The model shows how to implement a Sphero simulation that could be used to test different controller methods. The plant model represents the physics involved in the Sphero, including the friction and contact forces between the inner body, outer shell and the floor. The controller implements a simple open-loop controller based on the geometry of the plant.

README.txt
SpheroModel.slx
SpheroModelWithHardware.slx
startup_SpheroModel.m
CFL_Libs\README.txt
........\startup_Contact_Forces.m
.onnectivityPackage_v2_1\install_sphero.m
........................\readme.txt
........................\sfun3d.m
........................\sphero.m
........................\units.txt
Images\Builder.PNG
......\Camera.png
......\Controller.png
......\Floor.png
......\InnerBody.PNG
......\Knob.PNG
......\Remote.png
......\Sensor.png
......\Sphere.png
......\SpheroModel.PNG
......\Wheel.png
Scripts_Data\Extr_Data_Mesh.m
............\resample_path_xyz.m
............\Sphero_pathxyz.mat
.TEP_Files\Sphere.STEP
..........\SpheroBody.STEP
..........\Wheel.STEP
CFL_Libs\Libraries\Contact_Forces_Lib.slx
........\.........\Parts_Lib.slx
........\.........\slblocks.m
........\Scripts_Data\CFL_friction_setModel.m
........\............\CFL_visual_setOnOff.m
........\............\CheckAnim.m
.onnectivityPackage_v2_1\+sphero\ApiInfo.m
........................\.......\BluetoothApi.m
........................\.......\Communication.m
........................\.......\hwinfo.m
........................\examples\accel_sim.mdl
........................\........\control_sphero.m
........................\........\rawmotor_sim.mdl
........................\........\roll_sim.mdl
........................\........\sphero_examples.m
........................\........\sphero_getting_started.m
........................\........\sphero_motion_control.m
........................\........\sphero_simulink_examples.m
........................\........\sphero_troubleshoot_connection.m
........................\........\sph_control_sim.mdl
........................\simulink\getSpheroSetupBlockUserData.m
........................\........\msfun_realtime_pacer.m
........................\........\msfun_sphero_rawmotor.m
........................\........\msfun_sphero_readlocator.m
........................\........\msfun_sphero_readsensor.m
........................\........\msfun_sphero_roll.m
........................\........\msfun_sphero_setup.m
........................\........\realtime-pacer-license.txt
........................\........\realtime_pacer_help.html
........................\........\slblocks.m
........................\........\sphero_lib.mdl
.FL_Libs\Libraries\Help\Box_to_Belt_Contact.html
........\.........\....\Box_to_Belt_DBox_IMAGE.png
........\.........\....\Box_to_Belt_Help_IMAGE.png
........\.........\....\Box_to_Box_Contact.html
........\.........\....\Box_to_Box_Contact_Forces_BoxB_Corners.html
........\.........\....\Box_to_Box_Contact_Forces_BoxB_Corners_Help_IMAGE.png
........\.........\....\Box_to_Box_Contact_Forces_BoxF_Corners.html
........\.........\....\Box_to_Box_Contact_Forces_BoxF_Corners_Help_IMAGE.png
........\.........\....\Box_to_Box_Contact_Forces_Help_IMAGE.png
........\.........\....\Box_to_Box_Dbox_IMAGE.png
........\.........\....\Circle_to_Circle_Contact.html
........\.........\....\Circle_to_Circle_DBox_IMAGE.png
........\.........\....\Circle_to_Circle_Help_IMAGE.png
........\.........\....\Circle_to_Finite_Line_Contact.html
........\.........\....\Circle_to_Finite_Line_DBox_IMAGE.png
........\.........\....\Circle_to_Finite_Line_Help_IMAGE.png
........\.........\....\Circle_to_Ring_Contact.html
........\.........\....\Circle_to_Ring_DBox_IMAGE.png
........\.........\....\Circle_to_Ring_Help_IMAGE.png
........\.........\....\Contact_Forces_Library_Use.html
........\.........\....\Contact_Forces_Library_Use_Help1_IMAGE.png
........\.........\....\Contact_Forces_Library_Use_Help2_IMAGE.png
........\.........\....\Force_Laws.html
........\.........\....\Force_Laws_Help_IMAGE.png
........\.........\....\Friction_Laws.html
........\.........\....\Friction_Laws_Help_IMAGE.png
........\.........\....\Plane_to_Face_DBox_IMAGE.png
........\.........\....\Sphere_in_Sphere_Contact.html
........\.........\....\Sphere_in_Sphere_DBox_IMAGE.png
........\.........\....\Sphere_in_Sphere_Help_IMAGE.png
........\.........\....\Sphere_to_Plane_Contact.html
........\.........\....\Sphere_to_Plane_DBox_IMAGE.png
........

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