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+ <title>Petter Reinholdtsen: Entries Tagged lego</title>
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+ <h1>
+ <a href="http://people.skolelinux.org/pere/blog/">Petter Reinholdtsen</a>
+
+ </h1>
+
+</div>
+
+
+ <h3>Entries tagged "lego".</h3>
+
+ <div class="entry">
+ <div class="title">
+ <a href="http://people.skolelinux.org/pere/blog/My_own_self_balancing_Lego_Segway.html">My own self balancing Lego Segway</a>
+ </div>
+ <div class="date">
+ 4th November 2016
+ </div>
+ <div class="body">
+ <p>A while back I received a Gyro sensor for the NXT
+<a href="mindstorms.lego.com">Mindstorms</a> controller as a birthday
+present. It had been on my wishlist for a while, because I wanted to
+build a Segway like balancing lego robot. I had already built
+<a href="http://www.nxtprograms.com/NXT2/segway/">a simple balancing
+robot</a> with the kids, using the light/color sensor included in the
+NXT kit as the balance sensor, but it was not working very well. It
+could balance for a while, but was very sensitive to the light
+condition in the room and the reflective properties of the surface and
+would fall over after a short while. I wanted something more robust,
+and had
+<a href="https://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NGY1044">the
+gyro sensor from HiTechnic</a> I believed would solve it on my
+wishlist for some years before it suddenly showed up as a gift from my
+loved ones. :)</p>
+
+<p>Unfortunately I have not had time to sit down and play with it
+since then. But that changed some days ago, when I was searching for
+lego segway information and came across a recipe from HiTechnic for
+building
+<a href="http://www.hitechnic.com/blog/gyro-sensor/htway/">the
+HTWay</a>, a segway like balancing robot. Build instructions and
+<a href="https://www.hitechnic.com/upload/786-HTWayC.nxc">source
+code</a> was included, so it was just a question of putting it all
+together. And thanks to the great work of many Debian developers, the
+compiler needed to build the source for the NXT is already included in
+Debian, so I was read to go in less than an hour. The resulting robot
+do not look very impressive in its simplicity:</p>
+
+<p align="center"><img width="70%" src="http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-robot.jpeg"></p>
+
+<p>Because I lack the infrared sensor used to control the robot in the
+design from HiTechnic, I had to comment out the last task
+(taskControl). I simply placed /* and */ around it get the program
+working without that sensor present. Now it balances just fine until
+the battery status run low:</p>
+
+<p align="center"><video width="70%" controls="true">
+ <source src="http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-balancing.ogv" type="video/ogg">
+</video></p>
+
+<p>Now we would like to teach it how to follow a line and take remote
+control instructions using the included Bluetooth receiver in the NXT.</p>
+
+<p>If you, like me, love LEGO and want to make sure we find the tools
+they need to work with LEGO in Debian and all our derivative
+distributions like Ubuntu, check out
+<a href="http://wiki.debian.org/LegoDesigners">the LEGO designers
+project page</a> and join the Debian LEGO team. Personally I own a
+RCX and NXT controller (no EV3), and would like to make sure the
+Debian tools needed to program the systems I own work as they
+should.</p>
+
+ </div>
+ <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>
+ </div>
+ <div class="padding"></div>
+
+ <div class="entry">
+ <div class="title">
+ <a href="http://people.skolelinux.org/pere/blog/Isenkram__Appstream_and_udev_make_life_as_a_LEGO_builder_easier.html">Isenkram, Appstream and udev make life as a LEGO builder easier</a>
+ </div>
+ <div class="date">
+ 7th October 2016
+ </div>
+ <div class="body">
+ <p><a href="http://packages.qa.debian.org/isenkram">The Isenkram
+system</a> provide a practical and easy way to figure out which
+packages support the hardware in a given machine. The command line
+tool <tt>isenkram-lookup</tt> and the tasksel options provide a
+convenient way to list and install packages relevant for the current
+hardware during system installation, both user space packages and
+firmware packages. The GUI background daemon on the other hand provide
+a pop-up proposing to install packages when a new dongle is inserted
+while using the computer. For example, if you plug in a smart card
+reader, the system will ask if you want to install <tt>pcscd</tt> if
