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.
Updated to latest version of the Sphero Connectivity Package (v2.7)
Updated to include latest version of Simscape Multibody Contact Forces Library (v3.7).
Updated the Sphero Connectivity Package to version 2.6
Changed submission name and summary
I have updated the model to have original pictures not dependent on third-party sites.