Construction of a self-balancing robot, as specified in [lesson plan 5](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson5.dir/Lesson.html).
[lesson plan 5](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson5.dir/Lesson.html).
## Plan
## Plan
As suggested in the lesson plan, we plan to use Philippe Hurbain's NXTway [1] and Brian Bagnall's balancing robot as inspiration.
In this lab session we will try to make a self-balancing LEGO robot inspired by Steve Hassenplug's origional Legway controlled by the RCX, [2]. Two examples of self-balancing robots controlled by the NXT is Philippe Hurbain's NXTway, [3], and Brian Bagnall's balancing robot, [4].
Self-balancing robot with light sensor
Use the LEGO model suggested by Phillippe Hurbain, [3], and the java program from Brian Bagnall, [4] to start experiments with a self-balancing robot. Under the headline Usage Phillippe Hurbain describes under which conditions the NXTway works best. Try to follow some of his advices.
## Results
## Results
## Conclusion
## Conclusion
## References
## References
[1] Construction tutorial, step by step with parts listed: [ NXTway building instructions](http://www.philohome.com/nxtway/bi_nxtway.htm)
[1] Philippe Hurbain, [NXTway](http://www.philohome.com/nxtway/nxtway.htm)
[2] Construction tutorial, step by step with parts listed: [ NXTway building instructions](http://www.philohome.com/nxtway/bi_nxtway.htm)
[2] Construction tutorial with images: [CAMILLA](CAMILLA.URL.NET)
[3] Construction tutorial with images: [CAMILLA](CAMILLA.URL.NET)
