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>2019
  95 <ul>
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  97 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/01/">January (4)</a></li>
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 100
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 102
 103 <li>2018
 104 <ul>
 105
 106 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/01/">January (1)</a></li>
 107
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 123
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 125
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 127
 128 </ul></li>
 129
 130 <li>2017
 131 <ul>
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 134
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 140
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 142
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 145 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/08/">August (1)</a></li>
 146
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 148
 149 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/10/">October (5)</a></li>
 150
 151 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/11/">November (3)</a></li>
 152
 153 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/12/">December (4)</a></li>
 154
 155 </ul></li>
 156
 157 <li>2016
 158 <ul>
 159
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 161
 162 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/02/">February (2)</a></li>
 163
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 180 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/11/">November (8)</a></li>
 181
 182 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/12/">December (5)</a></li>
 183
 184 </ul></li>
 185
 186 <li>2015
 187 <ul>
 188
 189 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/01/">January (7)</a></li>
 190
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 205 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/09/">September (2)</a></li>
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 207 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/10/">October (9)</a></li>
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 209 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/11/">November (6)</a></li>
 210
 211 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/12/">December (3)</a></li>
 212
 213 </ul></li>
 214
 215 <li>2014
 216 <ul>
 217
 218 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/01/">January (2)</a></li>
 219
 220 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/02/">February (3)</a></li>
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 239
 240 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/12/">December (5)</a></li>
 241
 242 </ul></li>
 243
 244 <li>2013
 245 <ul>
 246
 247 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/01/">January (11)</a></li>
 248
 249 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/02/">February (9)</a></li>
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 251 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/03/">March (9)</a></li>
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 268
 269 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/12/">December (3)</a></li>
 270
 271 </ul></li>
 272
 273 <li>2012
 274 <ul>
 275
 276 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/01/">January (7)</a></li>
 277
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 298 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/12/">December (7)</a></li>
 299
 300 </ul></li>
 301
 302 <li>2011
 303 <ul>
 304
 305 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/01/">January (16)</a></li>
 306
 307 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/02/">February (6)</a></li>
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 327 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/12/">December (1)</a></li>
 328
 329 </ul></li>
 330
 331 <li>2010
 332 <ul>
 333
 334 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/01/">January (2)</a></li>
 335
 336 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/02/">February (1)</a></li>
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 338 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/03/">March (3)</a></li>
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 356 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/12/">December (12)</a></li>
 357
 358 </ul></li>
 359
 360 <li>2009
 361 <ul>
 362
 363 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/01/">January (8)</a></li>
 364
 365 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/02/">February (8)</a></li>
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 385 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/12/">December (3)</a></li>
 386
 387 </ul></li>
 388
 389 <li>2008
 390 <ul>
 391
 392 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/11/">November (5)</a></li>
 393
 394 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/12/">December (7)</a></li>
 395
 396 </ul></li>
 397
 398 </ul>
 399
 400
 401
 402 <h2>Tags</h2>
 403 <ul>
 404
 405  <li><a href="http://people.skolelinux.org/pere/blog/tags/3d-printer">3d-printer (16)</a></li>
 406
 407  <li><a href="http://people.skolelinux.org/pere/blog/tags/amiga">amiga (1)</a></li>
 408
 409  <li><a href="http://people.skolelinux.org/pere/blog/tags/aros">aros (1)</a></li>
 410
 411  <li><a href="http://people.skolelinux.org/pere/blog/tags/bankid">bankid (4)</a></li>
