Robot segway simulator.
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README

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