# Real-Time Robotics Framework

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getting_started:tutorials:controlsystem4

# Control System Containing Switch Blocks

In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run examples/controlsystem/BlockTest3.
A constant value is added up by the integrator block. The switch is configured to automatically switch to the second input as soon as the input value reaches 1.5 ± 0.1.

Control system of the example

Upon switching the block also triggers a safety event. The safety system has two safety levels. The system stays for three seconds in the second level. After that the cycle restarts.