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 415  <li><a href="http://people.skolelinux.org/pere/blog/tags/bootsystem">bootsystem (17)</a></li>
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 417  <li><a href="http://people.skolelinux.org/pere/blog/tags/bsa">bsa (2)</a></li>
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 419  <li><a href="http://people.skolelinux.org/pere/blog/tags/chrpath">chrpath (2)</a></li>
 420
 421  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian">debian (167)</a></li>
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 423  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian edu">debian edu (158)</a></li>
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 425  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian-handbook">debian-handbook (4)</a></li>
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 431  <li><a href="http://people.skolelinux.org/pere/blog/tags/docbook">docbook (25)</a></li>
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 433  <li><a href="http://people.skolelinux.org/pere/blog/tags/drivstoffpriser">drivstoffpriser (4)</a></li>
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 435  <li><a href="http://people.skolelinux.org/pere/blog/tags/english">english (398)</a></li>
 436
 437  <li><a href="http://people.skolelinux.org/pere/blog/tags/fiksgatami">fiksgatami (23)</a></li>
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 449  <li><a href="http://people.skolelinux.org/pere/blog/tags/intervju">intervju (42)</a></li>
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 451  <li><a href="http://people.skolelinux.org/pere/blog/tags/isenkram">isenkram (16)</a></li>
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 453  <li><a href="http://people.skolelinux.org/pere/blog/tags/kart">kart (20)</a></li>
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 459  <li><a href="http://people.skolelinux.org/pere/blog/tags/lego">lego (4)</a></li>
 460
 461  <li><a href="http://people.skolelinux.org/pere/blog/tags/lenker">lenker (8)</a></li>
 462
 463  <li><a href="http://people.skolelinux.org/pere/blog/tags/lsdvd">lsdvd (2)</a></li>
 464
 465  <li><a href="http://people.skolelinux.org/pere/blog/tags/ltsp">ltsp (1)</a></li>
 466
 467  <li><a href="http://people.skolelinux.org/pere/blog/tags/mesh network">mesh network (8)</a></li>
 468
 469  <li><a href="http://people.skolelinux.org/pere/blog/tags/multimedia">multimedia (42)</a></li>
 470
 471  <li><a href="http://people.skolelinux.org/pere/blog/tags/nice free software">nice free software (11)</a></li>
 472
 473  <li><a href="http://people.skolelinux.org/pere/blog/tags/norsk">norsk (304)</a></li>
 474
 475  <li><a href="http://people.skolelinux.org/pere/blog/tags/nuug">nuug (192)</a></li>
 476
 477  <li><a href="http://people.skolelinux.org/pere/blog/tags/offentlig innsyn">offentlig innsyn (35)</a></li>
 478
 479  <li><a href="http://people.skolelinux.org/pere/blog/tags/open311">open311 (2)</a></li>
 480
 481  <li><a href="http://people.skolelinux.org/pere/blog/tags/opphavsrett">opphavsrett (73)</a></li>
 482
 483  <li><a href="http://people.skolelinux.org/pere/blog/tags/personvern">personvern (108)</a></li>
 484
 485  <li><a href="http://people.skolelinux.org/pere/blog/tags/raid">raid (2)</a></li>
 486
 487  <li><a href="http://people.skolelinux.org/pere/blog/tags/reactos">reactos (1)</a></li>
 488
 489  <li><a href="http://people.skolelinux.org/pere/blog/tags/reprap">reprap (11)</a></li>
 490
 491  <li><a href="http://people.skolelinux.org/pere/blog/tags/rfid">rfid (3)</a></li>
 492
 493  <li><a href="http://people.skolelinux.org/pere/blog/tags/robot">robot (11)</a></li>
 494
 495  <li><a href="http://people.skolelinux.org/pere/blog/tags/rss">rss (1)</a></li>
 496
 497  <li><a href="http://people.skolelinux.org/pere/blog/tags/ruter">ruter (7)</a></li>
 498
 499  <li><a href="http://people.skolelinux.org/pere/blog/tags/scraperwiki">scraperwiki (2)</a></li>
 500
 501  <li><a href="http://people.skolelinux.org/pere/blog/tags/sikkerhet">sikkerhet (55)</a></li>
 502
 503  <li><a href="http://people.skolelinux.org/pere/blog/tags/sitesummary">sitesummary (4)</a></li>
 504
 505  <li><a href="http://people.skolelinux.org/pere/blog/tags/skepsis">skepsis (5)</a></li>
 506
 507  <li><a href="http://people.skolelinux.org/pere/blog/tags/standard">standard (58)</a></li>
 508
 509  <li><a href="http://people.skolelinux.org/pere/blog/tags/stavekontroll">stavekontroll (6)</a></li>
 510
 511  <li><a href="http://people.skolelinux.org/pere/blog/tags/stortinget">stortinget (12)</a></li>
 512
 513  <li><a href="http://people.skolelinux.org/pere/blog/tags/surveillance">surveillance (55)</a></li>
 514
 515  <li><a href="http://people.skolelinux.org/pere/blog/tags/sysadmin">sysadmin (4)</a></li>
 516
 517  <li><a href="http://people.skolelinux.org/pere/blog/tags/usenix">usenix (2)</a></li>
 518
 519  <li><a href="http://people.skolelinux.org/pere/blog/tags/valg">valg (9)</a></li>
 520
 521  <li><a href="http://people.skolelinux.org/pere/blog/tags/verkidetfri">verkidetfri (15)</a></li>
 522
 523  <li><a href="http://people.skolelinux.org/pere/blog/tags/video">video (73)</a></li>
 524
 525  <li><a href="http://people.skolelinux.org/pere/blog/tags/vitenskap">vitenskap (4)</a></li>
 526
 527  <li><a href="http://people.skolelinux.org/pere/blog/tags/web">web (42)</a></li>
 528
 529 </ul>
 530
 531
 532     </div>
 533     <p style="text-align: right">
 534  Created by <a href="http://steve.org.uk/Software/chronicle">Chronicle v4.6</a>
 535 </p>
 536
 537   </body>
 538 </html>