+that package isn't already installed, and if you plug in a USB video
+camera the system will ask if you want to install <tt>cheese</tt> if
+cheese is currently missing. This already work just fine.</p>
+
+<p>But Isenkram depend on a database mapping from hardware IDs to
+package names. When I started no such database existed in Debian, so
+I made my own data set and included it with the isenkram package and
+made isenkram fetch the latest version of this database from git using
+http. This way the isenkram users would get updated package proposals
+as soon as I learned more about hardware related packages.</p>
+
+<p>The hardware is identified using modalias strings. The modalias
+design is from the Linux kernel where most hardware descriptors are
+made available as a strings that can be matched using filename style
+globbing. It handle USB, PCI, DMI and a lot of other hardware related
+identifiers.</p>
+
+<p>The downside to the Isenkram specific database is that there is no
+information about relevant distribution / Debian version, making
+isenkram propose obsolete packages too. But along came AppStream, a
+cross distribution mechanism to store and collect metadata about
+software packages. When I heard about the proposal, I contacted the
+people involved and suggested to add a hardware matching rule using
+modalias strings in the specification, to be able to use AppStream for
+mapping hardware to packages. This idea was accepted and AppStream is
+now a great way for a package to announce the hardware it support in a
+distribution neutral way. I wrote
+<a href="http://people.skolelinux.org/pere/blog/Using_appstream_with_isenkram_to_install_hardware_related_packages_in_Debian.html">a
+recipe on how to add such meta-information</a> in a blog post last
+December. If you have a hardware related package in Debian, please
+announce the relevant hardware IDs using AppStream.</p>
+
+<p>In Debian, almost all packages that can talk to a LEGO Mindestorms
+RCX or NXT unit, announce this support using AppStream. The effect is
+that when you insert such LEGO robot controller into your Debian
+machine, Isenkram will propose to install the packages needed to get
+it working. The intention is that this should allow the local user to
+start programming his robot controller right away without having to
+guess what packages to use or which permissions to fix.</p>
+
+<p>But when I sat down with my son the other day to program our NXT
+unit using his Debian Stretch computer, I discovered something
+annoying. The local console user (ie my son) did not get access to
+the USB device for programming the unit. This used to work, but no
+longer in Jessie and Stretch. After some investigation and asking
+around on #debian-devel, I discovered that this was because udev had
+changed the mechanism used to grant access to local devices. The
+ConsoleKit mechanism from <tt>/lib/udev/rules.d/70-udev-acl.rules</tt>
+no longer applied, because LDAP users no longer was added to the
+plugdev group during login. Michael Biebl told me that this method
+was obsolete and the new method used ACLs instead. This was good
+news, as the plugdev mechanism is a mess when using a remote user
+directory like LDAP. Using ACLs would make sure a user lost device
+access when she logged out, even if the user left behind a background
+process which would retain the plugdev membership with the ConsoleKit
+setup. Armed with this knowledge I moved on to fix the access problem
+for the LEGO Mindstorms related packages.</p>
+
+<p>The new system uses a udev tag, 'uaccess'. It can either be
+applied directly for a device, or is applied in
+/lib/udev/rules.d/70-uaccess.rules for classes of devices. As the
+LEGO Mindstorms udev rules did not have a class, I decided to add the
+tag directly in the udev rules files included in the packages. Here
+is one example. For the nqc C compiler for the RCX, the
+<tt>/lib/udev/rules.d/60-nqc.rules</tt> file now look like this:
+
+<p><pre>
+SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="0694", ATTR{idProduct}=="0001", \
+ SYMLINK+="rcx-%k", TAG+="uaccess"
+</pre></p>
+
+<p>The key part is the 'TAG+="uaccess"' at the end. I suspect all
+packages using plugdev in their /lib/udev/rules.d/ files should be
+changed to use this tag (either directly or indirectly via
+<tt>70-uaccess.rules</tt>). Perhaps a lintian check should be created
+to detect this?</p>
+
+<p>I've been unable to find good documentation on the uaccess feature.
