How many legs does R2D2 have, 2 or 3 ?
What is best ?
Try it for your self by building a robot that can run on 2 or 3 wheels. This is the software for running and controlling such a robot based on the lego mindstorm nxt kit.
When starting the app you are presented with three options, Drive, Balance and Advanced.

Aplicación / juego con la misma funcionalidad: Türkisch lernen & sprechen

The drive option works for any kind of nxt based robot with motors connected to the B and C port. The only requirement is that the nxt is on. The robot is controlled by tilting the android device.
The other options require a self blancing robot. Building instructions for a R2D2 like self balancing robot is posted at http://www.olaochelliot.com/page6.html
Also the software for a self balancing robot with 2 wheels can be found there.
The advanced option can be used to control a self balancing robot with an arm. Instructions for a R2D2 robot with ar is posted at http://www.olaochelliot.com/page7.html

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