motion-platform-controller live demo

The controller core of this repository (mcue/, plain C) compiled to WebAssembly and running in your browser: classical washout cueing, workspace limiting, inverse and forward kinematics, the safety state machine and six cascaded leg servos at 500 Hz / 1 kHz, driving six simulated actuators. The same C runs in the Zephyr firmware and in the unit tests. Source

Drag to rotate · grey arrow: vehicle specific force (horizontal)

OFF

Controller

Vehicle

Or drive: ↑ accelerate · ↓ brake · ← → steer · Space bump

Washout

Force gain Tilt rate limit

Workspace scale
Pitch / roll
Surge / sway / heave
Peak leg current
Simulated time

Surge cue: the vehicle's specific force and what the rider on the platform feels (translation plus tilt against gravity)

Leg lengths (all six) against the soft limits

WebAssembly module built from mcue/ and web/mcue_web.c by scripts/build-web.sh (clang, wasm32, no Emscripten). Simulated actuators and payload; not a safety-rated controller.