blog/My_own_self_balancing_Lego_Segway.html

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   6     <title>Petter Reinholdtsen: My own self balancing Lego Segway</title>
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  14  <h1>
  15      <a href="http://people.skolelinux.org/pere/blog/">Petter Reinholdtsen</a>
  16
  17  </h1>
  18
  19 </div>
  20
  21
  22     <div class="entry">
  23       <div class="title">My own self balancing Lego Segway</div>
  24       <div class="date"> 4th November 2016</div>
  25       <div class="body"><p>A while back I received a Gyro sensor for the NXT
  26 <a href="mindstorms.lego.com">Mindstorms</a> controller as a birthday
  27 present.  It had been on my wishlist for a while, because I wanted to
  28 build a Segway like balancing lego robot.  I had already built
  29 <a href="http://www.nxtprograms.com/NXT2/segway/">a simple balancing
  30 robot</a> with the kids, using the light/color sensor included in the
  31 NXT kit as the balance sensor, but it was not working very well.  It
  32 could balance for a while, but was very sensitive to the light
  33 condition in the room and the reflective properties of the surface and
  34 would fall over after a short while.  I wanted something more robust,
  35 and had
  36 <a href="https://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NGY1044">the
  37 gyro sensor from HiTechnic</a> I believed would solve it on my
  38 wishlist for some years before it suddenly showed up as a gift from my
  39 loved ones. :)</p>
  40
  41 <p>Unfortunately I have not had time to sit down and play with it
  42 since then.  But that changed some days ago, when I was searching for
  43 lego segway information and came across a recipe from HiTechnic for
  44 building
  45 <a href="http://www.hitechnic.com/blog/gyro-sensor/htway/">the
  46 HTWay</a>, a segway like balancing robot.  Build instructions and
  47 <a href="https://www.hitechnic.com/upload/786-HTWayC.nxc">source
  48 code</a> was included, so it was just a question of putting it all
  49 together.  And thanks to the great work of many Debian developers, the
  50 compiler needed to build the source for the NXT is already included in
  51 Debian, so I was read to go in less than an hour.  The resulting robot
  52 do not look very impressive in its simplicity:</p>
  53
  54 <p align="center"><img width="70%" src="http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-robot.jpeg"></p>
  55
  56 <p>Because I lack the infrared sensor used to control the robot in the
  57 design from HiTechnic, I had to comment out the last task
  58 (taskControl).  I simply placed /* and */ around it get the program
  59 working without that sensor present.  Now it balances just fine until
  60 the battery status run low:</p>
  61
  62 <p align="center"><video width="70%" controls="true">
  63    <source src="http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-balancing.ogv" type="video/ogg">
  64 </video></p>
  65
  66 <p>Now we would like to teach it how to follow a line and take remote
  67 control instructions using the included Bluetooth receiver in the NXT.</p>
  68
  69 <p>If you, like me, love LEGO and want to make sure we find the tools
  70 they need to work with LEGO in Debian and all our derivative
  71 distributions like Ubuntu, check out
  72 <a href="http://wiki.debian.org/LegoDesigners">the LEGO designers
  73 project page</a> and join the Debian LEGO team.  Personally I own a
  74 RCX and NXT controller (no EV3), and would like to make sure the
  75 Debian tools needed to program the systems I own work as they
  76 should.</p>
  77 </div>
  78
  79       <div class="tags">Tags: <a href="http://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="http://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="http://people.skolelinux.org/pere/blog/tags/robot">robot</a>.</div>
  80
  81
  82     </div>
  83
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  87     <div id="sidebar">
  88
  89
  90
  91 <h2>Archive</h2>
  92 <ul>
  93
  94 <li>2017
  95 <ul>
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  97 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/01/">January (4)</a></li>
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 112
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 114
 115 </ul></li>
 116
 117 <li>2016
 118 <ul>
 119
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 121
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 139
 140 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/11/">November (8)</a></li>
 141
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 143
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 145
 146 <li>2015
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 150
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 165 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/09/">September (2)</a></li>
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 168
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 170
 171 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/12/">December (3)</a></li>
 172
 173 </ul></li>
 174
 175 <li>2014
 176 <ul>
 177
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 179
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 193
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 197
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 199
 200 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/12/">December (5)</a></li>
 201
 202 </ul></li>
 203
 204 <li>2013
 205 <ul>
 206
 207 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/01/">January (11)</a></li>
 208
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 228
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 230
 231 </ul></li>
 232
 233 <li>2012
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 235
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 249
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 251
 252 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/09/">September (9)</a></li>
 253
 254 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/10/">October (17)</a></li>
 255
 256 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/11/">November (10)</a></li>
 257
 258 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/12/">December (7)</a></li>
 259
 260 </ul></li>
 261
 262 <li>2011
 263 <ul>
 264
 265 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/01/">January (16)</a></li>
 266
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 285 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/11/">November (3)</a></li>
 286
 287 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/12/">December (1)</a></li>
 288
 289 </ul></li>
 290
 291 <li>2010
 292 <ul>
 293
 294 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/01/">January (2)</a></li>
 295
 296 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/02/">February (1)</a></li>
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 298 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/03/">March (3)</a></li>
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 300 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/04/">April (3)</a></li>
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 317
 318 </ul></li>
 319
 320 <li>2009
 321 <ul>
 322
 323 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/01/">January (8)</a></li>
 324
 325 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/02/">February (8)</a></li>
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 346
 347 </ul></li>
 348
 349 <li>2008
 350 <ul>
 351
 352 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/11/">November (5)</a></li>
 353
 354 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/12/">December (7)</a></li>
 355
 356 </ul></li>
 357
 358 </ul>
 359
 360
 361
 362 <h2>Tags</h2>
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 458
 459  <li><a href="http://people.skolelinux.org/pere/blog/tags/sitesummary">sitesummary (4)</a></li>
 460
 461  <li><a href="http://people.skolelinux.org/pere/blog/tags/skepsis">skepsis (5)</a></li>
 462
 463  <li><a href="http://people.skolelinux.org/pere/blog/tags/standard">standard (55)</a></li>
 464
 465  <li><a href="http://people.skolelinux.org/pere/blog/tags/stavekontroll">stavekontroll (6)</a></li>
 466
 467  <li><a href="http://people.skolelinux.org/pere/blog/tags/stortinget">stortinget (12)</a></li>
 468
 469  <li><a href="http://people.skolelinux.org/pere/blog/tags/surveillance">surveillance (52)</a></li>
 470
 471  <li><a href="http://people.skolelinux.org/pere/blog/tags/sysadmin">sysadmin (3)</a></li>
 472
 473  <li><a href="http://people.skolelinux.org/pere/blog/tags/usenix">usenix (2)</a></li>
 474
 475  <li><a href="http://people.skolelinux.org/pere/blog/tags/valg">valg (9)</a></li>
 476
 477  <li><a href="http://people.skolelinux.org/pere/blog/tags/video">video (59)</a></li>
 478
 479  <li><a href="http://people.skolelinux.org/pere/blog/tags/vitenskap">vitenskap (4)</a></li>
 480
 481  <li><a href="http://people.skolelinux.org/pere/blog/tags/web">web (40)</a></li>
 482
 483 </ul>
 484
 485
 486     </div>
 487     <p style="text-align: right">
 488  Created by <a href="http://steve.org.uk/Software/chronicle">Chronicle v4.6</a>
 489 </p>
 490
 491   </body>
 492 </html>