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@@ -6,6 +6,66 @@
                 <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" />
        
                 <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>&lt;p&gt;A while back I received a Gyro sensor for the NXT
+&lt;a href=&quot;mindstorms.lego.com&quot;&gt;Mindstorms&lt;/a&gt; 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
+&lt;a href=&quot;http://www.nxtprograms.com/NXT2/segway/&quot;&gt;a simple balancing
+robot&lt;/a&gt; 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
+&lt;a href=&quot;https://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&amp;key=NGY1044&quot;&gt;the
+gyro sensor from HiTechnic&lt;/a&gt; I believed would solve it on my
+wishlist for some years before it suddenly showed up as a gift from my
+loved ones. :)&lt;/p&gt;
+
+&lt;p&gt;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
+&lt;a href=&quot;http://www.hitechnic.com/blog/gyro-sensor/htway/&quot;&gt;the
+HTWay&lt;/a&gt;, a segway like balancing robot.  Build instructions and
+&lt;a href=&quot;https://www.hitechnic.com/upload/786-HTWayC.nxc&quot;&gt;source
+code&lt;/a&gt; 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:&lt;/p&gt;
+
+&lt;p align=&quot;center&quot;&gt;&lt;img width=&quot;70%&quot; src=&quot;http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-robot.jpeg&quot;&gt;&lt;/p&gt;
+
+&lt;p&gt;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:&lt;/p&gt;
+
+&lt;p align=&quot;center&quot;&gt;&lt;video width=&quot;70%&quot; controls=&quot;true&quot;&gt;
+   &lt;source src=&quot;http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-balancing.ogv&quot; type=&quot;video/ogg&quot;&gt;
+&lt;/video&gt;&lt;/p&gt;
+
+&lt;p&gt;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.&lt;/p&gt;
+
+&lt;p&gt;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
+&lt;a href=&quot;http://wiki.debian.org/LegoDesigners&quot;&gt;the LEGO designers
+project page&lt;/a&gt; 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.&lt;/p&gt;
+</description>
+       </item>
+       

        <item>
                <title>Aktivitetsbånd som beskytter privatsfæren</title>
                <link>http://people.skolelinux.org/pere/blog/Aktivitetsb_nd_som_beskytter_privatsf_ren.html</link>
        <item>
                <title>Aktivitetsbånd som beskytter privatsfæren</title>
                <link>http://people.skolelinux.org/pere/blog/Aktivitetsb_nd_som_beskytter_privatsf_ren.html</link>


@@ -845,40 +905,5 @@ touch.&lt;/p&gt;
 </description>
        </item>
        
 </description>
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-       <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>&lt;p&gt;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.&lt;/p&gt;
-
-&lt;p&gt;Resultatet, &lt;a href=&quot;http://www.skepsis.no/?p=1617&quot;&gt;«Relativt
-feil»&lt;/a&gt;, 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.&lt;/p&gt;
-
-&lt;p&gt;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.&lt;/p&gt;
-</description>
-       </item>
-       

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