<link>http://people.skolelinux.org/pere/blog/</link>
<atom:link href="http://people.skolelinux.org/pere/blog/index.rss" rel="self" type="application/rss+xml" />
+ <item>
+ <title>My own self balancing Lego Segway</title>
+ <link>http://people.skolelinux.org/pere/blog/My_own_self_balancing_Lego_Segway.html</link>
+ <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/My_own_self_balancing_Lego_Segway.html</guid>
+ <pubDate>Fri, 4 Nov 2016 10:15:00 +0100</pubDate>
+ <description><p>A while back I received a Gyro sensor for the NXT
+<a href="mindstorms.lego.com">Mindstorms</a> controller as a birthday
+present. It had been on my wishlist for a while, because I wanted to
+build a Segway like balancing lego robot. I had already built
+<a href="http://www.nxtprograms.com/NXT2/segway/">a simple balancing
+robot</a> with the kids, using the light/color sensor included in the
+NXT kit as the balance sensor, but it was not working very well. It
+could balance for a while, but was very sensitive to the light
+condition in the room and the reflective properties of the surface and
+would fall over after a short while. I wanted something more robust,
+and had
+<a href="https://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NGY1044">the
+gyro sensor from HiTechnic</a> I believed would solve it on my
+wishlist for some years before it suddenly showed up as a gift from my
+loved ones. :)</p>
+
+<p>Unfortunately I have not had time to sit down and play with it
+since then. But that changed some days ago, when I was searching for
+lego segway information and came across a recipe from HiTechnic for
+building
+<a href="http://www.hitechnic.com/blog/gyro-sensor/htway/">the
+HTWay</a>, a segway like balancing robot. Build instructions and
+<a href="https://www.hitechnic.com/upload/786-HTWayC.nxc">source
+code</a> was included, so it was just a question of putting it all
+together. And thanks to the great work of many Debian developers, the
+compiler needed to build the source for the NXT is already included in
+Debian, so I was read to go in less than an hour. The resulting robot
+do not look very impressive in its simplicity:</p>
+
+<p align="center"><img width="70%" src="http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-robot.jpeg"></p>
+
+<p>Because I lack the infrared sensor used to control the robot in the
+design from HiTechnic, I had to comment out the last task
+(taskControl). I simply placed /* and */ around it get the program
+working without that sensor present. Now it balances just fine until
+the battery status run low:</p>
+
+<p align="center"><video width="70%" controls="true">
+ <source src="http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-balancing.ogv" type="video/ogg">
+</video></p>
+
+<p>Now we would like to teach it how to follow a line and take remote
+control instructions using the included Bluetooth receiver in the NXT.</p>
+
+<p>If you, like me, love LEGO and want to make sure we find the tools
+they need to work with LEGO in Debian and all our derivative
+distributions like Ubuntu, check out
+<a href="http://wiki.debian.org/LegoDesigners">the LEGO designers
+project page</a> and join the Debian LEGO team. Personally I own a
+RCX and NXT controller (no EV3), and would like to make sure the
+Debian tools needed to program the systems I own work as they
+should.</p>
+</description>
+ </item>
+
<item>
<title>Aktivitetsbånd som beskytter privatsfæren</title>
<link>http://people.skolelinux.org/pere/blog/Aktivitetsb_nd_som_beskytter_privatsf_ren.html</link>
</description>
</item>
- <item>
- <title>Vitenskapen tar som vanlig feil igjen - relativt feil</title>
- <link>http://people.skolelinux.org/pere/blog/Vitenskapen_tar_som_vanlig_feil_igjen___relativt_feil.html</link>
- <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/Vitenskapen_tar_som_vanlig_feil_igjen___relativt_feil.html</guid>
- <pubDate>Mon, 1 Aug 2016 16:00:00 +0200</pubDate>
- <description><p>For mange år siden leste jeg en klassisk tekst som gjorde såpass
-inntrykk på meg at jeg husker den fortsatt, flere år senere, og bruker
-argumentene fra den stadig vekk. Teksten var «The Relativity of
-Wrong» som Isaac Asimov publiserte i Skeptical Inquirer i 1989. Den
-gir litt perspektiv rundt formidlingen av vitenskapelige resultater.
-Jeg har hatt lyst til å kunne dele den også med folk som ikke
-behersker engelsk så godt, som barn og noen av mine eldre slektninger,
-og har savnet å ha den tilgjengelig på norsk. For to uker siden tok
-jeg meg sammen og kontaktet Asbjørn Dyrendal i foreningen Skepsis om
-de var interessert i å publisere en norsk utgave på bloggen sin, og da
-han var positiv tok jeg kontakt med Skeptical Inquirer og spurte om
-det var greit for dem. I løpet av noen dager fikk vi tilbakemelding
-fra Barry Karr hos The Skeptical Inquirer som hadde sjekket og fått OK
-fra Robyn Asimov som representerte arvingene i Asmiov-familien og gikk
-igang med oversettingen.</p>
-
-<p>Resultatet, <a href="http://www.skepsis.no/?p=1617">«Relativt
-feil»</a>, ble publisert på skepsis-bloggen for noen minutter siden.
-Jeg anbefaler deg på det varmeste å lese denne teksten og dele den med
-dine venner.</p>
-
-<p>For å håndtere oversettelsen og sikre at original og oversettelse
-var i sync brukte vi git, po4a, GNU make og Transifex. Det hele
-fungerte utmerket og gjorde det enkelt å dele tekstene og jobbe sammen
-om finpuss på formuleringene. Hadde hosted.weblate.org latt meg
-opprette nye prosjekter selv i stedet for å måtte kontakte
-administratoren der, så hadde jeg brukt weblate i stedet.</p>
-</description>
- </item>
-
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