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
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  82     </div>
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  88
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  90
  91 <h2>Archive</h2>
  92 <ul>
  93
  94 <li>2016
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 122
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 147
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 149
 150 </ul></li>
 151
 152 <li>2014
 153 <ul>
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 156
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 178
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 180
 181 <li>2013
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 207
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 209
 210 <li>2012
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 238
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 243
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 265
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 267
 268 <li>2010
 269 <ul>
 270
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 294
 295 </ul></li>
 296
 297 <li>2009
 298 <ul>
 299
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 301
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 324 </ul></li>
 325
 326 <li>2008
 327 <ul>
 328
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 330
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 332
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 334
 335 </ul>
 336
 337
 338
 339 <h2>Tags</h2>
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 454  <li><a href="http://people.skolelinux.org/pere/blog/tags/vitenskap">vitenskap (4)</a></li>
 455
 456  <li><a href="http://people.skolelinux.org/pere/blog/tags/web">web (38)</a></li>
 457
 458 </ul>
 459
 460
 461     </div>
 462     <p style="text-align: right">
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