Yay! I just found ODE (open dynamics engine). The simulation I was using to develop the control method for the blingway, was horribly inaccurate, since I wrote it in Python myself in about an hour. It had no mass constraints for the base, and had a very poor linear dynamics solver.
The ODE library lets me write C code and simulate the whole thing with the actual control software that I will be using on the robot. Near huh?
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