+ // Currently implements a simple piecewise step increase
+ // Would be cool to have a function specified as a string... eg: "1.0 + 0.5*s^2" with "s" the step number, and then give "stepwait" and "steps"
+ // ... But that, like so many things, is probably overkill
+ /** Current value of Actuator **/
+ double start;
+ /** Time to maintain Actuator at each value **/
+ double stepwait;
+ /** Amount to increase/decrease Actuator on each step **/
+ double stepsize;
+ /** Number of steps still to perform **/
+ int steps; // Note that after it is first set, this will be decremented until it is zero
+