Plumb — Balancing Robot Simulator

Configuration

Wheel Radius

Track Width

Body Height

CoM Height

Body Density

Floor Grip (friction)

Gravity

Motors & Battery

Motor model Gearmotor Balboa 2.88:1 external gears

Battery Now

Gear Play

Motor Max Torque

Motor Lag

IMU & Tilt Estimate

Tilt estimate IMU chip Calibrate the gyro at power-on (robot held still 1 s)

Filter Time Constant

Kalman: Accel Angle Noise

IMU Height Above Axle

Controller

Angle Kp

Angle Kd

Angle Ki

Velocity Kp

Velocity Ki

Yaw Kp

Yaw Ki

Realism

Control Loop Rate

Sensor Delay

Angle Noise (true-angle mode)

Rate Noise (true-angle mode)

Encoder Speed Filter

Measure speed with the wheel encoders

Noise Seed

The noise and the pushes are pseudo-random from this seed, so the same seed replays the same run exactly.

Drive

↑↓ forward / back speed
←→ turn
space shove it · r reset

Drive Speed

Push one second after a preset loads

Telemetry

Pitch0.0°

Estimate0.0°

Gyro bias / est0.0 / 0.0

Pitch Rate0.00 °/s

Speed0.00 m/s

Encoder Speed0.00 m/s

Yaw Rate0.00 °/s

Wheel Slip0.00 m/s

Duty L / R0 / 0

τ wheel L / R0.00 / 0.00

Pitch (°) · true · estimate±20°

Speed (m/s) · dashed: top speed