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>
  96
  97 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/01/">January (4)</a></li>
  98
  99 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/02/">February (3)</a></li>
 100
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 104
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 106
 107 </ul></li>
 108
 109 <li>2018
 110 <ul>
 111
 112 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/01/">January (1)</a></li>
 113
 114 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/02/">February (5)</a></li>
 115
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 119
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 121
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 125
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 127
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 129
 130 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/11/">November (2)</a></li>
 131
 132 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/12/">December (4)</a></li>
 133
 134 </ul></li>
 135
 136 <li>2017
 137 <ul>
 138
 139 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/01/">January (4)</a></li>
 140
 141 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/02/">February (3)</a></li>
 142
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 146
 147 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/06/">June (5)</a></li>
 148
 149 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/07/">July (1)</a></li>
 150
 151 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/08/">August (1)</a></li>
 152
 153 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/09/">September (3)</a></li>
 154
 155 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/10/">October (5)</a></li>
 156
 157 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/11/">November (3)</a></li>
 158
 159 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/12/">December (4)</a></li>
 160
 161 </ul></li>
 162
 163 <li>2016
 164 <ul>
 165
 166 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/01/">January (3)</a></li>
 167
 168 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/02/">February (2)</a></li>
 169
 170 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/03/">March (3)</a></li>
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 172 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/04/">April (8)</a></li>
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 188 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/12/">December (5)</a></li>
 189
 190 </ul></li>
 191
 192 <li>2015
 193 <ul>
 194
 195 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/01/">January (7)</a></li>
 196
 197 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/02/">February (6)</a></li>
 198
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 211 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/09/">September (2)</a></li>
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 213 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/10/">October (9)</a></li>
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 215 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/11/">November (6)</a></li>
 216
 217 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/12/">December (3)</a></li>
 218
 219 </ul></li>
 220
 221 <li>2014
 222 <ul>
 223
 224 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/01/">January (2)</a></li>
 225
 226 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/02/">February (3)</a></li>
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 236 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/07/">July (2)</a></li>
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 239
 240 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/09/">September (5)</a></li>
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 242 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/10/">October (6)</a></li>
 243
 244 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/11/">November (3)</a></li>
 245
 246 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/12/">December (5)</a></li>
 247
 248 </ul></li>
 249
 250 <li>2013
 251 <ul>
 252
 253 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/01/">January (11)</a></li>
 254
 255 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/02/">February (9)</a></li>
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 257 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/03/">March (9)</a></li>
