scalar R=0.5 [ m ];
scalar M=50 [ kg ];
scalar w0=10 [ deg/ s ];
scalar d=0.4*R;
scalar r=0.2*R;
scalar m=0.1*M;
point point1=point( 0 [ m ], 0 [ m ], 00 [ m ] );
point point2=point( 0 [ m ], -0.05 [ m ], 0 [ m ] );
solid solid_platform=cylinder( point1, point2, R, mass = M );
body platform=body( color = RGB( 0, 0, 229 ) );
body platform < ( solid_platform );
point point3=point( d, 0 [ m ], 0 [ m ] );
point point4=point( d, 0.1 [ m ], 0 [ m ] );
point point5=point3;
solid solid_wheel=cylinder( point3, point4, r, mass = m );
body wheel=body( color = RGB( 255, 153, 153 ) );
body wheel < ( solid_wheel );
body land=body( color = RGB( 255, 153, 102 ) );
set ground = land;
joint joint1=rotational( land, platform, point1, projectY );
joint joint2=rotational( platform, wheel, point3, projectY );
condition condition=rotVelocity( land, projectY, platform, w0 );
force force=moment2( platform, point3, projectY, wheel, point3, -1 [ kg m2/ s2 ], list(  ) );
sensor w=rotVelocity( land, projectY, platform );
sensor wr=rotVelocity( platform, projectY, wheel );
event event_stop=reformsBySensor( list( stop(  ) ), wr, 490 [ deg/ s ] );
scalar answer=30*w0/37;
sensor sensor_delta=abs(w-answer);

/\///////////////////////////////////////////////////////////////////////////////////
/\   Единицы измерения;
set units = SI;