-20.5, -20}, {-20.5, -4}, {-2.5, -4}, {-2.5, 16}, {11.5, 16}, {11.5, 32}, {49.5, 32}, {27.5, 32}}, color = {255, 85, 0}, thickness = 0.5)}));
-end Limiter;
-  annotation(
-      Icon(graphics = {Line(origin = {-0.95, 0.62}, points = {{-75.0496, -68.6246}, {-61.0496, 1.37545}, {-29.0496, 69.3754}, {-5.04956, 1.37545}, {20.9504, -64.6246}, {50.9504, -2.62455}, {74.9504, 65.3754}, {74.9504, 65.3754}}, color = {255, 85, 0}, thickness = 2, smooth = Smooth.Bezier)}));
-  end Math;
-
-  package Bases
-    extends Modelica.Icons.BasesPackage;
-
-    partial model ControlBase
-    	extends Modelica.Blocks.Icons.DiscreteBlock;
-  Modelica.Blocks.Interfaces.BooleanInput tickInput annotation(
-        Placement(iconTransformation(origin = {0, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
-  Modelica.Blocks.Interfaces.IntegerInput tickPeriodIn annotation(
-        Placement(iconTransformation(origin = {-80, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 90)));
-    protected
-    	inner Boolean tickUpdate;
-    	inner Integer tickPeriodUs;
-    	inner Integer tickPeriodMs;
-    	inner Integer tickPeriodS;
-    algorithm
-    	if tickInput then
-    		if pre(tickInput) then
-    			tickUpdate := false;
-    		else
-    			tickUpdate := true;
-    		end if;
-    	else
-    		tickUpdate := false;
-    	end if;
-    equation
-    	tickPeriodUs = tickPeriodIn;
-    	tickPeriodMs = tickPeriodUs/1000;
-    	tickPeriodS = tickPeriodMs/1000;
-    end ControlBase;
-    
-    partial model discreteInteger
-    	extends Modelica.Blocks.Icons.DiscreteBlock;
-    	outer Boolean tickUpdate;
-    end discreteInteger;
-    
-    partial model discreteIntegerSISO
-    extends EmbeddedControl.Bases.discreteInteger;
-    Modelica.Blocks.Interfaces.IntegerInput u annotation(
-        Placement(transformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
-    Modelica.Blocks.Interfaces.IntegerOutput y annotation(
-        Placement(transformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
-    equation
-    
-    end discreteIntegerSISO;
-  equation
-
-  end Bases;
-
-  package Util
-  extends Modelica.Icons.UtilitiesPackage;
-
-    model PID
-      extends EmbeddedControl.Bases.discreteIntegerSISO;
-      parameter Integer kP = 1;
-      parameter Integer kI = 1;
-      parameter Integer kD = 1;
-      parameter Integer scale = 1000000;
-  EmbeddedControl.Math.Gain P(k = kP) annotation(
-        Placement(transformation(extent = {{-10, -10}, {10, 10}})));
-  EmbeddedControl.Math.DDifferentiate dDifferentiate(scaleNumerator = scale) annotation(
-        Placement(transformation(origin = {-40, 40}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Blocks.MathInteger.Sum sum1(nu = 3) annotation(
-        Placement(transformation(origin = {50, 0}, extent = {{-10, -10}, {10, 10}})));
-  EmbeddedControl.Math.Gain D(k = kD) annotation(
-        Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}})));
-  EmbeddedControl.Math.DIntegrate dIntegrate(scaleDenominator = scale) annotation(
-        Placement(transformation(origin = {-38, -40}, extent = {{-10, -10}, {10, 10}})));
-  EmbeddedControl.Math.Gain I(k = kI) annotation(
-        Placement(transformation(origin = {0, -40}, extent = {{-10, -10}, {10, 10}})));
-    protected outer Boolean tickUpdate;
-    equation
-      connect(P.y, sum1.u[1]) annotation(
-        Line(points = {{11, 0}, {40, 0}}, color = {255, 127, 0}));
-      connect(dDifferentiate.y, D.u) annotation(
-        Line(points = {{-29, 40}, {-12, 40}}, color = {255, 127, 0}));
-      connect(D.y, sum1.u[2]) annotation(
-        Line(points = {{11, 40}, {20, 40}, {20, 0}, {40, 0}}, color = {255, 127, 0}));
-      connect(dIntegrate.y, I.u) annotation(
-        Line(points = {{-27, -40}, {-12, -40}}, color = {255, 127, 0}));
-      connect(I.y, sum1.u[3]) annotation(
-        Line(points = {{11, -40}, {19, -40}, {19, 0}, {40, 0}}, color = {255, 127, 0}));
-  connect(u, dDifferentiate.u) annotation(
-        Line(points = {{-100, 0}, {-70, 0}, {-70, 40}, {-52, 40}}, color = {255, 127, 0}));
-  connect(u, P.u) annotation(
-        Line(points = {{-100, 0}, {-12, 0}}, color = {255, 127, 0}));
-  connect(u, dIntegrate.u) annotation(
-        Line(points = {{-100, 0}, {-70, 0}, {-70, -40}, {-50, -40}}, color = {255, 127, 0}));
-  connect(sum1.y, y) annotation(
-        Line(points = {{62, 0}, {100, 0}}, color = {255, 127, 0}));
-    annotation(
-        Icon(graphics = {Text(textColor = {255, 85, 0}, extent = {{-100, 100}, {100, -100}}, textString = "PID")}),
-  Diagram(coordinateSystem(extent = {{-120, 60}, {120, -60}})));
-end PID;
-  end Util;
-  annotation(
-    Icon(graphics = {Text(origin = {1, 1}, textColor = {255, 170, 0}, extent = {{-99, 99}, {99, -99}}, textString = "EC", textStyle = {TextStyle.Bold})}),
-  uses(Modelica(version = "4.1.0")));
-end EmbeddedControl;

Simple2DPendulum.mo

@@ -1,27 +0,0 @@
-model Simple2DPendulum
-  inner Modelica.Mechanics.MultiBody.World world annotation(
-    Placement(transformation(origin = {-40, 0}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Mechanics.MultiBody.Joints.Revolute revolute(phi(start = -1.5707963267948966, fixed = true, displayUnit = "deg"), useAxisFlange = true)  annotation(
-    Placement(transformation(origin = {40, 0}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Mechanics.MultiBody.Parts.Body body(r_CM = {0, -0.5, 0}, m = 1, I_11 = 0.001, I_22 = 0.001, I_33 = 0.001)  annotation(
-    Placement(transformation(origin = {70, 0}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Mechanics.Rotational.Components.Damper damper(d = 0.02)  annotation(
-    Placement(transformation(origin = {40, 38}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Mechanics.MultiBody.Joints.Prismatic prismatic annotation(
-    Placement(transformation(extent = {{-10, -10}, {10, 10}})));
-equation
-  connect(revolute.frame_b, body.frame_a) annotation(
-    Line(points = {{50, 0}, {60, 0}}, color = {95, 95, 95}));
-  connect(damper.flange_b, revolute.axis) annotation(
-    Line(points = {{50, 38}, {58, 38}, {58, 20}, {40, 20}, {40, 10}}));
-  connect(damper.flange_a, revolute.support) annotation(
-    Line(points = {{30, 38}, {22, 38}, {22, 20}, {34, 20}, {34, 10}}));
-  connect(prismatic.frame_b, revolute.frame_a) annotation(
-    Line(points = {{10, 0}, {30, 0}}, color = {95, 95, 95}));
-  connect(world.frame_b, prismatic.frame_a) annotation(
-    Line(points = {{-30, 0}, {-10, 0}}, color = {95, 95, 95}));
-
-annotation(
-    uses(Modelica(version = "4.1.0")),
-  experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-06, Interval = 0.02));
-end Simple2DPendulum;

exporttest/export_controller.log

@@ -1,17 +0,0 @@
-true
-true
-true
-true
-true
-"Check of test.Controller completed successfully.
-Class test.Controller has 32 equation(s) and 32 variable(s).
-16 of these are trivial equation(s)."
-
-Notification: Automatically loaded package Modelica 4.1.0 due to uses annotation from EmbeddedControl.
-Notification: Automatically loaded package Complex 4.1.0 due to uses annotation from Modelica.
-Notification: Automatically loaded package ModelicaServices 4.1.0 due to uses annotation from Modelica.
-
-true
-translateModel() = true
-
-

exporttest/export_controller.mos

@@ -1,14 +0,0 @@
-setCommandLineOptions("--simCodeTarget=ExperimentalEmbeddedC");
-setCommandLineOptions("--target=gcc");
-setCommandLineOptions("-d=initialization");
-
-loadFile("/work/EmbeddedControl.mo");
-loadFile("/work/test.mo");
-
-okCheck := checkModel(test.Controller);
-print("checkModel() = " + String(okCheck) + "\n");
-print(getErrorString());
-
-okTranslate := translateModel(test.Controller, fileNamePrefix="controller");
-print("translateModel() = " + String(okTranslate) + "\n");
-print(getErrorString());