+It is unclear to me if the uaccess tag is an internal implementation
+detail like the udev-acl tag used by
+<tt>/lib/udev/rules.d/70-udev-acl.rules</tt>. If it is, I guess the
+indirect method is the preferred way. Michael
+<a href="https://github.com/systemd/systemd/issues/4288">asked for more
+documentation from the systemd project</a> and I hope it will make
+this clearer. For now I use the generic classes when they exist and
+is already handled by <tt>70-uaccess.rules</tt>, and add the tag
+directly if no such class exist.</p>
+
+<p>To learn more about the isenkram system, please check out
+<a href="http://people.skolelinux.org/pere/blog/tags/isenkram/">my
+blog posts tagged isenkram</a>.</p>
+
+<p>To help out making life for LEGO constructors in Debian easier,
+please join us on our IRC channel
+<a href="irc://irc.debian.org/%23debian-lego">#debian-lego</a> and join
+the <a href="https://alioth.debian.org/projects/debian-lego/">Debian
+LEGO team</a> in the Alioth project we created yesterday. A mailing
+list is not yet created, but we are working on it. :)</p>
+
+<p>As usual, if you use Bitcoin and want to show your support of my
+activities, please send Bitcoin donations to my address
+<b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b&label=PetterReinholdtsenBlog">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
+
+ </div>
+ <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/isenkram">isenkram</a>, <a href="http://people.skolelinux.org/pere/blog/tags/lego">lego</a>.
+
+
+ </div>
+ </div>
+ <div class="padding"></div>
+
+ <div class="entry">
+ <div class="title">
+ <a href="http://people.skolelinux.org/pere/blog/Debian__the_Linux_distribution_of_choice_for_LEGO_designers_.html">Debian, the Linux distribution of choice for LEGO designers?</a>
+ </div>
+ <div class="date">
+ 11th May 2013
+ </div>
+ <div class="body">
+ <P>In January,
+<a href="http://people.skolelinux.org/pere/blog/New_IRC_channel_for_LEGO_designers_using_Debian.html">I
+announced a</a> new <a href="irc://irc.debian.org/%23debian-lego">IRC
+channel #debian-lego</a>, for those of us in the Debian and Linux
+community interested in <a href="http://www.lego.com/">LEGO</a>, the
+marvellous construction system from Denmark. We also created
+<a href="http://wiki.debian.org/LegoDesigners">a wiki page</a> to have
+a place to take notes and write down our plans and hopes. And several
+people showed up to help. I was very happy to see the effect of my
+call. Since the small start, we have a debtags tag
+<a href="http://debtags.debian.net/search/bytag?wl=hardware::hobby:lego">hardware::hobby:lego</a>
+tag for LEGO related packages, and now count 10 packages related to
+LEGO and <a href="http://mindstorms.lego.com/">Mindstorms</a>:</p>
+
+<p><table>
+<tr><td><a href="http://packages.qa.debian.org/brickos">brickos</a></td><td>alternative OS for LEGO Mindstorms RCX. Supports development in C/C++</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/leocad">leocad</a></td><td>virtual brick CAD software</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/libnxt">libnxt</a></td><td>utility library for talking to the LEGO Mindstorms NX</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/lnpd">lnpd</a></td><td>daemon for LNP communication with BrickOS</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/nbc">nbc</a></td><td>compiler for LEGO Mindstorms NXT bricks</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/nqc">nqc</a></td><td>Not Quite C compiler for LEGO Mindstorms RCX</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/python-nxt">python-nxt</a></td><td>python driver/interface/wrapper for the Lego Mindstorms NXT robot</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/python-nxt-filer">python-nxt-filer</a></td><td>simple GUI to manage files on a LEGO Mindstorms NXT</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/scratch">scratch</a></td><td>easy to use programming environment for ages 8 and up</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/t2n">t2n</a></td><td>simple command-line tool for Lego NXT</td></tr>
+</table></p>
+
+<p>Some of these are available in Wheezy, and all but one are
+currently available in Jessie/testing. leocad is so far only
+available in experimental.</p>
+
+<p>If you care about LEGO in Debian, please join us on IRC and help
+adding the rest of the great free software tools available on Linux
+for LEGO designers.</p>
+
+ </div>
+ <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>
+ </div>
+ <div class="padding"></div>
+
+ <div class="entry">
+ <div class="title">
+ <a href="http://people.skolelinux.org/pere/blog/New_IRC_channel_for_LEGO_designers_using_Debian.html">New IRC channel for LEGO designers using Debian</a>
+ </div>
+ <div class="date">
+ 2nd January 2013
+ </div>
+ <div class="body">
+ <p>During Christmas, I have worked a bit on the Debian support for
+<a href="http://mindstorms.lego.com/en-us/Default.aspx">LEGO Mindstorm
+NXT</a>. My son and I have played a bit with my NXT set, and I
+discovered I had to build all the tools myself because none were
+already in Debian Squeeze. If Debian support for LEGO is something
+you care about, please join me on the IRC channel
+<a href="irc://irc.debian.org/%23debian-lego">#debian-lego</a> (server
+irc.debian.org). There is a lot that could be done to improve the
+Debian support for LEGO designers. For example both CAD software
+and Mindstorm compilers are missing. :)</p>
+
+<p>Update 2012-01-03: A
+<a href="http://wiki.debian.org/LegoDesigners">project page</a>
