leJOS Segway with Accelerometer and Gyro

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leJOS Segway with Accelerometer and Gyro

Postby gloomyandy » Sun Apr 13, 2008 8:54 pm

Folks,
I've finally got around to posting a video of my take on the classic NXT Segway:
http://www.youtube.com/watch?v=0i2xDFbNJBw
My version uses a combination of an accelerometer (homemade), and a HiTechnic gyro to sense the angle/movement of the robot. The values from these sensors are fused using a Kalman filter and the result is used to drive a PID motor controller. The Robot is pretty stable and will stand around longer than I can be bothered to wait! It also responds well to being pushed around. I've experimented with making it move backwards/forwards and turn, but that work is not complete yet....

Andy
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Postby 99jonathan » Mon Apr 14, 2008 3:39 am

Sweet!
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Postby gloomyandy » Wed Apr 16, 2008 9:49 pm

I've uploaded a copy of the source for this project here
http://www.gloomy-place.com/legoindex.htm

Andy
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Postby kirkpthompson » Tue Apr 29, 2008 1:05 pm

Nice work Andy!

-K
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