Python Segway Balancer Simulation

Hey! Enki has moved his blog to Armyofevilrobots.com. Check it out after you are done here. This page is going nowhere though...

For the guy at the robotics club meeting (sorry, I didn't get your name), here is the newest version of the python balancer code, with the Open Dynamics Engine backend. Not a lot has happened on this robot, but I have started on a new control board that uses integrated H-Bridge ICs, and an atMega162 controller. I have ditched Microchip brand controllers completely after experiencing the love that is the GCC/AVR toolchain.

Filters are all simple accumulator based low pass filters.

You will also need to install the following deps, on top of Python:

• pyODE (for motion and collision simulation)
• pyGame (for the display)
• pyOpenGL (for the 3D)
• CGKit (for the matrix operations)