+including links to Lego related packages is now available.</p>
+
+ </div>
+ <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>
+ </div>
+ <div class="padding"></div>
+
+ <p style="text-align: right;"><a href="lego.rss"><img src="http://people.skolelinux.org/pere/blog/xml.gif" alt="RSS Feed" width="36" height="14" /></a></p>
+ <div id="sidebar">
+
+
+
+<h2>Archive</h2>
+<ul>
+
+<li>2017
+<ul>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2017/01/">January (4)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2017/02/">February (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2017/03/">March (5)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2017/04/">April (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2017/06/">June (5)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2017/07/">July (1)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2017/08/">August (1)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2017/09/">September (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2017/10/">October (5)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2017/11/">November (1)</a></li>
+
+</ul></li>
+
+<li>2016
+<ul>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/01/">January (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/02/">February (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/03/">March (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/04/">April (8)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/05/">May (8)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/06/">June (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/07/">July (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/08/">August (5)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/09/">September (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/10/">October (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/11/">November (8)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2016/12/">December (5)</a></li>
+
+</ul></li>
+
+<li>2015
+<ul>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/01/">January (7)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/02/">February (6)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/03/">March (1)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/04/">April (4)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/05/">May (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/06/">June (4)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/07/">July (6)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/08/">August (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/09/">September (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/10/">October (9)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/11/">November (6)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2015/12/">December (3)</a></li>
+
+</ul></li>
+
+<li>2014
+<ul>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/01/">January (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/02/">February (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/03/">March (8)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/04/">April (7)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/05/">May (1)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/06/">June (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/07/">July (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/08/">August (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/09/">September (5)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/10/">October (6)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/11/">November (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2014/12/">December (5)</a></li>
+
+</ul></li>
+
+<li>2013
+<ul>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/01/">January (11)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/02/">February (9)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/03/">March (9)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/04/">April (6)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/05/">May (9)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/06/">June (10)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/07/">July (7)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/08/">August (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/09/">September (5)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/10/">October (7)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/11/">November (9)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2013/12/">December (3)</a></li>
+
+</ul></li>
+
+<li>2012
+<ul>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/01/">January (7)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/02/">February (10)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/03/">March (17)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/04/">April (12)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/05/">May (12)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/06/">June (20)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/07/">July (17)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/08/">August (6)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/09/">September (9)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/10/">October (17)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/11/">November (10)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2012/12/">December (7)</a></li>
+
+</ul></li>
+
+<li>2011
