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A self-balancing, ball tracking robot built using:

  • The Lego NXT robotics kit
  • The nxtOSEK development platform.
  • The NXTway-GS API.
  • The GyroSensor module for the NXT.
  • The NxtCam Camera module for the NXT.
  • Eclipse Platform CDT (Version: 3.4.1 Build id: M20080911-1700)

more videos available here

All source code is available in the svn repository, follow instructions here.
Or browse here.

Feel free to contact me at NxtJohnny5@removethis.gmail.com if you have questions, want to report bugs/improvements or want to help with this project!

Roadmap:

  • Improve stability by tweaking the four magical parameters of the balancer.
  • Faster tracking using a simple model of ball displacement.
  • Code a kick-and-follow-ball behaviour.

cheers :-)

Loic Royer

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