Need to simulating an invert pendulum robot. I haw an platform Lego NXT 2, i want to collect information from an gyroscopic sensor, an acceleration sensor, and an optical sensor. This sensor give the movement motion of robot. The signal from motor left and motor right, came from an rotation sensors. What i want to do, is to can set individual the signal from sensors for input, and model to stay in equilibrium. Software need to haw two virtual input ports. One used to change value (+ numeric value; - numeric value) and robot to go in front or back. Another value to can set manual (+ numeric value; - numeric value ) for left and right, and possibility to haw the direction automatically using Ultrasonic sensors.