+<ul>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/01/">January (16)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/02/">February (6)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/03/">March (6)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/04/">April (7)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/05/">May (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/06/">June (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/07/">July (7)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/08/">August (6)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/09/">September (4)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/10/">October (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/11/">November (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2011/12/">December (1)</a></li>
+
+</ul></li>
+
+<li>2010
+<ul>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/01/">January (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/02/">February (1)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/03/">March (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/04/">April (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/05/">May (9)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/06/">June (14)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/07/">July (12)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/08/">August (13)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/09/">September (7)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/10/">October (9)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/11/">November (13)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2010/12/">December (12)</a></li>
+
+</ul></li>
+
+<li>2009
+<ul>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/01/">January (8)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/02/">February (8)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/03/">March (12)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/04/">April (10)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/05/">May (9)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/06/">June (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/07/">July (4)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/08/">August (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/09/">September (1)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/10/">October (2)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/11/">November (3)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2009/12/">December (3)</a></li>
+
+</ul></li>
+
+<li>2008
+<ul>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2008/11/">November (5)</a></li>
+
+<li><a href="http://people.skolelinux.org/pere/blog/archive/2008/12/">December (7)</a></li>
+
+</ul></li>
+
+</ul>
+
+
+
+<h2>Tags</h2>
+<ul>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/3d-printer">3d-printer (14)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/amiga">amiga (1)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/aros">aros (1)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/bankid">bankid (4)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/bitcoin">bitcoin (9)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/bootsystem">bootsystem (16)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/bsa">bsa (2)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/chrpath">chrpath (2)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/debian">debian (154)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/debian edu">debian edu (158)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/debian-handbook">debian-handbook (4)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/digistan">digistan (10)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/dld">dld (17)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/docbook">docbook (24)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/drivstoffpriser">drivstoffpriser (4)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/english">english (358)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/fiksgatami">fiksgatami (23)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/fildeling">fildeling (12)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/freeculture">freeculture (30)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/freedombox">freedombox (9)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/frikanalen">frikanalen (18)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/h264">h264 (20)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/intervju">intervju (42)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/isenkram">isenkram (15)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/kart">kart (20)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/ldap">ldap (9)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/lego">lego (4)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/lenker">lenker (8)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/lsdvd">lsdvd (2)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/ltsp">ltsp (1)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/mesh network">mesh network (8)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/multimedia">multimedia (39)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/nice free software">nice free software (9)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/norsk">norsk (293)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/nuug">nuug (189)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/offentlig innsyn">offentlig innsyn (33)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/open311">open311 (2)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/opphavsrett">opphavsrett (65)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/personvern">personvern (104)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/raid">raid (2)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/reactos">reactos (1)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/reprap">reprap (11)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/rfid">rfid (3)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/robot">robot (10)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/rss">rss (1)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/ruter">ruter (5)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/scraperwiki">scraperwiki (2)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/sikkerhet">sikkerhet (53)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/sitesummary">sitesummary (4)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/skepsis">skepsis (5)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/standard">standard (55)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/stavekontroll">stavekontroll (6)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/stortinget">stortinget (12)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/surveillance">surveillance (52)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/sysadmin">sysadmin (4)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/usenix">usenix (2)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/valg">valg (9)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/video">video (59)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/vitenskap">vitenskap (4)</a></li>
+
+ <li><a href="http://people.skolelinux.org/pere/blog/tags/web">web (40)</a></li>
+
+</ul>
+
+
+ </div>
+ <p style="text-align: right">
+ Created by <a href="http://steve.org.uk/Software/chronicle">Chronicle v4.6</a>
+</p>
+
+ </body>
+</html>
--- /dev/null
+<?xml version="1.0" encoding="utf-8"?>
+<rss version='2.0' xmlns:lj='http://www.livejournal.org/rss/lj/1.0/'>
+ <channel>
+ <title>Petter Reinholdtsen - Entries tagged lego</title>
+ <description>Entries tagged lego</description>
+ <link>http://people.skolelinux.org/pere/blog/</link>
+
+
+ <item>
+ <title>My own self balancing Lego Segway</title>
+ <link>http://people.skolelinux.org/pere/blog/My_own_self_balancing_Lego_Segway.html</link>
+ <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/My_own_self_balancing_Lego_Segway.html</guid>
+ <pubDate>Fri, 4 Nov 2016 10:15:00 +0100</pubDate>
+ <description><p>A while back I received a Gyro sensor for the NXT
+<a href="mindstorms.lego.com">Mindstorms</a> controller as a birthday
+present. It had been on my wishlist for a while, because I wanted to
+build a Segway like balancing lego robot. I had already built
+<a href="http://www.nxtprograms.com/NXT2/segway/">a simple balancing
+robot</a> with the kids, using the light/color sensor included in the
+NXT kit as the balance sensor, but it was not working very well. It
+could balance for a while, but was very sensitive to the light
+condition in the room and the reflective properties of the surface and
+would fall over after a short while. I wanted something more robust,
+and had
+<a href="https://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NGY1044">the
+gyro sensor from HiTechnic</a> I believed would solve it on my
+wishlist for some years before it suddenly showed up as a gift from my
+loved ones. :)</p>
+
+<p>Unfortunately I have not had time to sit down and play with it
+since then. But that changed some days ago, when I was searching for
+lego segway information and came across a recipe from HiTechnic for
+building
+<a href="http://www.hitechnic.com/blog/gyro-sensor/htway/">the
+HTWay</a>, a segway like balancing robot. Build instructions and
+<a href="https://www.hitechnic.com/upload/786-HTWayC.nxc">source
+code</a> was included, so it was just a question of putting it all
+together. And thanks to the great work of many Debian developers, the
+compiler needed to build the source for the NXT is already included in
+Debian, so I was read to go in less than an hour. The resulting robot
+do not look very impressive in its simplicity:</p>
+
+<p align="center"><img width="70%" src="http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-robot.jpeg"></p>
+
+<p>Because I lack the infrared sensor used to control the robot in the
+design from HiTechnic, I had to comment out the last task
+(taskControl). I simply placed /* and */ around it get the program
+working without that sensor present. Now it balances just fine until
+the battery status run low:</p>
+
+<p align="center"><video width="70%" controls="true">
+ <source src="http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-balancing.ogv" type="video/ogg">
+</video></p>
+
+<p>Now we would like to teach it how to follow a line and take remote
+control instructions using the included Bluetooth receiver in the NXT.</p>
+
+<p>If you, like me, love LEGO and want to make sure we find the tools
+they need to work with LEGO in Debian and all our derivative
+distributions like Ubuntu, check out
+<a href="http://wiki.debian.org/LegoDesigners">the LEGO designers
+project page</a> and join the Debian LEGO team. Personally I own a
+RCX and NXT controller (no EV3), and would like to make sure the
+Debian tools needed to program the systems I own work as they
+should.</p>
+</description>
+ </item>
+
+ <item>
+ <title>Isenkram, Appstream and udev make life as a LEGO builder easier</title>
