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 </ul></li>
 102
 103 <li>2020
 104 <ul>
 105
 106 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/02/">February (2)</a></li>
 107
 108 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/03/">March (2)</a></li>
 109
 110 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/04/">April (2)</a></li>
 111
 112 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/05/">May (3)</a></li>
 113
 114 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/06/">June (2)</a></li>
 115
 116 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/07/">July (1)</a></li>
 117
 118 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/09/">September (1)</a></li>
 119
 120 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/10/">October (1)</a></li>
 121
 122 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/11/">November (1)</a></li>
 123
 124 </ul></li>
 125
 126 <li>2019
 127 <ul>
 128
 129 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/01/">January (4)</a></li>
 130
 131 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/02/">February (3)</a></li>
 132
 133 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/03/">March (3)</a></li>
 134
 135 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/05/">May (2)</a></li>
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 137 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/06/">June (5)</a></li>
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 139 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/07/">July (2)</a></li>
 140
 141 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/08/">August (1)</a></li>
 142
 143 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/09/">September (1)</a></li>
 144
 145 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/11/">November (1)</a></li>
 146
 147 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/12/">December (4)</a></li>
 148
 149 </ul></li>
 150
 151 <li>2018
 152 <ul>
 153
 154 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/01/">January (1)</a></li>
 155
 156 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/02/">February (5)</a></li>
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 158 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/03/">March (5)</a></li>
 159
 160 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/04/">April (3)</a></li>
 161
 162 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/06/">June (2)</a></li>
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 164 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/07/">July (5)</a></li>
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 166 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/08/">August (3)</a></li>
 167
 168 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/09/">September (3)</a></li>
 169
 170 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/10/">October (5)</a></li>
 171
 172 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/11/">November (2)</a></li>
 173
 174 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/12/">December (4)</a></li>
 175
 176 </ul></li>
 177
 178 <li>2017
 179 <ul>
 180
 181 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/01/">January (4)</a></li>
 182
 183 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/02/">February (3)</a></li>
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 185 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/03/">March (5)</a></li>
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 187 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/04/">April (2)</a></li>
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 189 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/06/">June (5)</a></li>
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 191 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/07/">July (1)</a></li>
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 193 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/08/">August (1)</a></li>
 194
 195 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/09/">September (3)</a></li>
 196
 197 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/10/">October (5)</a></li>
 198
 199 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/11/">November (3)</a></li>
 200
 201 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/12/">December (4)</a></li>
 202
 203 </ul></li>
 204
 205 <li>2016
 206 <ul>
 207
 208 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/01/">January (3)</a></li>
 209
 210 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/02/">February (2)</a></li>
 211
 212 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/03/">March (3)</a></li>
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 214 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/04/">April (8)</a></li>
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 216 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/05/">May (8)</a></li>
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 218 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/06/">June (2)</a></li>
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 229
 230 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/12/">December (5)</a></li>
 231
 232 </ul></li>
 233
 234 <li>2015
 235 <ul>
 236
 237 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/01/">January (7)</a></li>
 238
 239 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/02/">February (6)</a></li>
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 241 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/03/">March (1)</a></li>
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 243 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/04/">April (4)</a></li>
