- ba*(Piecewise((0, t < 0), (2.0*t, t < 0.5), (1, t >= 0.5)) + Piecewise((0, t < 4), (2.0*t - 8.0, t < 4.5), (1, t >= 4.5)) + Piecewise((0, t < 8), (2.0*t - 16.0, t < 8.5), (1, t >= 8.5)) + Piecewise((0, t < 12), (2.0*t - 24.0, t < 12.5), (1, t >= 12.5)) + Piecewise((0, t < 16), (2.0*t - 32.0, t < 16.5), (1, t >= 16.5))) + bb*(Piecewise((0, t < 2), (2.0*t - 4.0, t < 2.5), (1, t >= 2.5)) + Piecewise((0, t < 6), (2.0*t - 12.0, t < 6.5), (1, t >= 6.5)) + Piecewise((0, t < 10), (2.0*t - 20.0, t < 10.5), (1, t >= 10.5)) + Piecewise((0, t < 14), (2.0*t - 28.0, t < 14.5), (1, t >= 14.5)) + Piecewise((0, t < 18), (2.0*t - 36.0, t < 18.5), (1, t >= 18.5)))
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