+ <link>http://people.skolelinux.org/pere/blog/Isenkram__Appstream_and_udev_make_life_as_a_LEGO_builder_easier.html</link>
+ <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/Isenkram__Appstream_and_udev_make_life_as_a_LEGO_builder_easier.html</guid>
+ <pubDate>Fri, 7 Oct 2016 09:50:00 +0200</pubDate>
+ <description><p><a href="http://packages.qa.debian.org/isenkram">The Isenkram
+system</a> provide a practical and easy way to figure out which
+packages support the hardware in a given machine. The command line
+tool <tt>isenkram-lookup</tt> and the tasksel options provide a
+convenient way to list and install packages relevant for the current
+hardware during system installation, both user space packages and
+firmware packages. The GUI background daemon on the other hand provide
+a pop-up proposing to install packages when a new dongle is inserted
+while using the computer. For example, if you plug in a smart card
+reader, the system will ask if you want to install <tt>pcscd</tt> if
+that package isn't already installed, and if you plug in a USB video
+camera the system will ask if you want to install <tt>cheese</tt> if
+cheese is currently missing. This already work just fine.</p>
+
+<p>But Isenkram depend on a database mapping from hardware IDs to
+package names. When I started no such database existed in Debian, so
+I made my own data set and included it with the isenkram package and
+made isenkram fetch the latest version of this database from git using
+http. This way the isenkram users would get updated package proposals
+as soon as I learned more about hardware related packages.</p>
+
+<p>The hardware is identified using modalias strings. The modalias
+design is from the Linux kernel where most hardware descriptors are
+made available as a strings that can be matched using filename style
+globbing. It handle USB, PCI, DMI and a lot of other hardware related
+identifiers.</p>
+
+<p>The downside to the Isenkram specific database is that there is no
+information about relevant distribution / Debian version, making
+isenkram propose obsolete packages too. But along came AppStream, a
+cross distribution mechanism to store and collect metadata about
+software packages. When I heard about the proposal, I contacted the
+people involved and suggested to add a hardware matching rule using
+modalias strings in the specification, to be able to use AppStream for
+mapping hardware to packages. This idea was accepted and AppStream is
+now a great way for a package to announce the hardware it support in a
+distribution neutral way. I wrote
+<a href="http://people.skolelinux.org/pere/blog/Using_appstream_with_isenkram_to_install_hardware_related_packages_in_Debian.html">a
+recipe on how to add such meta-information</a> in a blog post last
+December. If you have a hardware related package in Debian, please
+announce the relevant hardware IDs using AppStream.</p>
+
+<p>In Debian, almost all packages that can talk to a LEGO Mindestorms
+RCX or NXT unit, announce this support using AppStream. The effect is
+that when you insert such LEGO robot controller into your Debian
+machine, Isenkram will propose to install the packages needed to get
+it working. The intention is that this should allow the local user to
+start programming his robot controller right away without having to
+guess what packages to use or which permissions to fix.</p>
+
+<p>But when I sat down with my son the other day to program our NXT
+unit using his Debian Stretch computer, I discovered something
+annoying. The local console user (ie my son) did not get access to
+the USB device for programming the unit. This used to work, but no
+longer in Jessie and Stretch. After some investigation and asking
+around on #debian-devel, I discovered that this was because udev had
+changed the mechanism used to grant access to local devices. The
+ConsoleKit mechanism from <tt>/lib/udev/rules.d/70-udev-acl.rules</tt>
+no longer applied, because LDAP users no longer was added to the
+plugdev group during login. Michael Biebl told me that this method
+was obsolete and the new method used ACLs instead. This was good
+news, as the plugdev mechanism is a mess when using a remote user
+directory like LDAP. Using ACLs would make sure a user lost device
+access when she logged out, even if the user left behind a background
+process which would retain the plugdev membership with the ConsoleKit
+setup. Armed with this knowledge I moved on to fix the access problem
+for the LEGO Mindstorms related packages.</p>
+
+<p>The new system uses a udev tag, 'uaccess'. It can either be
+applied directly for a device, or is applied in
+/lib/udev/rules.d/70-uaccess.rules for classes of devices. As the
+LEGO Mindstorms udev rules did not have a class, I decided to add the
+tag directly in the udev rules files included in the packages. Here
+is one example. For the nqc C compiler for the RCX, the
+<tt>/lib/udev/rules.d/60-nqc.rules</tt> file now look like this:
+
+<p><pre>
+SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="0694", ATTR{idProduct}=="0001", \
+ SYMLINK+="rcx-%k", TAG+="uaccess"
+</pre></p>
+
+<p>The key part is the 'TAG+="uaccess"' at the end. I suspect all
+packages using plugdev in their /lib/udev/rules.d/ files should be
+changed to use this tag (either directly or indirectly via
+<tt>70-uaccess.rules</tt>). Perhaps a lintian check should be created
+to detect this?</p>
+
+<p>I've been unable to find good documentation on the uaccess feature.
+It is unclear to me if the uaccess tag is an internal implementation
+detail like the udev-acl tag used by
