Botopia Balancing Robot Simulator

Plateau tilt – · speed – · drag to orbit, scroll to zoom

Bottle safety –

Hold to drive

H-bridge outputs per wheel · 100 Hz

Left wheel (A)

DIR: –
PWM: –
IN1 / IN2: –
Wheel: –

Right wheel (B)

DIR: –
PWM: –
IN3 / IN4: –
Wheel: –

Switch balancing off to drive each wheel yourself with the sliders (−255 = full reverse, +255 = full forward) and watch it fall over.

Last 6 seconds

Tilt (±10°) PWM left PWM right (±255)

Controller pwm = Kp·θ + Kd·θ̇ + Kv·v + Kx·x

Re-tune on setup change

Kv and Kx look backwards but are right: to stop, the robot first drives a bit faster so it tips backward, then brakes. Auto-tune computes the best gains for the current water, pole and motors.

Robot setup

Mower wheels with their own geared 24 V motors. The chassis between the wheels holds the battery, the Arduino, the IMU (MPU-6050) and a dual H-bridge. A square tube carries the plateau; a raised rim keeps the bottle from sliding, so it can only tip over. The water is treated as solid (no sloshing).

Both wheels together keep the plateau level front-to-back: when it tips forward, both wheels drive forward under it. The difference between the wheels only turns the robot. Sideways (left-right) it is stable by itself because the wheels stand side by side. On the real robot one motor is mounted mirrored, so swap its IN pins (or its wires).