Code : Robots : Balancing: Third version

The third version of the robots (spring 2011) uses John Hansen's Enhanced NXT firmware and some modifications to the bluetooth communication to improve stability. It also adds a reset button on the robot itself, allowing users to reset the robot without using the remote control or external devices.

To use this version, you need to install the following:

• the enhanced firmware
  This is an unpacked copy of version 128. You can install it from Linux by pressing the reset button on the NXT for 4 seconds, wait for the firmware beep and run
  

  sudo ./fwflash lms_arm_nbcnxc_1xx.rfw 

  fwflash is available in libnxt.
• The nxtway program (NXTway_GS_OSEK.rxe).
  You can install it from Linux by running:

  sudo ./NeXTTool /COM=usb -download=NXTway_GS_OSEK.rxe

In Windows, it should be possible to use the normal tools for installing NXT programs and firmware.

The source code for the updated version of the nxtway_gs is based on version 215 of nxtOSEK. If you want to recompile the program yourself, it should be enough to replace the original nxtway_gs.c in nxtOSEK-215/samples_c/nxtway_gs with this version.