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>2021
  95 <ul>
  96
  97 <li><a href="http://people.skolelinux.org/pere/blog/archive/2021/01/">January (2)</a></li>
  98
  99 <li><a href="http://people.skolelinux.org/pere/blog/archive/2021/02/">February (1)</a></li>
 100
 101 <li><a href="http://people.skolelinux.org/pere/blog/archive/2021/05/">May (1)</a></li>
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 103 <li><a href="http://people.skolelinux.org/pere/blog/archive/2021/06/">June (1)</a></li>
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 105 <li><a href="http://people.skolelinux.org/pere/blog/archive/2021/07/">July (3)</a></li>
 106
 107 <li><a href="http://people.skolelinux.org/pere/blog/archive/2021/08/">August (1)</a></li>
 108
 109 <li><a href="http://people.skolelinux.org/pere/blog/archive/2021/09/">September (1)</a></li>
 110
 111 <li><a href="http://people.skolelinux.org/pere/blog/archive/2021/10/">October (1)</a></li>
 112
 113 </ul></li>
 114
 115 <li>2020
 116 <ul>
 117
 118 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/02/">February (2)</a></li>
 119
 120 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/03/">March (2)</a></li>
 121
 122 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/04/">April (2)</a></li>
 123
 124 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/05/">May (3)</a></li>
 125
 126 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/06/">June (2)</a></li>
 127
 128 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/07/">July (1)</a></li>
 129
 130 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/09/">September (1)</a></li>
 131
 132 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/10/">October (1)</a></li>
 133
 134 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/11/">November (1)</a></li>
 135
 136 </ul></li>
 137
 138 <li>2019
 139 <ul>
 140
 141 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/01/">January (4)</a></li>
 142
 143 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/02/">February (3)</a></li>
 144
 145 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/03/">March (3)</a></li>
 146
 147 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/05/">May (2)</a></li>
 148
 149 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/06/">June (5)</a></li>
 150
 151 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/07/">July (2)</a></li>
 152
 153 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/08/">August (1)</a></li>
 154
 155 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/09/">September (1)</a></li>
 156
 157 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/11/">November (1)</a></li>
 158
 159 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/12/">December (4)</a></li>
 160
 161 </ul></li>
 162
 163 <li>2018
 164 <ul>
 165
 166 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/01/">January (1)</a></li>
 167
 168 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/02/">February (5)</a></li>
 169
 170 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/03/">March (5)</a></li>
 171
 172 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/04/">April (3)</a></li>
 173
 174 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/06/">June (2)</a></li>
 175
 176 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/07/">July (5)</a></li>
 177
 178 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/08/">August (3)</a></li>
 179
 180 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/09/">September (3)</a></li>
 181
 182 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/10/">October (5)</a></li>
 183
 184 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/11/">November (2)</a></li>
 185
 186 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/12/">December (4)</a></li>
 187
 188 </ul></li>
 189
 190 <li>2017
 191 <ul>
 192
 193 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/01/">January (4)</a></li>
 194
 195 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/02/">February (3)</a></li>
 196
 197 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/03/">March (5)</a></li>
 198
 199 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/04/">April (2)</a></li>
 200
 201 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/06/">June (5)</a></li>
 202
 203 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/07/">July (1)</a></li>
 204
 205 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/08/">August (1)</a></li>
 206
 207 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/09/">September (3)</a></li>
 208
 209 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/10/">October (5)</a></li>
 210
 211 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/11/">November (3)</a></li>
 212
 213 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/12/">December (4)</a></li>
 214
 215 </ul></li>
 216
 217 <li>2016
 218 <ul>
 219
 220 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/01/">January (3)</a></li>
 221
 222 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/02/">February (2)</a></li>
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 224 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/03/">March (3)</a></li>
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 226 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/04/">April (8)</a></li>
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 228 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/05/">May (8)</a></li>
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 230 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/06/">June (2)</a></li>
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 232 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/07/">July (2)</a></li>
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 234 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/08/">August (5)</a></li>
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 236 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/09/">September (2)</a></li>
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 238 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/10/">October (3)</a></li>
 239
 240 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/11/">November (8)</a></li>
 241
 242 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/12/">December (5)</a></li>
 243
 244 </ul></li>
 245
 246 <li>2015
 247 <ul>
 248
 249 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/01/">January (7)</a></li>
 250
 251 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/02/">February (6)</a></li>
 252
 253 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/03/">March (1)</a></li>
 254
 255 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/04/">April (4)</a></li>
 256
 257 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/05/">May (3)</a></li>
 258
 259 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/06/">June (4)</a></li>
 260
 261 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/07/">July (6)</a></li>
 262
 263 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/08/">August (2)</a></li>
 264
 265 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/09/">September (2)</a></li>
 266
 267 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/10/">October (9)</a></li>
 268
 269 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/11/">November (6)</a></li>
 270
 271 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/12/">December (3)</a></li>
 272
 273 </ul></li>
 274
 275 <li>2014
 276 <ul>
 277
 278 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/01/">January (2)</a></li>
 279
 280 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/02/">February (3)</a></li>
 281
 282 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/03/">March (8)</a></li>
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 284 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/04/">April (7)</a></li>
 285
 286 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/05/">May (1)</a></li>
 287
 288 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/06/">June (2)</a></li>
 289
 290 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/07/">July (2)</a></li>
 291
 292 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/08/">August (2)</a></li>
 293
 294 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/09/">September (5)</a></li>
 295
 296 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/10/">October (6)</a></li>
 297
 298 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/11/">November (3)</a></li>
 299
 300 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/12/">December (5)</a></li>
 301
 302 </ul></li>
 303
 304 <li>2013
 305 <ul>
 306
 307 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/01/">January (11)</a></li>
