LEGO MINDSTORMS NXT Segway C API

NXTway-GS (Gyro Sensor): There are many NXTway using HiTechnic Gyro Sensor in the web (most famous and the original one is Ryo Watanabe's NXTway-G). nxtOSEK version of NXTway with HiTechinic Gyro Sensor which is called NXTway-GS shows excellent performance (very robust against disturbance, runs and turns on flat floor/slope/rough road controlled by Bluetooth based R/C). Application program of NXTway-GS is designed in Embedded Coder Robot NXT and automatically generated floating point ANSI-C source code with nxtOSEK is implemented into the robot. Detailed informatin about NXTway-GS (e.g. equation of motion, physical dynamics, and building instructions) is available as pdf documents and Simulink model at here.
2008/10: NXTway-GS C API is available in nxtOSEK v2.03.

위의 세그웨이를 만드려면 9만원짜리 HiTechnic Gyro Sensor 가 필요하다는 사실...ㅠㅠ