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/lego">lego</a>, <a href="http://people.skolelinux.org/pere/blog/tags/robot">robot</a>.</div>
  80
  81
  82     </div>
  83
  84
  85
  86
  87     <div id="sidebar">
  88
  89
  90
  91 <h2>Archive</h2>
  92 <ul>
  93
  94 <li>2018
  95 <ul>
  96
  97 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/01/">January (1)</a></li>
  98
  99 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/02/">February (5)</a></li>
 100
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 102
 103 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/04/">April (3)</a></li>
 104
 105 </ul></li>
 106
 107 <li>2017
 108 <ul>
 109
 110 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/01/">January (4)</a></li>
 111
 112 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/02/">February (3)</a></li>
 113
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 117
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 119
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 121
 122 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/08/">August (1)</a></li>
 123
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 125
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 127
 128 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/11/">November (3)</a></li>
 129
 130 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/12/">December (4)</a></li>
 131
 132 </ul></li>
 133
 134 <li>2016
 135 <ul>
 136
 137 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/01/">January (3)</a></li>
 138
 139 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/02/">February (2)</a></li>
 140
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 142
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 144
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 146
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 148
 149 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/07/">July (2)</a></li>
 150
 151 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/08/">August (5)</a></li>
 152
 153 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/09/">September (2)</a></li>
 154
 155 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/10/">October (3)</a></li>
 156
 157 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/11/">November (8)</a></li>
 158
 159 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/12/">December (5)</a></li>
 160
 161 </ul></li>
 162
 163 <li>2015
 164 <ul>
 165
 166 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/01/">January (7)</a></li>
 167
 168 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/02/">February (6)</a></li>
 169
 170 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/03/">March (1)</a></li>
 171
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 182 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/09/">September (2)</a></li>
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 186 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/11/">November (6)</a></li>
 187
 188 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/12/">December (3)</a></li>
 189
 190 </ul></li>
 191
 192 <li>2014
 193 <ul>
 194
 195 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/01/">January (2)</a></li>
 196
 197 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/02/">February (3)</a></li>
 198
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 207 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/07/">July (2)</a></li>
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 209 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/08/">August (2)</a></li>
 210
 211 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/09/">September (5)</a></li>
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 213 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/10/">October (6)</a></li>
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 215 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/11/">November (3)</a></li>
 216
 217 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/12/">December (5)</a></li>
 218
 219 </ul></li>
 220
 221 <li>2013
 222 <ul>
 223
 224 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/01/">January (11)</a></li>
 225
 226 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/02/">February (9)</a></li>
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 237
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 239
 240 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/09/">September (5)</a></li>
 241
 242 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/10/">October (7)</a></li>
 243
 244 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/11/">November (9)</a></li>
 245
 246 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/12/">December (3)</a></li>
 247
 248 </ul></li>
 249
 250 <li>2012
 251 <ul>
 252
 253 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/01/">January (7)</a></li>
 254
 255 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/02/">February (10)</a></li>
 256
 257 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/03/">March (17)</a></li>
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 261 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/05/">May (12)</a></li>
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 263 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/06/">June (20)</a></li>
 264