 308
 309 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/02/">February (9)</a></li>
 310
 311 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/03/">March (9)</a></li>
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 313 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/04/">April (6)</a></li>
 314
 315 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/05/">May (9)</a></li>
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 317 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/06/">June (10)</a></li>
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 319 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/07/">July (7)</a></li>
 320
 321 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/08/">August (3)</a></li>
 322
 323 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/09/">September (5)</a></li>
 324
 325 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/10/">October (7)</a></li>
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 327 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/11/">November (9)</a></li>
 328
 329 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/12/">December (3)</a></li>
 330
 331 </ul></li>
 332
 333 <li>2012
 334 <ul>
 335
 336 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/01/">January (7)</a></li>
 337
 338 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/02/">February (10)</a></li>
 339
 340 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/03/">March (17)</a></li>
 341
 342 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/04/">April (12)</a></li>
 343
 344 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/05/">May (12)</a></li>
 345
 346 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/06/">June (20)</a></li>
 347
 348 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/07/">July (17)</a></li>
 349
 350 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/08/">August (6)</a></li>
 351
 352 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/09/">September (9)</a></li>
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 354 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/10/">October (17)</a></li>
 355
 356 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/11/">November (10)</a></li>
 357
 358 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/12/">December (7)</a></li>
 359
 360 </ul></li>
 361
 362 <li>2011
 363 <ul>
 364
 365 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/01/">January (16)</a></li>
 366
 367 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/02/">February (6)</a></li>
 368
 369 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/03/">March (6)</a></li>
 370
 371 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/04/">April (7)</a></li>
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 373 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/05/">May (3)</a></li>
 374
 375 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/06/">June (2)</a></li>
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 377 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/07/">July (7)</a></li>
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 380
 381 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/09/">September (4)</a></li>
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 383 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/10/">October (2)</a></li>
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 385 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/11/">November (3)</a></li>
 386
 387 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/12/">December (1)</a></li>
 388
 389 </ul></li>
 390
 391 <li>2010
 392 <ul>
 393
 394 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/01/">January (2)</a></li>
 395
 396 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/02/">February (1)</a></li>
 397
 398 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/03/">March (3)</a></li>
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 400 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/04/">April (3)</a></li>
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 402 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/05/">May (9)</a></li>
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 404 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/06/">June (14)</a></li>
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 412 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/10/">October (9)</a></li>
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 414 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/11/">November (13)</a></li>
 415
 416 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/12/">December (12)</a></li>
 417
 418 </ul></li>
 419
 420 <li>2009
 421 <ul>
 422
 423 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/01/">January (8)</a></li>
 424
 425 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/02/">February (8)</a></li>
 426
 427 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/03/">March (12)</a></li>
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 429 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/04/">April (10)</a></li>
 430
 431 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/05/">May (9)</a></li>
 432
 433 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/06/">June (3)</a></li>
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 435 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/07/">July (4)</a></li>
 436
 437 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/08/">August (3)</a></li>
 438
 439 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/09/">September (1)</a></li>
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 441 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/10/">October (2)</a></li>
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 443 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/11/">November (3)</a></li>
 444
 445 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/12/">December (3)</a></li>
 446
 447 </ul></li>
 448
 449 <li>2008
 450 <ul>
 451
 452 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/11/">November (5)</a></li>
 453
 454 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/12/">December (7)</a></li>
 455
 456 </ul></li>
 457
 458 </ul>
 459
 460
 461
 462 <h2>Tags</h2>
 463 <ul>
 464
 465  <li><a href="http://people.skolelinux.org/pere/blog/tags/3d-printer">3d-printer (16)</a></li>
 466
 467  <li><a href="http://people.skolelinux.org/pere/blog/tags/amiga">amiga (1)</a></li>
 468
 469  <li><a href="http://people.skolelinux.org/pere/blog/tags/aros">aros (1)</a></li>
 470
 471  <li><a href="http://people.skolelinux.org/pere/blog/tags/bankid">bankid (4)</a></li>
 472
 473  <li><a href="http://people.skolelinux.org/pere/blog/tags/betalkontant">betalkontant (9)</a></li>
 474
 475  <li><a href="http://people.skolelinux.org/pere/blog/tags/bitcoin">bitcoin (12)</a></li>
 476
 477  <li><a href="http://people.skolelinux.org/pere/blog/tags/bootsystem">bootsystem (17)</a></li>
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 495  <li><a href="http://people.skolelinux.org/pere/blog/tags/drivstoffpriser">drivstoffpriser (4)</a></li>
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 531  <li><a href="http://people.skolelinux.org/pere/blog/tags/multimedia">multimedia (42)</a></li>
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 558
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 563  <li><a href="http://people.skolelinux.org/pere/blog/tags/scraperwiki">scraperwiki (2)</a></li>
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 566
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 569  <li><a href="http://people.skolelinux.org/pere/blog/tags/skepsis">skepsis (5)</a></li>
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 571  <li><a href="http://people.skolelinux.org/pere/blog/tags/standard">standard (71)</a></li>
 572
 573  <li><a href="http://people.skolelinux.org/pere/blog/tags/stavekontroll">stavekontroll (7)</a></li>
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 578
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 581  <li><a href="http://people.skolelinux.org/pere/blog/tags/usenix">usenix (2)</a></li>
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 588
 589  <li><a href="http://people.skolelinux.org/pere/blog/tags/vitenskap">vitenskap (4)</a></li>
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 591  <li><a href="http://people.skolelinux.org/pere/blog/tags/web">web (42)</a></li>
 592
 593 </ul>
 594
 595
 596     </div>
 597     <p style="text-align: right">
 598  Created by <a href="http://steve.org.uk/Software/chronicle">Chronicle v4.6</a>
 599 </p>
 600
 601   </body>
 602 </html>