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Robot segway simulator.
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gabalz/segway
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This project is deprecated, to bring it back to life it needs: - update to some code changes in the jmatrix library - major update from the LWJGL 2 library to the current one ------------------------------------------------------------------------------- A robot segway simulator with OpenGL visualization. Project home : https://gabalz.github.io/segway.html Source code : https://github.com/gabalz/segway In the simulator, one can control a robot segway on a flat terrain. The robot is equipped with a rate gyroscope, 2 DC motors and 3 IR sensors. The code provides a slightly modified version of the HTWay controller and an adaptive particle filter for localization (D. Fox: KLD-Sampling: Adaptive Particle Filters, 2001). ------------------------------------------------------------------------------- Using a non-default java: Just simply set the JAVA_HOME variable. Using bash: export JAVA_HOME=/.../jdk<version> export PATH=$JAVA_HOME/bin:$PATH Tested with the following libraries and java versions: LWJGL 2.9.1 (http://legacy.lwjgl.org/) http://icedtea.classpath.org OpenJDK Runtime Environment (IcedTea6 1.13.3) (Gentoo build 1.6.0_31-b31) OpenJDK 64-Bit Server VM (build 23.25-b01, mixed mode) http://www.oracle.com/java Java(TM) SE Runtime Environment (build 1.7.0_67-b01) Java HotSpot(TM) 64-Bit Server VM (build 24.65-b04, mixed mode) Java(TM) SE Runtime Environment (build 1.8.0_11-b12) Java HotSpot(TM) 64-Bit Server VM (build 25.11-b03, mixed mode) Compiling the source: Download and unzip lwjgl-2.9.1.zip in the lib directory. Then issue: ant compile Running the code: remote control without localization: ant drive remote control with localization: ant localize keys and mouse control: space : run/pause left/right/up/down : drive the segway escape : exit left click + move mouse : rotate around view center middle click + move mouse : zoom in/out right click + move mouse : translate view center position Cleaning the source (delete binaries): ant clean
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