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 245 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/05/">May (3)</a></li>
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 247 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/06/">June (4)</a></li>
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 253 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/09/">September (2)</a></li>
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 257 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/11/">November (6)</a></li>
 258
 259 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/12/">December (3)</a></li>
 260
 261 </ul></li>
 262
 263 <li>2014
 264 <ul>
 265
 266 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/01/">January (2)</a></li>
 267
 268 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/02/">February (3)</a></li>
 269
 270 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/03/">March (8)</a></li>
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 272 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/04/">April (7)</a></li>
 273
 274 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/05/">May (1)</a></li>
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 287
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 289
 290 </ul></li>
 291
 292 <li>2013
 293 <ul>
 294
 295 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/01/">January (11)</a></li>
 296
 297 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/02/">February (9)</a></li>
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 301 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/04/">April (6)</a></li>
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 303 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/05/">May (9)</a></li>
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 311 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/09/">September (5)</a></li>
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 313 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/10/">October (7)</a></li>
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 316
 317 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/12/">December (3)</a></li>
 318
 319 </ul></li>
 320
 321 <li>2012
 322 <ul>
 323
 324 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/01/">January (7)</a></li>
 325
 326 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/02/">February (10)</a></li>
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 331
 332 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/05/">May (12)</a></li>
 333
 334 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/06/">June (20)</a></li>
 335
 336 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/07/">July (17)</a></li>
 337
 338 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/08/">August (6)</a></li>
 339
 340 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/09/">September (9)</a></li>
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 342 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/10/">October (17)</a></li>
 343
 344 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/11/">November (10)</a></li>
 345
 346 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/12/">December (7)</a></li>
 347
 348 </ul></li>
 349
 350 <li>2011
 351 <ul>
 352
 353 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/01/">January (16)</a></li>
 354
 355 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/02/">February (6)</a></li>
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 374
 375 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/12/">December (1)</a></li>
 376
 377 </ul></li>
 378
 379 <li>2010
 380 <ul>
 381
 382 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/01/">January (2)</a></li>
 383
 384 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/02/">February (1)</a></li>
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 404 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/12/">December (12)</a></li>
 405
 406 </ul></li>
 407
 408 <li>2009
 409 <ul>
 410
 411 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/01/">January (8)</a></li>
 412
 413 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/02/">February (8)</a></li>
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 427 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/09/">September (1)</a></li>
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 429 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/10/">October (2)</a></li>
 430
 431 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/11/">November (3)</a></li>
 432
 433 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/12/">December (3)</a></li>
 434
 435 </ul></li>
 436
 437 <li>2008
 438 <ul>
 439
 440 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/11/">November (5)</a></li>
 441
 442 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/12/">December (7)</a></li>
 443
 444 </ul></li>
 445
 446 </ul>
 447
 448
 449
 450 <h2>Tags</h2>
 451 <ul>
 452
 453  <li><a href="http://people.skolelinux.org/pere/blog/tags/3d-printer">3d-printer (16)</a></li>
 454
 455  <li><a href="http://people.skolelinux.org/pere/blog/tags/amiga">amiga (1)</a></li>
 456
 457  <li><a href="http://people.skolelinux.org/pere/blog/tags/aros">aros (1)</a></li>
 458
 459  <li><a href="http://people.skolelinux.org/pere/blog/tags/bankid">bankid (4)</a></li>
 460
 461  <li><a href="http://people.skolelinux.org/pere/blog/tags/betalkontant">betalkontant (9)</a></li>
 462
 463  <li><a href="http://people.skolelinux.org/pere/blog/tags/bitcoin">bitcoin (12)</a></li>
 464
 465  <li><a href="http://people.skolelinux.org/pere/blog/tags/bootsystem">bootsystem (17)</a></li>
 466
 467  <li><a href="http://people.skolelinux.org/pere/blog/tags/bsa">bsa (2)</a></li>
 468
 469  <li><a href="http://people.skolelinux.org/pere/blog/tags/chrpath">chrpath (2)</a></li>
