Algodoo

Unicycle uses PID control to balance. Lean forward (right arrow) to move forward. Lean back (left arrow) to move back.

Scene inspired by PID Control and by Livirus.

Unicycle with ragdoll taken from dev8state scene UNICYCLE, HOW DID I DO THIS?, except this unicycle uses PID control and not inertiaMultiplier.

I actually use only Kp of the PID controller, but have provision for Ki and Kd if the user wants to try tuning (Scene.my.Kp,.Scene.my.Ki,.and Scene.my.Kd).

Rev A - Lowered gain because jerky movement on some computers.
Rev B - Cleaned up code.