exporttest/run_mos_docker.sh

@@ -1,19 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-
-ROOT_DIR="$(cd "$(dirname "$0")/.." && pwd)"
-MOS_FILE="/work/exporttest/export_controller.mos"
-LOG_FILE="$ROOT_DIR/exporttest/export_controller.log"
-
-docker run --rm \
-  -v "$ROOT_DIR:/work" \
-  -v "$HOME/.openmodelica/libraries:/home/ubuntu/.openmodelica/libraries:ro" \
-  -w /work/exporttest/out \
-  openmodelica omc "$MOS_FILE" 2>&1 | tee "$LOG_FILE"
-
-if grep -E "Error:|= false" "$LOG_FILE" >/dev/null; then
-  echo "Failed. See: $LOG_FILE" >&2
-  exit 1
-fi
-
-echo "Success. Log: $LOG_FILE"

suggest_junction_signs.py

@@ -0,0 +1,185 @@
+#!/usr/bin/env python3
+"""
+Suggest BondGraph junction s-arrays from connect argument order.
+
+Rule used:
+- connect(a, b) means a is source and b is sink.
+- Junction port in first argument => +1 vote
+- Junction port in second argument => -1 vote
+
+This is a heuristic helper. It does not modify files.
+"""
+
+from __future__ import annotations
+
+import argparse
+import re
+from dataclasses import dataclass, field
+from pathlib import Path
+from typing import Dict, List, Optional, Tuple
+
+
+CONNECT_RE = re.compile(r"connect\s*\(\s*([^,]+?)\s*,\s*([^)]+?)\s*\)\s*(?:annotation\s*\(|;)", re.S)
+JUNCTION_DECL_RE = re.compile(
+    r"\b(BondGraph(?:\._2D)?\.J[01])\s+([A-Za-z_]\w*)\s*(\((.*?)\))?\s*annotation\s*\(",
+    re.S,
+)
+PORT_RE = re.compile(r"^([A-Za-z_]\w*)\.P\[(\d+)\]$")
+N_RE = re.compile(r"\bN\s*=\s*(\d+)")
+S_RE = re.compile(r"\bs\s*=\s*\{([^}]*)\}")
+
+
+@dataclass
+class Junction:
+    cls: str
+    name: str
+    n: Optional[int]
+    current_s: Optional[List[str]]
+    votes: Dict[int, List[int]] = field(default_factory=dict)
+
+    def add_vote(self, port_idx: int, vote: int) -> None:
+        self.votes.setdefault(port_idx, []).append(vote)
+
+
+def parse_current_s(params: str) -> Optional[List[str]]:
+    m = S_RE.search(params)
+    if not m:
+        return None
+    return [x.strip() for x in m.group(1).split(",") if x.strip()]
+
+
+def parse_junctions(text: str) -> Dict[str, Junction]:
+    result: Dict[str, Junction] = {}
+    for m in JUNCTION_DECL_RE.finditer(text):
+        cls, name, _, params = m.groups()
+        params = params or ""
+        n_m = N_RE.search(params)
+        n = int(n_m.group(1)) if n_m else None
+        result[name] = Junction(cls=cls, name=name, n=n, current_s=parse_current_s(params))
+    return result
+
+
+def normalize_endpoint(ep: str) -> str:
+    return re.sub(r"\s+", "", ep)
+
+
+def extract_junction_port(endpoint: str) -> Optional[Tuple[str, int]]:
+    m = PORT_RE.match(endpoint)
+    if not m:
+        return None
+    return m.group(1), int(m.group(2))
+
+
+def suggest_sign(votes: List[int]) -> str:
+    pos = sum(1 for v in votes if v < 0)
+    neg = sum(1 for v in votes if v > 0)
+    if pos and neg:
+        return "?"
+    if pos:
+        return "-1"
+    if neg:
+        return "+1"
+    return "0"
+
+
+def fmt_current(j: Junction, idx: int) -> str:
+    if not j.current_s:
+        return "n/a"
+    if idx - 1 < len(j.current_s):
+        return j.current_s[idx - 1]
+    return "n/a"
+
+
+def as_int_sign(token: str) -> Optional[int]:
+    t = token.strip()
+    if t in {"+1", "1", "1.0"}:
+        return 1
+    if t in {"-1", "-1.0"}:
+        return -1
+    return None
+
+
+def main() -> int:
+    ap = argparse.ArgumentParser(description=__doc__)
+    ap.add_argument("modelica_file", type=Path)
+    ap.add_argument(
+        "--emit-patch",
+        action="store_true",
+        help="Emit patch-style s-array replacements per junction.",
+    )
+    args = ap.parse_args()
+
+    text = args.modelica_file.read_text(encoding="utf-8")
+    junctions = parse_junctions(text)
+
+    for m in CONNECT_RE.finditer(text):
+        left, right = normalize_endpoint(m.group(1)), normalize_endpoint(m.group(2))
+
+        l = extract_junction_port(left)
+        if l and l[0] in junctions:
+            junctions[l[0]].add_vote(l[1], +1)
+
+        r = extract_junction_port(right)
+        if r and r[0] in junctions:
+            junctions[r[0]].add_vote(r[1], -1)
+
+    print(f"File: {args.modelica_file}")
+    print("Rule: connect(a,b) => a:-1, b:+1")
+    print("")
+
+    patch_lines: List[str] = []
+
+    for name in sorted(junctions):
+        j = junctions[name]
+        max_idx = j.n or (max(j.votes) if j.votes else 0)
+        suggested = []
+        conflicts = []
+
+        for i in range(1, max_idx + 1):
+            votes = j.votes.get(i, [])
+            s = suggest_sign(votes)
+            suggested.append(s)
+            if s == "?":
+                conflicts.append(i)
+
+        current_s = "{" + ", ".join(j.current_s) + "}" if j.current_s else "n/a"
+        sug_s = "{" + ", ".join(suggested) + "}" if suggested else "{}"
+        print(f"{j.name} ({j.cls}, N={j.n if j.n is not None else 'n/a'})")
+        print(f"  current s:   {current_s}")
+        print(f"  suggested s: {sug_s}")
+        for i in range(1, max_idx + 1):
+            votes = j.votes.get(i, [])
+            vote_str = ",".join("+1" if v > 0 else "-1" for v in votes) if votes else "-"
+            print(f"  P[{i}]: current={fmt_current(j, i)} votes={vote_str} -> {suggested[i-1]}")
+        if conflicts:
+            conflict_ports = ", ".join(f"P[{i}]" for i in conflicts)
+            print(f"  conflicts: {conflict_ports} (used as both source and sink)")
+        print("")
+
+        if args.emit_patch and max_idx > 0:
+            suggested_int = []
+            current_int = []
+            ok = True
+            for i in range(1, max_idx + 1):
+                s = suggested[i - 1]
+                if s == "?":
+                    ok = False
+                    break
+                suggested_int.append("1" if s == "+1" else "-1")
+                current_int.append(fmt_current(j, i))
+            if ok:
+                old_txt = "{" + ", ".join(current_int) + "}"
+                new_txt = "{" + ", ".join(suggested_int) + "}"
+                patch_lines.append(f"- {j.name}.s = {old_txt}")
+                patch_lines.append(f"+ {j.name}.s = {new_txt}")
+
+    if args.emit_patch:
+        print("Suggested Patch")
+        for line in patch_lines:
+            print(line)
+
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

