#ROBOTC FOR LEGO MINDSTORMS HOW TO#
#ROBOTC FOR LEGO MINDSTORMS UPDATE#
#ROBOTC FOR LEGO MINDSTORMS DRIVER#
#ROBOTC FOR LEGO MINDSTORMS ARCHIVE#
#ROBOTC FOR LEGO MINDSTORMS CODE#

steering: This integer variable controls the tightness of the robot’s turn or its turn in place if not driving.

Note that in using these, you are not directly controlling the motors, you’re just sending inputs to the actual control code.

There are three variables that control the Segway’s movement.

Do not draw too much CPU power as it may conflict with the balancing task! That is, do not use empty while loops.

You can use regular loop, wait and other expressions but controlling movement should not be done with regular motor controls.

The comments in this file will tell you what you need to know for further customization.

To get going quickly, open and run “Segway-Explanation(Wall-Avoidance).c”.

You can just run normal programs as long as you keep the following things in mind.

#ROBOTC FOR LEGO MINDSTORMS DRIVER#

The Segway driver has been programmed so that you won’t have to worry about balancing.

#ROBOTC FOR LEGO MINDSTORMS CODE#

Now that you’ve successfully got your robot up and running, customize the code to make the robot move around.

#ROBOTC FOR LEGO MINDSTORMS HOW TO#

For more explanation on how to control your Segway, proceed to the next section.

The main task in the most basic Segway program This basic set of lines will form the core structure of your future programs based on this code.

When you’re done clapping your hands in excitement, have a look at the main task of your code.

If you use the IMU from Dexter Industries or Mindsensors or the Microinfinity Cruizcore, just hold your Segway upright and start the program.

If you configured the program to use the HiTechnic Gyro, follow the on-screen instructions.

Start the program on the NXT brick (Make sure your batteries are charged!).

When you’re done, press F5 (Compile and Download Program).

The large RCX tyres are 84 mm in diameter. The default is 42 mm for standard NXT 2.0 tyres.

Use your_wheel_diameter to let your code account for the robot’s wheel diameter.

Plug your sensor cable into this port, or replace S2 by S1, S3 or S4.

tSensors Gyro = S2 specifies which sensor port you connect your gyro sensor to.

If you use the HiTechnic, Mindsensors or Microinifnity sensor, simply comment out the one from Dexter Industries and uncomment your sensor. Presently, this example is configured to work with the dIMU sensor from Dexter Industries.

You use one of the first four lines to tell the program which gyro sensor you have.

Now consider the following code fragment that you see in your example program:.

#ROBOTC FOR LEGO MINDSTORMS ARCHIVE#

If you see (among other errors): **Severe*:Couldn’t open ‘#include’ file ‘segway-driver-lv.h, then the files in the zipped archive were not successfully unzipped to a single folder.

If you see (among other errors): **Severe*:Couldn’t open ‘#include’ file ‘drivers/DIMU-driver.h or MICC-driver.h, or similar, this means that the driver suite is not correctly installed.

If this gives errors, this may indicate that you did not correctly follow the preparation steps. Proceed to the next step if there are no errors. (This is in the folder you unzipped the downloaded archive to). Getting started: Balancing for the first time:īefore moving on to more advanced programs, we’ll first configure and run a simple program that will make the Segway balance and just stay in the same place.

Segway Driver and Example code (Unzip all files in there to one folder on your computer)Ģ.RobotC third party driver suite, version 3.1.1 or higher (Install as per instructions on that site!).

#ROBOTC FOR LEGO MINDSTORMS UPDATE#

If you are a new RobotC user, make sure you update the NXT firmware with RobotC.RobotC for Mindstorms, version 3.54 or higher (successfully tested with 3.54.).Mindsensors AbsoluteIMU-ACG (Sensor firmware 1.051.I am not affiliated with any of these vendors. When buying one of these, choose one that’s also suited for your other projects.

All sensors work equally well for this balancing application.

Requires one of the following Gyroscopic Sensors.

Requires one NXT set (any version will work).

LEGO MINDSTORMS NXT Anyway Robot (follow the instructions, then return here).

I’ve added comments to the programs that can replace this tutorial. Otherwise, proceed to programming the Segway with RobotC. If you are not comfortable with RobotC or if you’re not sure what you’re doing, consider programming your Segway using the original LEGO NXT-G Software. I recommend that you start here and modify your Segway only once you finish this tutorial - when you have a working Anyway Segway. Although you can use any type of LEGO NXT Segway with this code, I am assuming you will use the ‘Anyway’ platform. This tutorial will show you how to use and modify RobotC program code to create a working LEGO NXT Segway that you can customize as you like.

Robotc for lego mindstorms