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 271 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/10/">October (7)</a></li>
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 274
 275 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/12/">December (3)</a></li>
 276
 277 </ul></li>
 278
 279 <li>2012
 280 <ul>
 281
 282 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/01/">January (7)</a></li>
 283
 284 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/02/">February (10)</a></li>
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 300 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/10/">October (17)</a></li>
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 303
 304 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/12/">December (7)</a></li>
 305
 306 </ul></li>
 307
 308 <li>2011
 309 <ul>
 310
 311 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/01/">January (16)</a></li>
 312
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 331 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/11/">November (3)</a></li>
 332
 333 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/12/">December (1)</a></li>
 334
 335 </ul></li>
 336
 337 <li>2010
 338 <ul>
 339
 340 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/01/">January (2)</a></li>
 341
 342 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/02/">February (1)</a></li>
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 363
 364 </ul></li>
 365
 366 <li>2009
 367 <ul>
 368
 369 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/01/">January (8)</a></li>
 370
 371 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/02/">February (8)</a></li>
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 391 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/12/">December (3)</a></li>
 392
 393 </ul></li>
 394
 395 <li>2008
 396 <ul>
 397
 398 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/11/">November (5)</a></li>
 399
 400 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/12/">December (7)</a></li>
 401
 402 </ul></li>
 403
 404 </ul>
 405
 406
 407
 408 <h2>Tags</h2>
 409 <ul>
 410
 411  <li><a href="http://people.skolelinux.org/pere/blog/tags/3d-printer">3d-printer (16)</a></li>
 412
 413  <li><a href="http://people.skolelinux.org/pere/blog/tags/amiga">amiga (1)</a></li>
 414
 415  <li><a href="http://people.skolelinux.org/pere/blog/tags/aros">aros (1)</a></li>
 416
 417  <li><a href="http://people.skolelinux.org/pere/blog/tags/bankid">bankid (4)</a></li>
 418
 419  <li><a href="http://people.skolelinux.org/pere/blog/tags/betalkontant">betalkontant (8)</a></li>
 420
 421  <li><a href="http://people.skolelinux.org/pere/blog/tags/bitcoin">bitcoin (11)</a></li>
 422
 423  <li><a href="http://people.skolelinux.org/pere/blog/tags/bootsystem">bootsystem (17)</a></li>
 424
 425  <li><a href="http://people.skolelinux.org/pere/blog/tags/bsa">bsa (2)</a></li>
 426
 427  <li><a href="http://people.skolelinux.org/pere/blog/tags/chrpath">chrpath (2)</a></li>
 428
 429  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian">debian (168)</a></li>
 430
 431  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian edu">debian edu (158)</a></li>
 432
 433  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian-handbook">debian-handbook (4)</a></li>
 434
 435  <li><a href="http://people.skolelinux.org/pere/blog/tags/digistan">digistan (11)</a></li>
 436
 437  <li><a href="http://people.skolelinux.org/pere/blog/tags/dld">dld (17)</a></li>
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 439  <li><a href="http://people.skolelinux.org/pere/blog/tags/docbook">docbook (26)</a></li>
 440
 441  <li><a href="http://people.skolelinux.org/pere/blog/tags/drivstoffpriser">drivstoffpriser (4)</a></li>
 442
 443  <li><a href="http://people.skolelinux.org/pere/blog/tags/english">english (406)</a></li>
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 445  <li><a href="http://people.skolelinux.org/pere/blog/tags/fiksgatami">fiksgatami (23)</a></li>
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 447  <li><a href="http://people.skolelinux.org/pere/blog/tags/fildeling">fildeling (14)</a></li>
 448
 449  <li><a href="http://people.skolelinux.org/pere/blog/tags/freeculture">freeculture (34)</a></li>
 450
 451  <li><a href="http://people.skolelinux.org/pere/blog/tags/freedombox">freedombox (9)</a></li>
 452
 453  <li><a href="http://people.skolelinux.org/pere/blog/tags/frikanalen">frikanalen (20)</a></li>
