Add machine workshop, typed logic, mechanics and sensor-driven ECUs

machines/shaft-drive-bench.machine.toml

@@ -0,0 +1,93 @@
+format = 6
+name = 'Shaft, flywheel and brake bench'
+primary_shaft = 1
+cells_per_meter = 40.0
+solver = 'rusanov'
+scene = 0
+
+[[parts]]
+id = 1
+kind = 'shaft'
+name = 'Bench shaft'
+position_m = [0.0, 0.22, 0.0]
+size_m = [0.25, 0.035, 0.035]
+[parts.shaft]
+inertia_kg_m2 = 0.15
+friction_nm = 0.15
+viscous_nm_s = 0.002
+
+[[parts]]
+id = 2
+kind = 'flywheel'
+name = 'Flywheel'
+position_m = [0.32, 0.22, 0.0]
+size_m = [0.025, 0.16, 0.16]
+[parts.shaft]
+inertia_kg_m2 = 0.35
+
+[[parts]]
+id = 3
+kind = 'drive_motor'
+name = 'Torque motor'
+position_m = [-0.32, 0.22, 0.0]
+size_m = [0.12, 0.09, 0.09]
+[parts.drive]
+speed_control = false
+torque_nm = 10.0
+enabled = true
+
+[[parts]]
+id = 4
+kind = 'brake'
+name = 'Adjustable brake'
+position_m = [0.0, 0.22, 0.24]
+size_m = [0.07, 0.1, 0.1]
+[parts.brake]
+constant_nm = 2.0
+viscous_nm_s = 0.01
+enabled = true
+
+[[connections]]
+a_part = 1
+a_port = 'shaft'
+b_part = 2
+b_port = 'shaft'
+method = 'mechanical'
+
+[[connections]]
+a_part = 1
+a_port = 'shaft'
+b_part = 3
+b_port = 'shaft'
+method = 'mechanical'
+
+[[connections]]
+a_part = 1
+a_port = 'shaft'
+b_part = 4
+b_port = 'shaft'
+method = 'mechanical'
+
+[[probes]]
+id = 1
+part = 1
+name = 'Bench RPM'
+quantity = 6
+
+[[probes]]
+id = 2
+part = 3
+name = 'Motor input power'
+quantity = 8
+
+[[probes]]
+id = 3
+part = 4
+name = 'Brake absorbed power'
+quantity = 8
+
+[[probes]]
+id = 4
+part = 1
+name = 'Shaft net torque'
+quantity = 7