From 5d97d405ee66d7121a8facbe823425fd508f78a2 Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <baggepinnen@gmail.com>
Date: Wed, 3 May 2023 07:33:48 +0200
Subject: [PATCH] add accsensor

---
 src/Mechanical/Rotational/sensors.jl | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/src/Mechanical/Rotational/sensors.jl b/src/Mechanical/Rotational/sensors.jl
index f4f4de2ae..5e4247e22 100644
--- a/src/Mechanical/Rotational/sensors.jl
+++ b/src/Mechanical/Rotational/sensors.jl
@@ -34,6 +34,25 @@ Ideal sensor to measure the absolute flange angular velocity
     return ODESystem(eqs, t, [], []; name = name, systems = [flange, w])
 end
 
+"""
+    AccSensor(;name)
+
+Ideal sensor to measure the absolute flange angular acceleration
+
+# Connectors:
+
+  - `flange`: [Flange](@ref) Flange of shaft from which sensor information shall be measured
+  - `a`: [RealOutput](@ref) Absolute angular acceleration of flange
+"""
+@component function AccSensor(; name)
+    @named flange = Flange()
+    @variables w(t) [description = "Absolute angular velocity of flange"]
+    @named a = RealOutput() #[description = "Absolute angular acceleration of flange"]
+    eqs = [D(flange.phi) ~ w
+           a.u ~ D(w)]
+    return ODESystem(eqs, t, [], []; name = name, systems = [flange, a])
+end
+
 """
     TorqueSensor(;name)