test.mo

@@ -1,132 +0,0 @@
-model test
-  EmbeddedControl.Boundary.DAC dac(stepSize = 0.01, scale = -1)  annotation(
-    Placement(transformation(origin = {106, 0}, extent = {{-10, -10}, {10, 10}})));
-  EmbeddedControl.Boundary.ADC adc(stepSize = 0.01)  annotation(
-    Placement(transformation(origin = {10, 0}, extent = {{-10, -10}, {10, 10}})));
-  model Controller
-    extends EmbeddedControl.Bases.ControlBase;
-  Modelica.Blocks.Interfaces.IntegerInput angle_crad annotation(
-      Placement(transformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-122, 120}, extent = {{-20, -20}, {20, 20}})));
-  Modelica.Blocks.Interfaces.IntegerOutput y annotation(
-      Placement(transformation(origin = {162, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {110, 0}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Blocks.Interfaces.IntegerInput angle_setpoint annotation(
-      Placement(transformation(origin = {-120, 40}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 180}, extent = {{-20, -20}, {20, 20}})));
-  Modelica.Blocks.MathInteger.Sum sum(nu = 2, k = {-1, 1})  annotation(
-      Placement(transformation(origin = {64, 0}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Blocks.Interfaces.IntegerInput position_mm annotation(
-      Placement(transformation(origin = {-120, 80}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}})));
-  EmbeddedControl.Util.PID pida(kP = 200, kI = 50, kD = 10, scale = 100000)  annotation(
-      Placement(transformation(origin = {102, 0}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Blocks.Interfaces.IntegerInput position_setpoint annotation(
-      Placement(transformation(origin = {-120, 120}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-120, -62}, extent = {{-20, -20}, {20, 20}})));
-  equation
-    connect(angle_crad, sum.u[1]) annotation(
-      Line(points = {{-120, 0}, {54, 0}}, color = {255, 127, 0}));
-    connect(sum.y, pida.u) annotation(
-      Line(points = {{75.5, 0}, {90, 0}}, color = {255, 127, 0}));
-    connect(pida.y, y) annotation(
-      Line(points = {{113, 0}, {162, 0}}, color = {255, 127, 0}));
-    connect(angle_setpoint, sum.u[2]) annotation(
-      Line(points = {{-120, 40}, {-90, 40}, {-90, 0}, {54, 0}}, color = {255, 127, 0}));
-    annotation(
-      Diagram(coordinateSystem(extent = {{-140, 140}, {180, -20}})),
-  experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002),
-  Icon(graphics = {Rectangle(origin = {-90, 50}, lineColor = {255, 85, 0}, fillColor = {156, 156, 156}, fillPattern = FillPattern.Solid, extent = {{-10, 150}, {10, -150}})}));
-end Controller;
-
-  Controller controller annotation(
-    Placement(transformation(origin = {60, 0}, extent = {{-10, -10}, {10, 10}})));
-  EmbeddedControl.Boundary.tickGenerator tickGenerator(period(displayUnit = "ms") = 0.01)  annotation(
-    Placement(transformation(origin = {-10, -40}, extent = {{-10, -10}, {10, 10}})));
-
-  inner Modelica.Mechanics.MultiBody.World world annotation(
-    Placement(transformation(origin = {-190, -40}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Mechanics.MultiBody.Joints.Prismatic prismatic1(animation = false, useAxisFlange = true) annotation(
-    Placement(transformation(origin = {-146, -40}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Mechanics.MultiBody.Joints.Revolute revolute1(useAxisFlange = true, phi(start = 1.5690509975429023)) annotation(
-    Placement(transformation(origin = {-96, -40}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Mechanics.MultiBody.Parts.Body body1(m = 1, r_CM = {0.5, 0, 0}) annotation(
-    Placement(transformation(origin = {-50, -40}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Mechanics.Rotational.Components.IdealRollingWheel idealRollingWheel1(radius = 0.1) annotation(
-    Placement(transformation(origin = {-138, 0}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
-  Modelica.Mechanics.Rotational.Sources.Torque torque(useSupport = true) annotation(
-    Placement(transformation(origin = {-102, 10}, extent = {{10, -10}, {-10, 10}})));
-  Modelica.Mechanics.Rotational.Components.Damper damper1(d = 1) annotation(
-    Placement(transformation(origin = {-102, 34}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Mechanics.Rotational.Sensors.RelAngleSensor relAngleSensor annotation(
-    Placement(transformation(origin = {-36, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
-  Modelica.Mechanics.Translational.Sensors.PositionSensor positionSensor annotation(
-    Placement(transformation(origin = {-100, -74}, extent = {{-10, -10}, {10, 10}})));
-  Modelica.Blocks.Sources.Constant const(k = -0.5*Modelica.Constants.pi)  annotation(
-    Placement(transformation(origin = {-30, -90}, extent = {{-10, -10}, {10, 10}})));
-  EmbeddedControl.Boundary.ADC adc1(stepSize = 0.01) annotation(
-    Placement(transformation(origin = {10, -90}, extent = {{-10, 10}, {10, -10}}, rotation = -0)));
-  EmbeddedControl.Boundary.ADC adc11(stepSize = 0.0001) annotation(
-    Placement(transformation(origin = {10, -130}, extent = {{-10, 10}, {10, -10}})));
-  EmbeddedControl.Boundary.ADC adc111(stepSize = 0.0001) annotation(
-    Placement(transformation(origin = {10, -170}, extent = {{-10, 10}, {10, -10}})));
-  Modelica.Blocks.Sources.Constant const1(k = 0) annotation(
-    Placement(transformation(origin = {-30, -170}, extent = {{-10, -10}, {10, 10}})));
-equation
-  connect(tickGenerator.y, adc.tickInput) annotation(
-    Line(points = {{1, -40}, {10, -40}, {10, -12}}, color = {255, 0, 255}));
-  connect(tickGenerator.y, controller.tickInput) annotation(
-    Line(points = {{1, -40}, {60, -40}, {60, -12}}, color = {255, 0, 255}));
-  connect(tickGenerator.y, dac.tickInput) annotation(
-    Line(points = {{1, -40}, {106, -40}, {106, -12}}, color = {255, 0, 255}));
-  connect(tickGenerator.tickPeriodUs, controller.tickPeriodIn) annotation(
-    Line(points = {{1, -48}, {52, -48}, {52, -12}}, color = {0, 0, 127}));
-  connect(controller.y, dac.u) annotation(
-    Line(points = {{71, 0}, {94, 0}}, color = {255, 127, 0}));
-  connect(world.frame_b, prismatic1.frame_a) annotation(
-    Line(points = {{-180, -40}, {-156, -40}}, color = {95, 95, 95}));
-  connect(prismatic1.frame_b, revolute1.frame_a) annotation(
-    Line(points = {{-136, -40}, {-106, -40}}, color = {95, 95, 95}));
-  connect(revolute1.frame_b, body1.frame_a) annotation(
-    Line(points = {{-86, -40}, {-60, -40}}, color = {95, 95, 95}));
-  connect(idealRollingWheel1.flangeT, prismatic1.axis) annotation(
-    Line(points = {{-138, -10}, {-138, -34}}));
-  connect(torque.flange, idealRollingWheel1.flangeR) annotation(
-    Line(points = {{-112, 10}, {-138, 10}}));
-  connect(torque.support, revolute1.support) annotation(
-    Line(points = {{-102, 0}, {-102, -30}}));
-  connect(revolute1.support, damper1.flange_b) annotation(
-    Line(points = {{-102, -30}, {-102, -12}, {-76, -12}, {-76, 34}, {-92, 34}}));
-  connect(idealRollingWheel1.flangeR, damper1.flange_a) annotation(
-    Line(points = {{-138, 10}, {-138, 34}, {-112, 34}}));
-  connect(revolute1.axis, relAngleSensor.flange_a) annotation(
-    Line(points = {{-96, -30}, {-96, -24}, {-36, -24}, {-36, -10}}));
-  connect(relAngleSensor.flange_b, revolute1.support) annotation(
-    Line(points = {{-36, 10}, {-58, 10}, {-58, -12}, {-102, -12}, {-102, -30}}));
-  connect(relAngleSensor.phi_rel, adc.u) annotation(
-    Line(points = {{-24, 0}, {-2, 0}}, color = {0, 0, 127}));
-  connect(dac.y, torque.tau) annotation(
-    Line(points = {{117, 0}, {128, 0}, {128, 66}, {-36, 66}, {-36, 22}, {-70, 22}, {-70, 10}, {-90, 10}}, color = {0, 0, 127}));
-  connect(prismatic1.axis, positionSensor.flange) annotation(
-    Line(points = {{-138, -34}, {-130, -34}, {-130, -74}, {-110, -74}}, color = {0, 127, 0}));
-  connect(tickGenerator.y, adc1.tickInput) annotation(
-    Line(points = {{2, -40}, {10, -40}, {10, -78}}, color = {255, 0, 255}));
-  connect(const.y, adc1.u) annotation(
-    Line(points = {{-18, -90}, {-2, -90}}, color = {0, 0, 127}));
-  connect(tickGenerator.y, adc11.tickInput) annotation(
-    Line(points = {{2, -40}, {10, -40}, {10, -118}}, color = {255, 0, 255}));
-  connect(positionSensor.s, adc11.u) annotation(
-    Line(points = {{-88, -74}, {-60, -74}, {-60, -130}, {-2, -130}}, color = {0, 0, 127}));
-  connect(const1.y, adc111.u) annotation(
-    Line(points = {{-18, -170}, {-2, -170}}, color = {0, 0, 127}));
-  connect(tickGenerator.y, adc111.tickInput) annotation(
-    Line(points = {{2, -40}, {10, -40}, {10, -158}}, color = {255, 0, 255}));
-  connect(adc.y, controller.angle_crad) annotation(
-    Line(points = {{22, 0}, {28, 0}, {28, 12}, {48, 12}}, color = {255, 127, 0}));
-  connect(adc1.y, controller.angle_setpoint) annotation(
-    Line(points = {{22, -90}, {34, -90}, {34, 18}, {48, 18}}, color = {255, 127, 0}));
-  connect(adc11.y, controller.position_mm) annotation(
-    Line(points = {{22, -130}, {38, -130}, {38, 0}, {48, 0}}, color = {255, 127, 0}));
- connect(adc111.y, controller.position_setpoint) annotation(
-    Line(points = {{22, -170}, {44, -170}, {44, -6}, {48, -6}}, color = {255, 127, 0}));
- annotation(
-    uses(Modelica(version = "4.1.0")),
-  Diagram(coordinateSystem(extent = {{-220, 80}, {140, -140}})),
-  version = "",
-  experiment(StartTime = 0, StopTime = 25, Tolerance = 1e-06, Interval = 0.02));
-end test;