 454
 455  <li><a href="http://people.skolelinux.org/pere/blog/tags/h264">h264 (20)</a></li>
 456
 457  <li><a href="http://people.skolelinux.org/pere/blog/tags/intervju">intervju (42)</a></li>
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 459  <li><a href="http://people.skolelinux.org/pere/blog/tags/isenkram">isenkram (16)</a></li>
 460
 461  <li><a href="http://people.skolelinux.org/pere/blog/tags/kart">kart (22)</a></li>
 462
 463  <li><a href="http://people.skolelinux.org/pere/blog/tags/kodi">kodi (4)</a></li>
 464
 465  <li><a href="http://people.skolelinux.org/pere/blog/tags/ldap">ldap (9)</a></li>
 466
 467  <li><a href="http://people.skolelinux.org/pere/blog/tags/lego">lego (4)</a></li>
 468
 469  <li><a href="http://people.skolelinux.org/pere/blog/tags/lenker">lenker (8)</a></li>
 470
 471  <li><a href="http://people.skolelinux.org/pere/blog/tags/lsdvd">lsdvd (2)</a></li>
 472
 473  <li><a href="http://people.skolelinux.org/pere/blog/tags/ltsp">ltsp (1)</a></li>
 474
 475  <li><a href="http://people.skolelinux.org/pere/blog/tags/mesh network">mesh network (8)</a></li>
 476
 477  <li><a href="http://people.skolelinux.org/pere/blog/tags/multimedia">multimedia (42)</a></li>
 478
 479  <li><a href="http://people.skolelinux.org/pere/blog/tags/nice free software">nice free software (12)</a></li>
 480
 481  <li><a href="http://people.skolelinux.org/pere/blog/tags/noark5">noark5 (16)</a></li>
 482
 483  <li><a href="http://people.skolelinux.org/pere/blog/tags/norsk">norsk (306)</a></li>
 484
 485  <li><a href="http://people.skolelinux.org/pere/blog/tags/nuug">nuug (195)</a></li>
 486
 487  <li><a href="http://people.skolelinux.org/pere/blog/tags/offentlig innsyn">offentlig innsyn (37)</a></li>
 488
 489  <li><a href="http://people.skolelinux.org/pere/blog/tags/open311">open311 (2)</a></li>
 490
 491  <li><a href="http://people.skolelinux.org/pere/blog/tags/opphavsrett">opphavsrett (73)</a></li>
 492
 493  <li><a href="http://people.skolelinux.org/pere/blog/tags/personvern">personvern (108)</a></li>
 494
 495  <li><a href="http://people.skolelinux.org/pere/blog/tags/raid">raid (2)</a></li>
 496
 497  <li><a href="http://people.skolelinux.org/pere/blog/tags/reactos">reactos (1)</a></li>
 498
 499  <li><a href="http://people.skolelinux.org/pere/blog/tags/reprap">reprap (11)</a></li>
 500
 501  <li><a href="http://people.skolelinux.org/pere/blog/tags/rfid">rfid (3)</a></li>
 502
 503  <li><a href="http://people.skolelinux.org/pere/blog/tags/robot">robot (12)</a></li>
 504
 505  <li><a href="http://people.skolelinux.org/pere/blog/tags/rss">rss (1)</a></li>
 506
 507  <li><a href="http://people.skolelinux.org/pere/blog/tags/ruter">ruter (7)</a></li>
 508
 509  <li><a href="http://people.skolelinux.org/pere/blog/tags/scraperwiki">scraperwiki (2)</a></li>
 510
 511  <li><a href="http://people.skolelinux.org/pere/blog/tags/sikkerhet">sikkerhet (56)</a></li>
 512
 513  <li><a href="http://people.skolelinux.org/pere/blog/tags/sitesummary">sitesummary (4)</a></li>
 514
 515  <li><a href="http://people.skolelinux.org/pere/blog/tags/skepsis">skepsis (5)</a></li>
 516
 517  <li><a href="http://people.skolelinux.org/pere/blog/tags/standard">standard (65)</a></li>
 518
 519  <li><a href="http://people.skolelinux.org/pere/blog/tags/stavekontroll">stavekontroll (6)</a></li>
 520
 521  <li><a href="http://people.skolelinux.org/pere/blog/tags/stortinget">stortinget (12)</a></li>
 522
 523  <li><a href="http://people.skolelinux.org/pere/blog/tags/surveillance">surveillance (56)</a></li>
 524
 525  <li><a href="http://people.skolelinux.org/pere/blog/tags/sysadmin">sysadmin (4)</a></li>
 526
 527  <li><a href="http://people.skolelinux.org/pere/blog/tags/usenix">usenix (2)</a></li>
 528
 529  <li><a href="http://people.skolelinux.org/pere/blog/tags/valg">valg (9)</a></li>
 530
 531  <li><a href="http://people.skolelinux.org/pere/blog/tags/verkidetfri">verkidetfri (15)</a></li>
 532
 533  <li><a href="http://people.skolelinux.org/pere/blog/tags/video">video (73)</a></li>
 534
 535  <li><a href="http://people.skolelinux.org/pere/blog/tags/vitenskap">vitenskap (4)</a></li>
 536
 537  <li><a href="http://people.skolelinux.org/pere/blog/tags/web">web (42)</a></li>
 538
 539 </ul>
 540
 541
 542     </div>
 543     <p style="text-align: right">
 544  Created by <a href="http://steve.org.uk/Software/chronicle">Chronicle v4.6</a>
 545 </p>
 546
 547   </body>
 548 </html>