 470
 471  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian">debian (175)</a></li>
 472
 473  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian edu">debian edu (159)</a></li>
 474
 475  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian-handbook">debian-handbook (7)</a></li>
 476
 477  <li><a href="http://people.skolelinux.org/pere/blog/tags/digistan">digistan (11)</a></li>
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 479  <li><a href="http://people.skolelinux.org/pere/blog/tags/dld">dld (17)</a></li>
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 481  <li><a href="http://people.skolelinux.org/pere/blog/tags/docbook">docbook (28)</a></li>
 482
 483  <li><a href="http://people.skolelinux.org/pere/blog/tags/drivstoffpriser">drivstoffpriser (4)</a></li>
 484
 485  <li><a href="http://people.skolelinux.org/pere/blog/tags/english">english (423)</a></li>
 486
 487  <li><a href="http://people.skolelinux.org/pere/blog/tags/fiksgatami">fiksgatami (23)</a></li>
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 489  <li><a href="http://people.skolelinux.org/pere/blog/tags/fildeling">fildeling (14)</a></li>
 490
 491  <li><a href="http://people.skolelinux.org/pere/blog/tags/freeculture">freeculture (34)</a></li>
 492
 493  <li><a href="http://people.skolelinux.org/pere/blog/tags/freedombox">freedombox (9)</a></li>
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 495  <li><a href="http://people.skolelinux.org/pere/blog/tags/frikanalen">frikanalen (20)</a></li>
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 497  <li><a href="http://people.skolelinux.org/pere/blog/tags/h264">h264 (20)</a></li>
 498
 499  <li><a href="http://people.skolelinux.org/pere/blog/tags/intervju">intervju (43)</a></li>
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 501  <li><a href="http://people.skolelinux.org/pere/blog/tags/isenkram">isenkram (16)</a></li>
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 503  <li><a href="http://people.skolelinux.org/pere/blog/tags/kart">kart (22)</a></li>
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 505  <li><a href="http://people.skolelinux.org/pere/blog/tags/kodi">kodi (4)</a></li>
 506
 507  <li><a href="http://people.skolelinux.org/pere/blog/tags/ldap">ldap (9)</a></li>
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 512
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 515  <li><a href="http://people.skolelinux.org/pere/blog/tags/ltsp">ltsp (1)</a></li>
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 517  <li><a href="http://people.skolelinux.org/pere/blog/tags/mesh network">mesh network (8)</a></li>
 518
 519  <li><a href="http://people.skolelinux.org/pere/blog/tags/multimedia">multimedia (42)</a></li>
 520
 521  <li><a href="http://people.skolelinux.org/pere/blog/tags/nice free software">nice free software (13)</a></li>
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 523  <li><a href="http://people.skolelinux.org/pere/blog/tags/noark5">noark5 (22)</a></li>
 524
 525  <li><a href="http://people.skolelinux.org/pere/blog/tags/norsk">norsk (316)</a></li>
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 527  <li><a href="http://people.skolelinux.org/pere/blog/tags/nuug">nuug (197)</a></li>
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 530
 531  <li><a href="http://people.skolelinux.org/pere/blog/tags/open311">open311 (2)</a></li>
 532
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 534
 535  <li><a href="http://people.skolelinux.org/pere/blog/tags/personvern">personvern (111)</a></li>
 536
 537  <li><a href="http://people.skolelinux.org/pere/blog/tags/raid">raid (2)</a></li>
 538
 539  <li><a href="http://people.skolelinux.org/pere/blog/tags/reactos">reactos (1)</a></li>
 540
 541  <li><a href="http://people.skolelinux.org/pere/blog/tags/reprap">reprap (11)</a></li>
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 543  <li><a href="http://people.skolelinux.org/pere/blog/tags/rfid">rfid (3)</a></li>
 544
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 546
 547  <li><a href="http://people.skolelinux.org/pere/blog/tags/rss">rss (1)</a></li>
 548
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 555  <li><a href="http://people.skolelinux.org/pere/blog/tags/sitesummary">sitesummary (4)</a></li>
 556
 557  <li><a href="http://people.skolelinux.org/pere/blog/tags/skepsis">skepsis (5)</a></li>
 558
 559  <li><a href="http://people.skolelinux.org/pere/blog/tags/standard">standard (70)</a></li>
 560
 561  <li><a href="http://people.skolelinux.org/pere/blog/tags/stavekontroll">stavekontroll (7)</a></li>
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 563  <li><a href="http://people.skolelinux.org/pere/blog/tags/stortinget">stortinget (12)</a></li>
 564
 565  <li><a href="http://people.skolelinux.org/pere/blog/tags/surveillance">surveillance (61)</a></li>
 566
 567  <li><a href="http://people.skolelinux.org/pere/blog/tags/sysadmin">sysadmin (5)</a></li>
 568
 569  <li><a href="http://people.skolelinux.org/pere/blog/tags/usenix">usenix (2)</a></li>
 570
 571  <li><a href="http://people.skolelinux.org/pere/blog/tags/valg">valg (9)</a></li>
 572
 573  <li><a href="http://people.skolelinux.org/pere/blog/tags/verkidetfri">verkidetfri (18)</a></li>
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 575  <li><a href="http://people.skolelinux.org/pere/blog/tags/video">video (74)</a></li>
 576
 577  <li><a href="http://people.skolelinux.org/pere/blog/tags/vitenskap">vitenskap (4)</a></li>
 578
 579  <li><a href="http://people.skolelinux.org/pere/blog/tags/web">web (42)</a></li>
 580
 581 </ul>
 582
 583
 584     </div>
 585     <p style="text-align: right">
 586  Created by <a href="http://steve.org.uk/Software/chronicle">Chronicle v4.6</a>
 587 </p>
 588
 589   </body>
 590 </html>