// ****** Motor with friction ***** HS-Esslingen *******// 
float wMachine;
float tqInrUnLimDes;
float tqInrLim;
float tqInr;
float wRotor;
float tqFric;
float pwrMax_C = 20000;
float tqMax_C = 100;
float tqFric_C = 2;
float moi_C = 0.02;

unsigned long oldMillis;
int gridTimeMsec = 10;
float gridTimeSec = 0.01;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
}

void loop() {
  // put your main code here, to run repeatedly:

  if (millis() >= oldMillis) {

   
   if (millis()>1500) tqInrUnLimDes = 100; 
   if (millis()>2000) tqInrUnLimDes = 0; 

   tqInrLim = min(tqMax_C,pwrMax_C /max(0.1,wRotor));
   tqInr = min(tqInrLim,tqInrUnLimDes);
   tqFric = max(-1,min(1,wRotor))*tqFric_C;
   wRotor= wRotor + (tqInr-tqFric) * gridTimeSec/moi_C;

   oldMillis = oldMillis + gridTimeMsec;

   Serial.print(tqInr*10);
   Serial.print(" , ");
   Serial.println(wRotor);
  } // end of grid 
} // end of void