test2d.mo

@@ -1,568 +1,127 @@
 package test2d
-
+  model test2d
-    model vis2d
+    BondGraph.J1 w_com(N = 3, s = {1, 1, 1}) annotation(
-        import Modelica.Mechanics.MultiBody.Visualizers;
+      Placement(transformation(origin = {0, 100}, extent = {{-10, -10}, {10, 10}})));
-        import Modelica.Mechanics.MultiBody.Frames;
+    BondGraph.I moi(I = 0.01) annotation(
-
+      Placement(transformation(origin = {40, 100}, extent = {{-10, -10}, {10, 10}})));
-        parameter Real L = 1;
+    mTFrot2lin mTFrot2lin1(r_body = {0.5, 0}) annotation(
-        parameter Real w = 0.02;
+      Placement(transformation(origin = {0, 70}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
-        parameter Real orbRadius = 0.04;
+    BondGraph._2D.J0 j0(N = 3, s = {-1, -1, 1}) annotation(
-        parameter Real axisLength = 0.25;
+      Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}})));
-        parameter Real axisWidth = 0.01;
+    BondGraph._2D.J1 v_com_i(N = 3, s = {-1, 1, -1}) annotation(
-        parameter Real planeSize = 2.0;
+      Placement(transformation(origin = {40, -20}, extent = {{-10, -10}, {10, 10}})));
-        parameter Real planeThickness = 0.002;
+    BondGraph._2D.J1 v_P_bff(N = 2, s = {-1, -1}) annotation(
-        parameter Real planeOffset = -0.001;
+      Placement(transformation(origin = {-40, 40}, extent = {{-10, -10}, {10, 10}})));
-
+    BondGraph._2D.J1 v_com_bff(N = 2, s = {1, 1}) annotation(
-        Modelica.Blocks.Interfaces.RealInput phi annotation(
+      Placement(transformation(origin = {40, 40}, extent = {{-10, -10}, {10, 10}})));
-        Placement(transformation(origin = {-98, -42}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 60}, extent = {{-10, -10}, {10, 10}})));
+    BondGraph._2D.Sf hinge(f0 = {0, 0}) annotation(
-        Modelica.Blocks.Interfaces.RealInput y annotation(
+      Placement(transformation(origin = {-78, 40}, extent = {{-10, -10}, {10, 10}})));
-        Placement(transformation(origin = {-98, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -60}, extent = {{-10, -10}, {10, 10}})));
+    rTF rTF1 annotation(
-        Modelica.Blocks.Interfaces.RealInput x annotation(
+      Placement(transformation(origin = {40, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
-        Placement(transformation(origin = {-98, 40}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 0}, extent = {{-10, -10}, {10, 10}})));
+    Modelica.Blocks.Continuous.Integrator w2phi(k = 1)  annotation(
-    protected
+      Placement(transformation(origin = {30, 70}, extent = {{-10, -10}, {10, 10}})));
-        Real Rz[3,3];
+    BondGraph._2D.I m(I = [1, 0; 0, 1]) annotation(
-        Real r[3];
+      Placement(transformation(origin = {80, -20}, extent = {{-10, -10}, {10, 10}})));
-
+    BondGraph._2D.Se g(e0 = {0, -9.81}) annotation(
-        Visualizers.Advanced.Shape link(
+      Placement(transformation(origin = {0, -20}, extent = {{-10, -10}, {10, 10}})));
-        shapeType = "cylinder",
+    Modelica.Blocks.Continuous.Integrator vx2x(y_start = -0.5) annotation(
-        length = L/2,
+      Placement(transformation(origin = {70, -50}, extent = {{-10, -10}, {10, 10}})));
-        width = w,
+    Modelica.Blocks.Continuous.Integrator vy2y(y_start = 0)  annotation(
-        height = w,
+      Placement(transformation(origin = {70, -80}, extent = {{-10, -10}, {10, 10}})));
-        r_shape = {L / 2, 0, 0},
+ BondGraph.J0 j1(N = 3, s = {-1, -1, 1}) annotation(
-        lengthDirection = {-1, 0, 0},
+      Placement(transformation(origin = {-40, 100}, extent = {{-10, -10}, {10, 10}})));
-        widthDirection = {0, 1, 0},
+    BondGraph.Sf hinge2(f0 = 0) annotation(
-        r = r,
+      Placement(transformation(origin = {-78, 100}, extent = {{-10, -10}, {10, 10}})));
-        R = Frames.from_T(Rz, zeros(3)));
+ BondGraph.J1 w_hinge(N = 2, s = {-1, 1}) annotation(
-
+      Placement(transformation(origin = {-40, 70}, extent = {{-10, -10}, {10, 10}})));
-        Visualizers.Advanced.Shape orb(
+    BondGraph.R r(R = 0.2) annotation(
-        shapeType = "sphere",
+      Placement(transformation(origin = {-70, 70}, extent = {{-10, -10}, {10, 10}})));
-        length = 2 * orbRadius,
+    vis2d vis2d1 annotation(
-        width = 2 * orbRadius,
+      Placement(transformation(origin = {118, -64}, extent = {{-10, -10}, {10, 10}})));
-        height = 2 * orbRadius,
+  equation
-        r_shape = {0, 0, 0},
+    connect(w_com.f, w2phi.u) annotation(
-        lengthDirection = {1, 0, 0},
+      Line(points = {{6, 94}, {18, 70}}, color = {0, 0, 127}));
-        widthDirection = {0, 1, 0},
+    connect(w2phi.y, rTF1.phi) annotation(
-        r = r,
+      Line(points = {{41, 70}, {100, 70}, {100, 10}, {48, 10}}, color = {0, 0, 127}));
-        R = Frames.from_T(Rz, zeros(3)));
+    connect(w_com.P[1], moi.p) annotation(
-
+      Line(points = {{0, 100}, {40, 100}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        Visualizers.Advanced.Shape xAxis(
+    connect(w_com.P[2], mTFrot2lin1.pR) annotation(
-        shapeType = "cylinder",
+      Line(points = {{0, 100}, {0, 78}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        length = axisLength,
+    connect(v_com_bff.P[1], j0.P[1]) annotation(
-        width = axisWidth,
+      Line(points = {{40, 40}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        height = axisWidth,
+    connect(mTFrot2lin1.pT, j0.P[2]) annotation(
-        color = {255, 0, 0},
+      Line(points = {{0, 62}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        specularCoefficient = 0.1,
+    connect(j0.P[3], v_P_bff.P[1]) annotation(
-        r_shape = {axisLength / 2, 0, 0},
+      Line(points = {{0, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        lengthDirection = {1, 0, 0},
+    connect(hinge.p, v_P_bff.P[2]) annotation(
-        widthDirection = {0, 1, 0},
+      Line(points = {{-70, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        r = zeros(3),
+    connect(v_com_bff.P[2], rTF1.p2) annotation(
-        R = Frames.from_T([1, 0, 0;
+      Line(points = {{40, 40}, {40, 18}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        0, 1, 0;
+    connect(rTF1.p1, v_com_i.P[1]) annotation(
-        0, 0, 1], zeros(3)));
+      Line(points = {{40, 2}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-
+    connect(g.p, v_com_i.P[3]) annotation(
-        Visualizers.Advanced.Shape yAxis(
+      Line(points = {{8, -20}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        shapeType = "cylinder",
+    connect(v_com_i.P[2], m.p) annotation(
-        length = axisLength,
+      Line(points = {{40, -20}, {80, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        width = axisWidth,
+    connect(v_com_i.f[1], vx2x.u) annotation(
-        height = axisWidth,
+      Line(points = {{46, -26}, {50, -50}, {58, -50}}, color = {0, 0, 127}));
-        color = {0, 200, 0},
+    connect(v_com_i.f[2], vy2y.u) annotation(
-        specularCoefficient = 0.1,
+      Line(points = {{46, -26}, {50, -80}, {58, -80}}, color = {0, 0, 127}));
-        r_shape = {0, axisLength / 2, 0},
+    connect(hinge2.p, j1.P[1]) annotation(
-        lengthDirection = {0, 1, 0},
+      Line(points = {{-70, 100}, {-40, 100}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        widthDirection = {0, 0, 1},
+    connect(j1.P[3], w_hinge.P[1]) annotation(
-        r = zeros(3),
+      Line(points = {{-40, 100}, {-40, 70}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        R = Frames.from_T([1, 0, 0;
+    connect(w_hinge.P[2], r.p) annotation(
-        0, 1, 0;
+      Line(points = {{-40, 70}, {-70, 70}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        0, 0, 1], zeros(3)));
+    connect(vy2y.y, vis2d1.y) annotation(
-
+      Line(points = {{82, -80}, {94, -80}, {94, -70}, {108, -70}}, color = {0, 0, 127}));
-        Visualizers.Advanced.Shape zAxis(
+    connect(vx2x.y, vis2d1.x) annotation(
-        shapeType = "cylinder",
+      Line(points = {{82, -50}, {94, -50}, {94, -64}, {108, -64}}, color = {0, 0, 127}));
-        length = axisLength,
+    connect(w2phi.y, vis2d1.phi) annotation(
-        width = axisWidth,
+      Line(points = {{42, 70}, {100, 70}, {100, -58}, {108, -58}}, color = {0, 0, 127}));
-        height = axisWidth,
+  connect(w_com.P[3], j1.P[2]) annotation(
-        color = {0, 90, 255},
+      Line(points = {{0, 100}, {-40, 100}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        specularCoefficient = 0.1,
-        r_shape = {0, 0, axisLength / 2},
-        lengthDirection = {0, 0, 1},
-        widthDirection = {1, 0, 0},
-        r = zeros(3),
-        R = Frames.from_T([1, 0, 0;
-        0, 1, 0;
-        0, 0, 1], zeros(3)));
-    equation
-        r = {x, y, 0};
-        // Negate phi here since shapes use inverse frame-mapping
-        Rz = [cos(-phi), -sin(-phi), 0;
-        sin(-phi),  cos(-phi), 0;
-        0,         0,        1];
-
-        annotation(
-        uses(Modelica(version = "4.1.0")),
-        Icon(graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, extent = {{-100, 100}, {100, -100}}, radius = 10), Text(extent = {{-100, 100}, {100, -100}}, textString = "VIS")}),
-        experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002));
-    end vis2d;
-
-    model pendulum
-        parameter Modelica.Units.SI.Mass mass;
-        parameter Modelica.Units.SI.Length length;
-        parameter Modelica.Units.SI.MomentOfInertia momentOfInertia;
-        parameter Modelica.Units.SI.Angle startAngle;
-
-        BondGraph.J1 w_com(N = 3, s = {-1, -1, 1}) annotation(
-        Placement(transformation(origin = {0, 100}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph.I moi(I = momentOfInertia, state(fixed = false)) annotation(
-        Placement(transformation(origin = {40, 100}, extent = {{-10, -10}, {10, 10}})));
-        mTFrot2lin mTFrot2lin1(r_body = {-0.5*length, 0}) annotation(
