Segway balancing with Dexter Industries IMU Sensor

Recently I have been reprogramming my NXT Segway. The code is now much cleaner, and it also made it easier to implement Dexter Industries' latest sensor, the 6DOF IMU. The Segway runs around the room while avoiding objects with its ultrasonic sensor. This isn't new, but it's a nice demonstration of Dexter's new sensor.

In this robot I'm just using one "Degree of Freedom", namely one gyro axis. Other axes could be used for elementary navigation like making a 90-degree turn. The acceleration sensor could help determining whether the robot has run into an obstacle. Much interesting work left to do here!