 265 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/07/">July (17)</a></li>
 266
 267 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/08/">August (6)</a></li>
 268
 269 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/09/">September (9)</a></li>
 270
 271 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/10/">October (17)</a></li>
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 273 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/11/">November (10)</a></li>
 274
 275 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/12/">December (7)</a></li>
 276
 277 </ul></li>
 278
 279 <li>2011
 280 <ul>
 281
 282 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/01/">January (16)</a></li>
 283
 284 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/02/">February (6)</a></li>
 285
 286 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/03/">March (6)</a></li>
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 298 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/09/">September (4)</a></li>
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 300 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/10/">October (2)</a></li>
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 302 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/11/">November (3)</a></li>
 303
 304 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/12/">December (1)</a></li>
 305
 306 </ul></li>
 307
 308 <li>2010
 309 <ul>
 310
 311 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/01/">January (2)</a></li>
 312
 313 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/02/">February (1)</a></li>
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 315 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/03/">March (3)</a></li>
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 325 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/08/">August (13)</a></li>
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 327 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/09/">September (7)</a></li>
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 329 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/10/">October (9)</a></li>
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 331 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/11/">November (13)</a></li>
 332
 333 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/12/">December (12)</a></li>
 334
 335 </ul></li>
 336
 337 <li>2009
 338 <ul>
 339
 340 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/01/">January (8)</a></li>
 341
 342 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/02/">February (8)</a></li>
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 361
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 363
 364 </ul></li>
 365
 366 <li>2008
 367 <ul>
 368
 369 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/11/">November (5)</a></li>
 370
 371 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/12/">December (7)</a></li>
 372
 373 </ul></li>
 374
 375 </ul>
 376
 377
 378
 379 <h2>Tags</h2>
 380 <ul>
 381
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 461
 462  <li><a href="http://people.skolelinux.org/pere/blog/tags/reactos">reactos (1)</a></li>
 463
 464  <li><a href="http://people.skolelinux.org/pere/blog/tags/reprap">reprap (11)</a></li>
 465
 466  <li><a href="http://people.skolelinux.org/pere/blog/tags/rfid">rfid (3)</a></li>
 467
 468  <li><a href="http://people.skolelinux.org/pere/blog/tags/robot">robot (10)</a></li>
 469
 470  <li><a href="http://people.skolelinux.org/pere/blog/tags/rss">rss (1)</a></li>
 471
 472  <li><a href="http://people.skolelinux.org/pere/blog/tags/ruter">ruter (6)</a></li>
 473
 474  <li><a href="http://people.skolelinux.org/pere/blog/tags/scraperwiki">scraperwiki (2)</a></li>
 475
 476  <li><a href="http://people.skolelinux.org/pere/blog/tags/sikkerhet">sikkerhet (54)</a></li>
 477
 478  <li><a href="http://people.skolelinux.org/pere/blog/tags/sitesummary">sitesummary (4)</a></li>
 479
 480  <li><a href="http://people.skolelinux.org/pere/blog/tags/skepsis">skepsis (5)</a></li>
 481
 482  <li><a href="http://people.skolelinux.org/pere/blog/tags/standard">standard (55)</a></li>
 483
 484  <li><a href="http://people.skolelinux.org/pere/blog/tags/stavekontroll">stavekontroll (6)</a></li>
 485
 486  <li><a href="http://people.skolelinux.org/pere/blog/tags/stortinget">stortinget (12)</a></li>
 487
 488  <li><a href="http://people.skolelinux.org/pere/blog/tags/surveillance">surveillance (55)</a></li>
 489
 490  <li><a href="http://people.skolelinux.org/pere/blog/tags/sysadmin">sysadmin (4)</a></li>
 491
 492  <li><a href="http://people.skolelinux.org/pere/blog/tags/usenix">usenix (2)</a></li>
 493
 494  <li><a href="http://people.skolelinux.org/pere/blog/tags/valg">valg (9)</a></li>
 495
 496  <li><a href="http://people.skolelinux.org/pere/blog/tags/verkidetfri">verkidetfri (11)</a></li>
 497
 498  <li><a href="http://people.skolelinux.org/pere/blog/tags/video">video (63)</a></li>
 499
 500  <li><a href="http://people.skolelinux.org/pere/blog/tags/vitenskap">vitenskap (4)</a></li>
 501
 502  <li><a href="http://people.skolelinux.org/pere/blog/tags/web">web (41)</a></li>
 503
 504 </ul>
 505
 506
 507     </div>
 508     <p style="text-align: right">
 509  Created by <a href="http://steve.org.uk/Software/chronicle">Chronicle v4.6</a>
 510 </p>
 511
 512   </body>
 513 </html>