-        Placement(transformation(origin = {0, 70}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
-        BondGraph._2D.J0 j0(N = 3, s = {1, 1, -1}) annotation(
-        Placement(transformation(origin = {0, 40}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph._2D.J1 v_com_i(N = 3, s = {1, -1, 1}) annotation(
-        Placement(transformation(origin = {40, -20}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph._2D.J1 v_P_bff(N = 2, s = {1, -1}) annotation(
-        Placement(transformation(origin = {-40, 40}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph._2D.J1 v_com_bff(N = 2, s = {-1, -1}) annotation(
-        Placement(transformation(origin = {40, 40}, extent = {{-10, -10}, {10, 10}})));
-        rTF rTF1 annotation(
-        Placement(transformation(origin = {40, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
-        Modelica.Blocks.Continuous.Integrator w2phi(y_start=startAngle)  annotation(
-        Placement(transformation(origin = {30, 70}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph._2D.I m(I = [mass, 0; 0, mass]) annotation(
-        Placement(transformation(origin = {80, -20}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph._2D.Se g(e0 = {0, -9.81*mass}) annotation(
-        Placement(transformation(origin = {0, -20}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Continuous.Integrator vx2x(y_start=-0.5*length*cos(startAngle))  annotation(
-        Placement(transformation(origin = {70, -50}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Continuous.Integrator vy2y(y_start=-0.5*length*sin(startAngle))  annotation(
-        Placement(transformation(origin = {70, -80}, extent = {{-10, -10}, {10, 10}})));
-        vis2d vis2d1 annotation(
-        Placement(transformation(origin = {118, -64}, extent = {{-10, -10}, {10, 10}})));
-        rTF rTF2 annotation(
-        Placement(transformation(origin = {-40, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
-        BondGraph._2D.J1 v_P_i(N = 2, s = {1, 1})  annotation(
-        Placement(transformation(origin = {-40, -20}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph.BondPort rotIn annotation(
-        Placement(transformation(origin = {-30, 100}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, 198}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph._2D.BondPort trans_i annotation(
-        Placement(transformation(origin = {-80, -20}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {0, -198}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Interfaces.RealOutput phi annotation(
-        Placement(transformation(origin = {120, 70}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {202, 80}, extent = {{-10, -10}, {10, 10}})));
-    equation
-        connect(w_com.f, w2phi.u) annotation(
-        Line(points = {{6, 94}, {18, 70}}, color = {0, 0, 127}));
-        connect(w2phi.y, rTF1.phi) annotation(
-        Line(points = {{41, 70}, {100, 70}, {100, 10}, {48, 10}}, color = {0, 0, 127}));
-        connect(w_com.P[1], moi.p) annotation(
-        Line(points = {{0, 100}, {40, 100}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(w_com.P[2], mTFrot2lin1.pR) annotation(
-        Line(points = {{0, 100}, {0, 78}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(v_com_bff.P[1], j0.P[1]) annotation(
-        Line(points = {{40, 40}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(mTFrot2lin1.pT, j0.P[2]) annotation(
-        Line(points = {{0, 62}, {0, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(j0.P[3], v_P_bff.P[1]) annotation(
-        Line(points = {{0, 40}, {-40, 40}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(v_com_bff.P[2], rTF1.p2) annotation(
-        Line(points = {{40, 40}, {40, 18}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(rTF1.p1, v_com_i.P[1]) annotation(
-        Line(points = {{40, 2}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(g.p, v_com_i.P[3]) annotation(
-        Line(points = {{8, -20}, {40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(v_com_i.P[2], m.p) annotation(
-        Line(points = {{40, -20}, {80, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(v_com_i.f[1], vx2x.u) annotation(
-        Line(points = {{46, -26}, {50, -50}, {58, -50}}, color = {0, 0, 127}));
-        connect(v_com_i.f[2], vy2y.u) annotation(
-        Line(points = {{46, -26}, {50, -80}, {58, -80}}, color = {0, 0, 127}));
-        connect(vy2y.y, vis2d1.y) annotation(
-        Line(points = {{82, -80}, {94, -80}, {94, -70}, {108, -70}}, color = {0, 0, 127}));
-        connect(vx2x.y, vis2d1.x) annotation(
-        Line(points = {{82, -50}, {94, -50}, {94, -64}, {108, -64}}, color = {0, 0, 127}));
-        connect(w2phi.y, vis2d1.phi) annotation(
-        Line(points = {{42, 70}, {100, 70}, {100, -58}, {108, -58}}, color = {0, 0, 127}));
-        connect(w2phi.y, rTF2.phi) annotation(
-        Line(points = {{42, 70}, {100, 70}, {100, 26}, {-20, 26}, {-20, 10}, {-32, 10}}, color = {0, 0, 127}));
-        connect(v_P_bff.P[2], rTF2.p2) annotation(
-        Line(points = {{-40, 40}, {-40, 18}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(rTF2.p1, v_P_i.P[1]) annotation(
-        Line(points = {{-40, 2}, {-40, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(rotIn, w_com.P[3]) annotation(
-        Line(points = {{-30, 100}, {0, 100}}, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(trans_i, v_P_i.P[2]) annotation(
-        Line(points = {{-80, -20}, {-40, -20}}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(w2phi.y, phi) annotation(
-        Line(points = {{42, 70}, {120, 70}}, color = {0, 0, 127}));
-        annotation(
-        uses(Modelica(version = "4.1.0")),
-        Diagram(coordinateSystem(extent = {{-100, 120}, {140, -100}})),
-        Icon(coordinateSystem(extent = {{-200, -200}, {200, 200}}), graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 2, extent = {{-200, 200}, {200, -200}}, radius = 50), Ellipse(origin = {0, -60},lineColor = {255, 0, 0}, fillColor = {255, 0, 0}, fillPattern = FillPattern.Solid, extent = {{-15, 15}, {15, -15}}), Line(origin = {29, 19}, points = {{-29, -79}, {29, 79}}, color = {255, 0, 0}, thickness = 5), Line(origin = {0, -76}, points = {{-130, 0}, {130, 0}}, thickness = 1.25)}),
-        version = "",
-        experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002));
-    end pendulum;
-
-    model mTFrot2lin
-        BondGraph.BondPort pR annotation(
-        Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph._2D.BondPort pT annotation(
-        Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-        parameter Real r_body[2] = {1, 0};
-    protected
-        Real B[2];
-    equation
-        B = {-r_body[2], r_body[1]};
-        pT.f = B*pR.f;
-        pR.e = B[1]*pT.e[1] + B[2]*pT.e[2];
-        annotation(
-        Icon(graphics = {Text(extent = {{-70, 100}, {70, -100}}, textString = "rlTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine})}));
-    end mTFrot2lin;
-
-    model rTF
-        BondGraph._2D.BondPort p1 "Port 1" annotation(
-        Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph._2D.BondPort p2 "Port 2" annotation(
-        Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Interfaces.RealInput phi "angle" annotation(
-        Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
-    protected
-        Real R[2, 2];
-    equation
-        R = [cos(phi), -sin(phi); sin(phi), cos(phi)];
-        p1.e = R*p2.e;
-        transpose(R)*p1.f = p2.f;
-        annotation(
-        Diagram(graphics),
-        Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "rTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine})}));
-    end rTF;
-
-    model test
-        import Modelica.Constants.pi;
-        pendulum pendulum1(mass = 1, length = 1, momentOfInertia = 0.001, startAngle = 1.5707963267948966)  annotation(
-        Placement(transformation(origin = {60, 0}, extent = {{-20, -20}, {20, 20}})));
-        BondGraph.J0 j1(N = 3, s = {1, -1, 1}) annotation(
-        Placement(transformation(origin = {60, 40}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph.J1 w_hinge(N = 2, s = {-1, -1}) annotation(
-        Placement(transformation(origin = {20, 40}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph.R r(R = 0.02) annotation(
-        Placement(transformation(origin = {-18, 40}, extent = {{-10, -10}, {10, 10}})));
-        //BondGraph._2D.Sf sf(f0 = {0, 0})  annotation(
-        //    Placement(transformation(origin = {60, -58}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
-        BondGraph._2D.J1 j2(N = 2, s = {-1, 1})  annotation(
-        Placement(transformation(origin = {60, -40}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph._2D.MuxDemux muxDemux annotation(
-        Placement(transformation(origin = {30, -40}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph.J1 j3(N = 2, s = {1, -1})  annotation(
-        Placement(transformation(origin = {-20, -60}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph.J1 j4(N = 2, s = {-1, 1})  annotation(
-        Placement(transformation(origin = {-20, -20}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph.Sf sf(f0 = 0)  annotation(
-        Placement(transformation(origin = {-58, -60}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph.Sf sf1(f0 = 0) annotation(
-        Placement(transformation(origin = {-56, -20}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph.J1 w_maxle(N = 2, s = {-1, 1})  annotation(
-        Placement(transformation(origin = {60, 80}, extent = {{-10, -10}, {10, 10}})));
-        BondGraph.mSe T_motor annotation(
-        Placement(transformation(origin = {20, 80}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Sources.TimeTable timeTable(table = [
-        0, 0.5*pi; 1,0; 4,0;
-        5, 1.5*pi; 9, 1.5*pi;
-        10, pi; 14, pi;
-        15, 0.5*pi; 19, 0.5*pi;
-        20, 0; 25, 0
-        ])  annotation(
-        Placement(transformation(origin = {-50, 62}, extent = {{10, -10}, {-10, 10}}, rotation = -180)));
