//function stepmodel(){ //Calculate the input u = k1*(x-xdem) + k2*v + k3*theta + k4*omega; //Simulation of the machine omega=omega+(10*theta-u)*dt; theta=theta+omega*dt; v=v+u*dt; x=x+v*dt; if(Math.abs(theta)>1.5){running=false;} //Position the parts, wheel is .25 diameter phi=4*x; //angle rolled by wheel y=x+Math.sin(thet //rider x z=Math.cos(theta); //rider height xspoke=r*Math.sin(theta+phi); zspoke=r*Math.cos(theta+phi); // Move the picture Move(wheel, xscale*x + middle, bbase); Move(rider, xscale*y +middle, bbase-xscale*z); Move(spoke, xscale*x +xspoke +middle, bbase-zspoke); //round again if (running){setTimeout("stepmodel()",20);} }