function [Vout,t] = mystep(A,F,doplot)

if ~exist('doplot')
    doplot=0;  % no plot, by default!
end
K=1; Ka=2; Km=.17; Kp=.25;
J=1e-3;
dt=1e-4;
t=0:dt:5;
y=0*t; v=y; a=y; Vout=y;
for n=2:length(y)
    a(n)=((K*Ka*Km*(A-Kp*y(n-1)))-sign(v(n-1))*F)/J;
    v(n)=v(n-1) + dt*a(n);
    y(n)=y(n-1) + dt*v(n);
end
Vout=.25*y;
if doplot
    plot(t,Vout);
end