-        controller2 controller(g_P = 400, g_I = 15, g_D = 20, sampleTime(displayUnit = "ms") = 0.01, limit = 20, quantizerDelta = 0.01, dacDelta = 0.01, quantizerScale = 1, dacScale = 1)  annotation(
-        Placement(transformation(origin = {-8, 80}, extent = {{-10, 10}, {10, -10}}, rotation = -0)));
-    equation
-        connect(w_hinge.P[1], j1.P[1]) annotation(
-        Line(points = {{20, 40}, {60, 40}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(r.p, w_hinge.P[2]) annotation(
-        Line(points = {{-18, 40}, {20, 40}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(j1.P[2], pendulum1.rotIn) annotation(
-        Line(points = {{60, 40}, {60, 20}}, color = {0, 0, 127}, thickness = 0.75, arrow = {Arrow.None, Arrow.Half}, arrowSize = 6));
-        //connect(sf.p, pendulum1.trans_i) annotation(
-        //    Line(points = {{60, -50}, {60, -20}}, color = {0, 85, 0}, thickness = 0.75, arrow = //{Arrow.None, Arrow.Half}, arrowSize = 6));
-        connect(j2.P[1], pendulum1.trans_i) annotation(
-        Line(points = {{60, -40}, {60, -20}}, color = {0, 85, 0}));
-        connect(muxDemux.p, j2.P[2]) annotation(
-        Line(points = {{40, -40}, {60, -40}}, color = {0, 85, 0}));
-        connect(j3.P[2], muxDemux.p2) annotation(
-        Line(points = {{-20, -60}, {8, -60}, {8, -44}, {20, -44}}, color = {0, 0, 127}));
-        connect(j4.P[1], muxDemux.p1) annotation(
-        Line(points = {{-20, -20}, {8, -20}, {8, -36}, {20, -36}}, color = {0, 0, 127}));
-        connect(sf.p, j3.P[1]) annotation(
-        Line(points = {{-50, -60}, {-20, -60}}, color = {0, 0, 127}));
-        connect(sf1.p, j4.P[2]) annotation(
-        Line(points = {{-48, -20}, {-20, -20}}, color = {0, 0, 127}));
-        connect(w_maxle.P[1], j1.P[3]) annotation(
-        Line(points = {{60, 80}, {60, 40}}, color = {0, 0, 127}, thickness = 0.5));
-        connect(T_motor.p, w_maxle.P[2]) annotation(
-        Line(points = {{28, 80}, {60, 80}}, color = {0, 0, 127}));
-        connect(controller.motor, T_motor.e0) annotation(
-        Line(points = {{2, 80}, {20, 80}, {20, 72}}, color = {0, 0, 127}));
-        connect(timeTable.y, controller.setpoint) annotation(
-        Line(points = {{-39, 62}, {-24, 62}, {-24, 73}, {-18, 73}}, color = {0, 0, 127}));
-        connect(pendulum1.phi, controller.angle) annotation(
-        Line(points = {{80, 8}, {86, 8}, {86, 104}, {-32, 104}, {-32, 80}, {-18, 80}}, color = {0, 0, 127}));
-        annotation(
-        experiment(StartTime = 0, StopTime = 25, Tolerance = 1e-06, Interval = 0.02),
-        Diagram(coordinateSystem(extent = {{-80, 100}, {100, -80}})));
-    end test;
-
-    model controller
-        import Modelica.Blocks.Interfaces.RealInput;
-        import Modelica.Blocks.Interfaces.RealOutput;
-
-        parameter Real g_P = 1;
-        parameter Real g_I = 1;
-        parameter Real g_D = 1;
-        parameter Real g_G = 1;
-        parameter Modelica.Units.SI.Time sampleTime = 0.0025;
-        parameter Real limit = 100;
-
-        parameter Modelica.Units.SI.Mass mass = 1;
-        parameter Modelica.Units.SI.Length lCOM = 0.5;
-
-        RealInput setpoint(quantity="Angle") "Setpoint" annotation(
-        Placement(transformation(origin = {-158, 20}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 70}, extent = {{-10, -10}, {10, 10}})));
-        RealInput angle(quantity="Angle") "Angle of the pendulum" annotation(
-        Placement(transformation(origin = {-158, -6}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 0}, extent = {{-10, -10}, {10, 10}})));
-        RealOutput motor(quantity="Torque") "Motor drive" annotation(
-        Placement(transformation(origin = {226, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {104, 0}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Discrete.Sampler sampler(samplePeriod = sampleTime)  annotation(
-        Placement(transformation(origin = {-126, -6}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Math.Add add(k1 = 1, k2 = -1)  annotation(
-        Placement(transformation(origin = {-86, 0}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Math.Gain gain(k = g_P)  annotation(
-        Placement(transformation(origin = {-30, 0}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Discrete.UnitDelay unitDelay(samplePeriod = sampleTime)  annotation(
-        Placement(transformation(origin = {-36, 32}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Math.MultiSum multiSum(nu = 4)  annotation(
-        Placement(transformation(origin = {122, 0}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Math.Gain gain1(k = g_D / sampleTime)  annotation(
-        Placement(transformation(origin = {56, 38}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Math.Add add1(k1 = +1, k2 = -1)  annotation(
-        Placement(transformation(origin = {8, 38}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Discrete.Sampler sampler1(samplePeriod = sampleTime) annotation(
-        Placement(transformation(origin = {-126, 20}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(samplePeriod = sampleTime)  annotation(
-        Placement(transformation(origin = {192, 0}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Nonlinear.Limiter limiter(uMax = limit)  annotation(
-        Placement(transformation(origin = {158, 0}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Discrete.UnitDelay unitDelay1(samplePeriod = sampleTime) annotation(
-        Placement(transformation(origin = {50, -50}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Math.Gain gain11(k = g_I*sampleTime) annotation(
-        Placement(transformation(origin = {-30, -44}, extent = {{10, -10}, {-10, 10}}, rotation = 180)));
-        Modelica.Blocks.Math.Add add11(k1 = +1, k2 = +1) annotation(
-        Placement(transformation(origin = {14, -50}, extent = {{-10, -10}, {10, 10}}, rotation = -0)));
-        Modelica.Blocks.Math.Sin sin annotation(
-        Placement(transformation(origin = {-36, 110}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Math.Gain gain12(k = -9.81*mass*lCOM*g_G) annotation(
-        Placement(transformation(origin = {10, 110}, extent = {{-10, -10}, {10, 10}})));
-    equation
-        connect(angle, sampler.u) annotation(
-        Line(points = {{-158, -6}, {-138, -6}}, color = {0, 0, 127}));
-        connect(sampler.y, add.u2) annotation(
-        Line(points = {{-115, -6}, {-99, -6}}, color = {0, 0, 127}));
-        connect(add.y, gain.u) annotation(
-        Line(points = {{-75, 0}, {-42, 0}}, color = {0, 0, 127}));
-        connect(gain.y, multiSum.u[1]) annotation(
-        Line(points = {{-19, 0}, {112, 0}}, color = {0, 0, 127}));
-        connect(gain1.y, multiSum.u[2]) annotation(
-        Line(points = {{67, 38}, {95, 38}, {95, 0}, {111, 0}}, color = {0, 0, 127}));
-        connect(unitDelay.y, add1.u2) annotation(
-        Line(points = {{-25, 32}, {-4, 32}}, color = {0, 0, 127}));
-        connect(add.y, add1.u1) annotation(
-        Line(points = {{-74, 0}, {-62, 0}, {-62, 54}, {-12, 54}, {-12, 44}, {-4, 44}}, color = {0, 0, 127}));
-        connect(add.y, unitDelay.u) annotation(
-        Line(points = {{-74, 0}, {-62, 0}, {-62, 32}, {-48, 32}}, color = {0, 0, 127}));
-        connect(add1.y, gain1.u) annotation(
-        Line(points = {{20, 38}, {44, 38}}, color = {0, 0, 127}));
-        connect(setpoint, sampler1.u) annotation(
-        Line(points = {{-158, 20}, {-138, 20}}, color = {0, 0, 127}));
-        connect(sampler1.y, add.u1) annotation(
-        Line(points = {{-114, 20}, {-110, 20}, {-110, 6}, {-98, 6}}, color = {0, 0, 127}));
-        connect(multiSum.y, limiter.u) annotation(
-        Line(points = {{134, 0}, {146, 0}}, color = {0, 0, 127}));
-        connect(limiter.y, zeroOrderHold.u) annotation(
-        Line(points = {{170, 0}, {180, 0}}, color = {0, 0, 127}));
-        connect(zeroOrderHold.y, motor) annotation(
-        Line(points = {{204, 0}, {226, 0}}, color = {0, 0, 127}));
-        connect(unitDelay1.y, multiSum.u[3]) annotation(
-        Line(points = {{61, -50}, {94, -50}, {94, 0}, {112, 0}}, color = {0, 0, 127}));
-        connect(unitDelay1.y, add11.u2) annotation(
-        Line(points = {{62, -50}, {80, -50}, {80, -74}, {-10, -74}, {-10, -56}, {2, -56}}, color = {0, 0, 127}));
-        connect(gain11.y, add11.u1) annotation(
-        Line(points = {{-19, -44}, {2, -44}}, color = {0, 0, 127}));
-        connect(add.y, gain11.u) annotation(
-        Line(points = {{-74, 0}, {-62, 0}, {-62, -44}, {-42, -44}}, color = {0, 0, 127}));
-        connect(add11.y, unitDelay1.u) annotation(
-        Line(points = {{26, -50}, {38, -50}}, color = {0, 0, 127}));
-        connect(sampler.y, sin.u) annotation(
-        Line(points = {{-114, -6}, {-104, -6}, {-104, 110}, {-48, 110}}, color = {0, 0, 127}));
-        connect(sin.y, gain12.u) annotation(
-        Line(points = {{-24, 110}, {-2, 110}}, color = {0, 0, 127}));
-        connect(gain12.y, multiSum.u[4]) annotation(
-        Line(points = {{22, 110}, {94, 110}, {94, 0}, {112, 0}}, color = {0, 0, 127}));
-        annotation(
-        Icon(graphics = {Rectangle(lineColor = {211, 211, 211}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 2, extent = {{-100, 100}, {100, -100}}, radius = 25)}),
-        experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002),
-        Diagram(coordinateSystem(extent = {{-180, 120}, {240, -80}})));
-    end controller;
-
-    model Dcontroller
-
-        parameter Integer g_P = 1;
-        parameter Integer g_I = 1;
-        parameter Integer g_D = 1;
-        parameter Integer limit = 100;
-
-        parameter Modelica.Units.SI.Time sampleTime = 0.0025;
-
-        Modelica.Blocks.Interfaces.IntegerOutput motor annotation(
-        Placement(transformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Interfaces.IntegerInput setpoint annotation(
-        Placement(transformation(origin = {-100, 20}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-92, 60}, extent = {{-20, -20}, {20, 20}})));
