A positive angle means that the robot is tilting forwards, and a negative angle means it is tilting backwards. An angle value of zero means that the robot is perfect upright. The angle is how much the robot tilts forward or backwards and the angle velocity is how fast it falls. From the gyro sensor we get the angle velocity. To balance the robot we need readings from the gyro sensor and from the motors. This means that the control programs for these robots are unsuitable for GyroBoy, and can only serve as an inspiration. The anatomies of the robots are also different from GyroBoy.
This kit is an earlier generation of the EV3 kit and has a different computer and a bit different sensors. All of these robots are built from the LEGO Mindstorms NXT kit. It uses a feedback control loop that continuously computes motor power based on the robots position and how much it tilts.Ī few other Segway-like LEGO robots have been implemented in Java with the leJOS class library. The act of balancing the robot is very similar to that of balancing a Segway.
I use leJOS version 0.9.0.Ĭomplete source code can be found on Github: Recent work For program development I have a Windows Laptop with Eclipse Neon IDE. I have a 32 MB Micro SD card from Kingston, and I use the Edimax n150 nano Wi-Fi dongle. In addition to the Core set, you’ll need a SD card for the leJOS installation and a Wi-Fi dongle. Hence, they are not described further in this article. GyroBoy also makes use of a few other sensors and motors that do not take part in balancing the robot. You can also find them on Robotsquare.įrom the core set GyroBoy uses the EV3 gyro sensor and two large EV3 motors.
Building instructions comes with the Core set. This set is somewhat cheaper, but it does not include the gyro sensor needed to keep the robot upright. Please note that there also exists a retail set with product number 31313. To build GyroBoy you need the LEGO Mindstorms EV3 Core Education Set. The robot is 23 cm high and weighs 822 gram.