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Joined: Thu Jan 27, 2011 5:21 pm


Postby galefabio » Thu Jan 27, 2011 5:22 pm

Hi, I would like some information about the 'NXTway-GS:

I mounted the robot as pdf, with the only difference that I have small wheels.

I also installed the OSEK firmware, and compile and run the source.

When I start up, with no connection to the controller, just to do it standing up,
happens to me as follows:

- fails to balance, as if the sensor is not calibrated.
- can not stand, as if the wheels did little effort.
- then when it fails to scale to drive the wheels and no longer stop.

Thank you in advance for your reply.

Fabio Galeppi

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Posts: 4
Joined: Fri Feb 04, 2011 7:20 pm

Postby lukeyes » Fri Feb 04, 2011 7:58 pm

I am not too familiar with the NXTWay GS, but your use of OSEK tipped me off as to why you haven't received any replies.

Have you looked into the previous forum posts about building a Segway using lejos? There is a lot of good information here. Also, since this is a Lejos forum, I would imagine that you would get better replies.

Especially since I am thinking of building a NXT Segway myself!

Good luck,

New User
Posts: 1
Joined: Fri May 20, 2011 5:14 pm

Re: NXTway-GS

Postby rajsteverink » Fri May 20, 2011 5:39 pm


I experienced the same problem.
I think it is caused bij the fact that I used the wheels from the lego package for the NXT 2.0

The program for the NXTWAY_GS is developped for two type of wheels. The bigger motorcycle wheels and the smaller NXT wheels.

The physical dimensions of the wheels are important for a good behaviour of the robot (see file "balancer_param.c"). You can specify in the MAKEFILE for the NXTWAY_GS robot whether you use the different type of wheels. I searched the Internet for the specific values for the NXT 2.0 wheels. I did not find anything.

If anyone has some experience on using other type of wheels please reply to me.


Walt White
Posts: 44
Joined: Sun Aug 06, 2006 11:57 pm
Location: California Central Valley

Re: NXTway-GS

Postby Walt White » Sat May 21, 2011 6:50 pm

Try the new Segway class in the Navigation package of release 0.9.0. The constructor expects wheel diameter as a parameter.

I just got it working this morning. It isn't stable on a desktop, but is stable on carpet.

My code:

Code: Select all

import lejos.nxt.*;
import lejos.nxt.addon.GyroSensor;
import lejos.robotics.navigation.*;

public class SegwayDemo {

   private static NXTMotor mA = new NXTMotor(MotorPort.A);
   private static NXTMotor mC = new NXTMotor(MotorPort.C);
   private static GyroSensor gs = new GyroSensor(SensorPort.S1);
   private static double wheelDiam = 5.6;  // NXT 1.0 kit wheels
   private static Segway mySeg = new Segway(mC, mA, gs, wheelDiam);
   public static void main(String[] args) {


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