-        Modelica.Blocks.Interfaces.IntegerInput angle annotation(
-        Placement(transformation(origin = {-100, -20}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-90, -60}, extent = {{-20, -20}, {20, 20}})));
-
-        Integer error;
-        Integer pOutput;
-        Integer iOutput;
-        Integer dOutput;
-        Integer drive;
-        Integer iInternal;
-        Integer motorInt;
-
-    protected
-
-        parameter Integer D = integer(g_D/sampleTime);
-        parameter Integer I = integer(g_I*sampleTime);
-
-    equation
-        when sample(0, sampleTime) then
-            error = setpoint - angle;
-
-            pOutput = error * g_P;
-            iInternal = (error * I) + pre(iOutput);
-            iOutput = iInternal;
-            dOutput = (error - pre(error)) * D;
-
-            drive = pOutput + iOutput + dOutput;
-            motorInt = min(limit, max(-1*limit, drive));
-        end when;
-
-        motor = motorInt;
-
-        annotation(
-        Icon(graphics = {Rectangle(lineColor = {189, 189, 189}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 1.5, extent = {{-100, 100}, {100, -100}}, radius = 5)}));
-    end Dcontroller;
-
-    model Quantizer
-        parameter Real Delta = 1;
-        parameter Real Scale = 1;
-        parameter Modelica.Units.SI.Time sampleTime = 0.01;
-        Modelica.Blocks.Interfaces.RealInput u annotation(
-        Placement(transformation(origin = {-122, 2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-90, 0}, extent = {{-20, -20}, {20, 20}})));
-        Modelica.Blocks.Interfaces.IntegerOutput y annotation(
-        Placement(transformation(origin = {86, -34}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}})));
-    protected
-        discrete Integer yInt(start=0, fixed=true);
-    equation
-        when sample(0, sampleTime) then
-            yInt = integer(floor((Scale*u)/Delta + 0.5));
-        end when;
-        y = yInt;
-        annotation(
-        Icon(graphics = {Rectangle(lineColor = {202, 202, 202}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 1.25, extent = {{-100, 100}, {100, -100}}, radius = 25), Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {170, 0, 0}, thickness = 1.25), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "Q")}));
-
-    end Quantizer;
-
-    model controller2
-        import Modelica.Blocks.Interfaces.RealInput;
-        import Modelica.Blocks.Interfaces.RealOutput;
-
-        parameter Real g_P = 1;
-        parameter Real g_I = 1;
-        parameter Real g_D = 1;
-        parameter Real g_G = 1;
-        parameter Modelica.Units.SI.Time sampleTime = 0.0025;
-        parameter Real limit = 100;
-
-        parameter Real quantizerDelta = 0.1;
-        parameter Real dacDelta = 0.1;
-        parameter Real quantizerScale = 1;
-        parameter Real dacScale = 1;
-
-        parameter Real quantizerQ = quantizerScale/quantizerDelta;
-        parameter Real dacQ = dacScale/dacDelta;
-
-        parameter Modelica.Units.SI.Mass mass = 1;
-        parameter Modelica.Units.SI.Length lCOM = 0.5;
-
-        RealInput setpoint(quantity="Angle") "Setpoint" annotation(
-        Placement(transformation(origin = {-124, 16}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 70}, extent = {{-10, -10}, {10, 10}})));
-        RealInput angle(quantity="Angle") "Angle of the pendulum" annotation(
-        Placement(transformation(origin = {-124, -10}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-96, 0}, extent = {{-10, -10}, {10, 10}})));
-        RealOutput motor(quantity="Torque") "Motor drive" annotation(
-        Placement(transformation(origin = {124, 0}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {104, 0}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Discrete.Sampler sampler1(samplePeriod = sampleTime)  annotation(
-        Placement(transformation(origin = {-90, -10}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Discrete.Sampler sampler2(samplePeriod = sampleTime) annotation(
-        Placement(transformation(origin = {-90, 16}, extent = {{-10, -10}, {10, 10}})));
-        Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(samplePeriod = sampleTime)  annotation(
-        Placement(transformation(origin = {90, 0}, extent = {{-10, -10}, {10, 10}})));
-        Dcontroller dcontroller(
-        g_P = integer(g_P*quantizerQ/dacQ),
-        g_I = integer(g_I*quantizerQ/dacQ),
-        g_D = integer(g_D*quantizerQ/dacQ),
-        limit = integer(limit*dacQ), sampleTime = sampleTime)  annotation(
-        Placement(transformation(extent = {{-10, -10}, {10, 10}})));
-        Quantizer quantizer1(sampleTime = sampleTime, Delta = quantizerDelta, Scale = quantizerScale)  annotation(
-        Placement(transformation(origin = {-50, 16}, extent = {{-10, -10}, {10, 10}})));
-        Quantizer quantizer2(sampleTime = sampleTime, Delta = quantizerDelta, Scale = quantizerScale)  annotation(
-        Placement(transformation(origin = {-50, -10}, extent = {{-10, -10}, {10, 10}})));
-        DAC dac(sampleTime = sampleTime, Delta = dacDelta, Scale = dacScale)  annotation(
-        Placement(transformation(origin = {50, 0}, extent = {{-10, -10}, {10, 10}})));
-    equation
-        connect(zeroOrderHold.y, motor) annotation(
-        Line(points = {{101, 0}, {123, 0}}, color = {0, 0, 127}));
-        connect(setpoint, sampler2.u) annotation(
-        Line(points = {{-124, 16}, {-102, 16}}, color = {0, 0, 127}));
-        connect(sampler2.y, quantizer1.u) annotation(
-        Line(points = {{-79, 16}, {-58, 16}}, color = {0, 0, 127}));
-        connect(quantizer1.y, dcontroller.setpoint) annotation(
-        Line(points = {{-40, 16}, {-20, 16}, {-20, 6}, {-10, 6}}, color = {255, 127, 0}));
-        connect(angle, sampler1.u) annotation(
-        Line(points = {{-124, -10}, {-102, -10}}, color = {0, 0, 127}));
-        connect(sampler1.y, quantizer2.u) annotation(
-        Line(points = {{-79, -10}, {-58, -10}}, color = {0, 0, 127}));
-        connect(quantizer2.y, dcontroller.angle) annotation(
-        Line(points = {{-40, -10}, {-20, -10}, {-20, -6}, {-8, -6}}, color = {255, 127, 0}));
-        connect(dcontroller.motor, dac.u) annotation(
-        Line(points = {{10, 0}, {41, 0}}, color = {255, 127, 0}));
-        connect(dac.y, zeroOrderHold.u) annotation(
-        Line(points = {{60, 0}, {78, 0}}, color = {0, 0, 127}));
-        annotation(
-        Icon(graphics = {Rectangle(lineColor = {211, 211, 211}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 2, extent = {{-100, 100}, {100, -100}}, radius = 25), Text(extent = {{-80, 80}, {80, -80}}, textString = "QDc")}),
-        experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002),
-        Diagram(coordinateSystem(extent = {{-140, 40}, {140, -20}})));
-    end controller2;
-
-    model DAC
-        parameter Real Delta = 1;
-        parameter Real Scale = 1;
-        parameter Modelica.Units.SI.Time sampleTime = 0.01;
-        Modelica.Blocks.Interfaces.IntegerInput u annotation(
-        Placement(transformation(origin = {-136, -2}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-90, 0}, extent = {{-20, -20}, {20, 20}})));
-        Modelica.Blocks.Interfaces.RealOutput y annotation(
-        Placement(transformation(origin = {126, 10}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {100, 0}, extent = {{-10, -10}, {10, 10}})));
-    equation
-        // Convert integer DAC code back to physical Real value.
-        y = (Delta / Scale) * u;
-
-        annotation(
-        Diagram(graphics),
-        Icon(graphics = {Rectangle(lineColor = {202, 202, 202}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, lineThickness = 1.25, extent = {{-100, 100}, {100, -100}}, radius = 25), Line(origin = {5, 10}, points = {{-61, -68}, {-35, -68}, {-35, -22}, {-21, -22}, {-21, 38}, {7, 38}, {7, 68}, {41, 68}, {41, 24}, {61, 24}, {61, 24}}, color = {170, 0, 0}, thickness = 1.25, smooth = Smooth.Bezier), Text(origin = {49, -50}, extent = {{-51, 50}, {51, -50}}, textString = "DA")}));
-    end DAC;
     annotation(
+      uses(Modelica(version = "4.1.0")),
+      experiment(StartTime = 0, StopTime = 10, Tolerance = 1e-06, Interval = 0.02),
+      Diagram(coordinateSystem(extent = {{-100, 120}, {140, -100}})),
+      Icon(coordinateSystem(extent = {{-200, -200}, {200, 200}})),
+      version = "");
+  end test2d;
+
+  model mTFrot2lin
+    BondGraph.BondPort pR annotation(
+      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
+    BondGraph._2D.BondPort pT annotation(
+      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
+    parameter Real r_body[2] = {1, 0};
+  protected
+    Real B[2];
+  equation
+    B = {-r_body[2], r_body[1]};
+    pT.f = B*pR.f;
+    pR.e = B[1]*pT.e[1] + B[2]*pT.e[2];
+    annotation(
+      Icon(graphics = {Text(extent = {{-70, 100}, {70, -100}}, textString = "rlTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine})}));
+  end mTFrot2lin;
+
+  model rTF
+    BondGraph._2D.BondPort p1 "Port 1" annotation(
+      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {-80, 0}, extent = {{-10, -10}, {10, 10}})));
+    BondGraph._2D.BondPort p2 "Port 2" annotation(
+      Placement(transformation(origin = {-44, 18}, extent = {{-10, -10}, {10, 10}}), iconTransformation(origin = {80, 0}, extent = {{-10, -10}, {10, 10}})));
+    Modelica.Blocks.Interfaces.RealInput phi "angle" annotation(
+      Placement(transformation(origin = {-8, -64}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {0, -78}, extent = {{-8, -8}, {8, 8}}, rotation = 90)));
+  protected
+    Real R[2, 2];
+  equation
+    R = [cos(phi), -sin(phi); sin(phi), cos(phi)];
+    p1.e = R*p2.e;
+    transpose(R)*p1.f = p2.f;
+    annotation(
+      Diagram(graphics),
+      Icon(graphics = {Text(extent = {{-60, 100}, {60, -100}}, textString = "rTF", textStyle = {TextStyle.Bold, TextStyle.UnderLine})}));
+  end rTF;
+  annotation(
     uses(Modelica(version = "4.1.0")));
 end test2d;

