Details (Maple, Fortran and Scilab code) may be found in <SCIDIR>/demos/wheel2 directory.
path="SCI/demos/wheel2"; getf(path+'/show.sci'); // if getenv('WIN32','NO')=='OK' & getenv('COMPILER','NO')=='VC++' then cur_wd = getcwd(); chdir(SCI+"/demos/wheel2/Maple"); host("nmake /f Makefile.mak "); chdir(cur_wd); if ~c_link('wheel') then link('c:/tmp/wheel.dll ','wheel');end else host("cd $"+path+"; make "); if ~c_link('wheel') then link('/tmp/wheel.o ','wheel');end end tmin=0.0;tmax=15;nn=300; times=(0:(nn-1)); times=tmax*times/(nn-1) +tmin*((nn-1)*ones(times)-times); // INITIAL CONDITIONS x0=[0; //theta %pi/2+0.1; //phi 0; //psi 5.0; //Dtheta 0.0; //Dphi 4.0; //Dpsi 0; //x 0]; //y // SIMULATION x=ode(x0,tmin,times,'wheel'); xselect(); show(x)animation 66K