+<tt>/lib/udev/rules.d/70-udev-acl.rules</tt>. If it is, I guess the
+indirect method is the preferred way. Michael
+<a href="https://github.com/systemd/systemd/issues/4288">asked for more
+documentation from the systemd project</a> and I hope it will make
+this clearer. For now I use the generic classes when they exist and
+is already handled by <tt>70-uaccess.rules</tt>, and add the tag
+directly if no such class exist.</p>
+
+<p>To learn more about the isenkram system, please check out
+<a href="http://people.skolelinux.org/pere/blog/tags/isenkram/">my
+blog posts tagged isenkram</a>.</p>
+
+<p>To help out making life for LEGO constructors in Debian easier,
+please join us on our IRC channel
+<a href="irc://irc.debian.org/%23debian-lego">#debian-lego</a> and join
+the <a href="https://alioth.debian.org/projects/debian-lego/">Debian
+LEGO team</a> in the Alioth project we created yesterday. A mailing
+list is not yet created, but we are working on it. :)</p>
+
+<p>As usual, if you use Bitcoin and want to show your support of my
+activities, please send Bitcoin donations to my address
+<b><a href="bitcoin:15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b&label=PetterReinholdtsenBlog">15oWEoG9dUPovwmUL9KWAnYRtNJEkP1u1b</a></b>.</p>
+</description>
+ </item>
+
+ <item>
+ <title>Debian, the Linux distribution of choice for LEGO designers?</title>
+ <link>http://people.skolelinux.org/pere/blog/Debian__the_Linux_distribution_of_choice_for_LEGO_designers_.html</link>
+ <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/Debian__the_Linux_distribution_of_choice_for_LEGO_designers_.html</guid>
+ <pubDate>Sat, 11 May 2013 20:30:00 +0200</pubDate>
+ <description><P>In January,
+<a href="http://people.skolelinux.org/pere/blog/New_IRC_channel_for_LEGO_designers_using_Debian.html">I
+announced a</a> new <a href="irc://irc.debian.org/%23debian-lego">IRC
+channel #debian-lego</a>, for those of us in the Debian and Linux
+community interested in <a href="http://www.lego.com/">LEGO</a>, the
+marvellous construction system from Denmark. We also created
+<a href="http://wiki.debian.org/LegoDesigners">a wiki page</a> to have
+a place to take notes and write down our plans and hopes. And several
+people showed up to help. I was very happy to see the effect of my
+call. Since the small start, we have a debtags tag
+<a href="http://debtags.debian.net/search/bytag?wl=hardware::hobby:lego">hardware::hobby:lego</a>
+tag for LEGO related packages, and now count 10 packages related to
+LEGO and <a href="http://mindstorms.lego.com/">Mindstorms</a>:</p>
+
+<p><table>
+<tr><td><a href="http://packages.qa.debian.org/brickos">brickos</a></td><td>alternative OS for LEGO Mindstorms RCX. Supports development in C/C++</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/leocad">leocad</a></td><td>virtual brick CAD software</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/libnxt">libnxt</a></td><td>utility library for talking to the LEGO Mindstorms NX</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/lnpd">lnpd</a></td><td>daemon for LNP communication with BrickOS</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/nbc">nbc</a></td><td>compiler for LEGO Mindstorms NXT bricks</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/nqc">nqc</a></td><td>Not Quite C compiler for LEGO Mindstorms RCX</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/python-nxt">python-nxt</a></td><td>python driver/interface/wrapper for the Lego Mindstorms NXT robot</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/python-nxt-filer">python-nxt-filer</a></td><td>simple GUI to manage files on a LEGO Mindstorms NXT</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/scratch">scratch</a></td><td>easy to use programming environment for ages 8 and up</td></tr>
+<tr><td><a href="http://packages.qa.debian.org/t2n">t2n</a></td><td>simple command-line tool for Lego NXT</td></tr>
+</table></p>
+
+<p>Some of these are available in Wheezy, and all but one are
+currently available in Jessie/testing. leocad is so far only
+available in experimental.</p>
+
+<p>If you care about LEGO in Debian, please join us on IRC and help
+adding the rest of the great free software tools available on Linux
+for LEGO designers.</p>
+</description>
+ </item>
+
+ <item>
+ <title>New IRC channel for LEGO designers using Debian</title>
+ <link>http://people.skolelinux.org/pere/blog/New_IRC_channel_for_LEGO_designers_using_Debian.html</link>
+ <guid isPermaLink="true">http://people.skolelinux.org/pere/blog/New_IRC_channel_for_LEGO_designers_using_Debian.html</guid>
+ <pubDate>Wed, 2 Jan 2013 15:40:00 +0100</pubDate>
+ <description><p>During Christmas, I have worked a bit on the Debian support for
+<a href="http://mindstorms.lego.com/en-us/Default.aspx">LEGO Mindstorm
+NXT</a>. My son and I have played a bit with my NXT set, and I
+discovered I had to build all the tools myself because none were
+already in Debian Squeeze. If Debian support for LEGO is something
+you care about, please join me on the IRC channel
+<a href="irc://irc.debian.org/%23debian-lego">#debian-lego</a> (server
+irc.debian.org). There is a lot that could be done to improve the
+Debian support for LEGO designers. For example both CAD software
+and Mindstorm compilers are missing. :)</p>
+
+<p>Update 2012-01-03: A
+<a href="http://wiki.debian.org/LegoDesigners">project page</a>
+including links to Lego related packages is now available.</p>
+</description>
+ </item>
+
+ </channel>
+</rss>
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