vis2d.mo

@@ -0,0 +1,100 @@
+model vis2d
+  import Modelica.Mechanics.MultiBody.Visualizers;
+  import Modelica.Mechanics.MultiBody.Frames;
+
+  parameter Real L = 1;
+  parameter Real w = 0.02;
+  parameter Real orbRadius = 0.04;
+  parameter Real axisLength = 0.25;
+  parameter Real axisWidth = 0.01;
+  parameter Real planeSize = 2.0;
+  parameter Real planeThickness = 0.002;
+  parameter Real planeOffset = -0.001;
+
+  Modelica.Blocks.Interfaces.RealInput phi annotation(
+    Placement(transformation(origin = {-98, -42}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 60}, extent = {{-10, -10}, {10, 10}})));
+  Modelica.Blocks.Interfaces.RealInput y annotation(
+    Placement(transformation(origin = {-98, 0}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, -60}, extent = {{-10, -10}, {10, 10}})));
+  Modelica.Blocks.Interfaces.RealInput x annotation(
+    Placement(transformation(origin = {-98, 40}, extent = {{-20, -20}, {20, 20}}), iconTransformation(origin = {-94, 0}, extent = {{-10, -10}, {10, 10}})));
+protected
+  Real Rz[3,3];
+  Real r[3];
+
+  Visualizers.Advanced.Shape link(
+    shapeType = "cylinder",
+    length = L,
+    width = w,
+    height = w,
+    r_shape = {-L / 2, 0, 0},
+    lengthDirection = {1, 0, 0},
+    widthDirection = {0, 1, 0},
+    r = r,
+    R = Frames.from_T(Rz, zeros(3)));
+
+  Visualizers.Advanced.Shape orb(
+    shapeType = "sphere",
+    length = 2 * orbRadius,
+    width = 2 * orbRadius,
+    height = 2 * orbRadius,
+    r_shape = {L / 2 - orbRadius, 0, 0},
+    lengthDirection = {1, 0, 0},
+    widthDirection = {0, 1, 0},
+    r = r,
+    R = Frames.from_T(Rz, zeros(3)));
+
+  Visualizers.Advanced.Shape xAxis(
+    shapeType = "cylinder",
+    length = axisLength,
+    width = axisWidth,
+    height = axisWidth,
+    color = {255, 0, 0},
+    specularCoefficient = 0.1,
+    r_shape = {axisLength / 2, 0, 0},
+    lengthDirection = {1, 0, 0},
+    widthDirection = {0, 1, 0},
+    r = zeros(3),
+    R = Frames.from_T([1, 0, 0;
+                       0, 1, 0;
+                       0, 0, 1], zeros(3)));
+
+  Visualizers.Advanced.Shape yAxis(
+    shapeType = "cylinder",
+    length = axisLength,
+    width = axisWidth,
+    height = axisWidth,
+    color = {0, 200, 0},
+    specularCoefficient = 0.1,
+    r_shape = {0, axisLength / 2, 0},
+    lengthDirection = {0, 1, 0},
+    widthDirection = {0, 0, 1},
+    r = zeros(3),
+    R = Frames.from_T([1, 0, 0;
+                       0, 1, 0;
+                       0, 0, 1], zeros(3)));
+
+  Visualizers.Advanced.Shape zAxis(
+    shapeType = "cylinder",
+    length = axisLength,
+    width = axisWidth,
+    height = axisWidth,
+    color = {0, 90, 255},
+    specularCoefficient = 0.1,
+    r_shape = {0, 0, axisLength / 2},
+    lengthDirection = {0, 0, 1},
+    widthDirection = {1, 0, 0},
+    r = zeros(3),
+    R = Frames.from_T([1, 0, 0;
+                       0, 1, 0;
+                       0, 0, 1], zeros(3)));
+equation
+  r = {x, y, 0};
+  // Negate phi here since shapes use inverse frame-mapping
+  Rz = [cos(-phi), -sin(-phi), 0;
+        sin(-phi),  cos(-phi), 0;
+        0,         0,        1];
+      
+  annotation(
+    uses(Modelica(version = "4.1.0")),
+  Icon(graphics = {Rectangle(lineColor = {204, 204, 204}, fillColor = {255, 255, 255}, fillPattern = FillPattern.Sphere, extent = {{-100, 100}, {100, -100}}, radius = 10), Text(extent = {{-100, 100}, {100, -100}}, textString = "VIS")}));
+end vis2d;