Connect Moab to an electrical outlet using the provided power supply. The bot will automatically boot and display “PROJECT MOAB” when booting. This can take up to a minute if Moab is not connected to internet.

1. Joystick Mode

   Navigate to and select "JOYSTICK" mode by presssing the joystick. The plate will rise up and now you can manually control the pitch and roll of the plate using the joystick. Place the ping pong ball on the plate and try balancing the ball manually!

   To exit Joystick mode, select the menu button next to the joystick.

2. PID Mode

   This is a PID (Proportional, Integral, Derivative) controller that balance the ball at the center of the plate. This controller works by minimizing the error between the actual ball position and velocity, and the desired ball position and velocity. This type of controller is the most commonly found in industrial control applications. This controller has been tuned specifially for the ping pong ball.

   Move the joystick down and select "PID" mode. Place the orange ping pong ball on the plate and watch Moab automatically balance the ball. Try disturbing the ball by poking it or blowing on it and watch Moab return the ball to the center.

   If Moab is unable to balance a ball or making erratic movements, see Troubleshooting.

   To exit PID mode, select the menu button next to the joystick.

3. Brain Mode

   This is a brain that has been trained using the Bonsai platform. The brain is a neural network that has been trained using two goals: prevent the ball from falling off the plate, and balance the ball at the center of the plate. For details of how this brain was trained, see Moab Tutorial 2.

   Move the joystick down and select "BRAIN" mode. Place the orange ping pong ball on the plate and watch Moab automatically balance the ball. Try disturbing the ball by poking it or blowing on it and watch Moab return the ball to the center.