Right-click your bluetooth icon.
Choose Join a Personal Area Network
Right-click EV3.
Connect via Access Point
In eclipse run as > Lejos program
make sure Gyrobro is face down for sensor reset
wait until the first beep
after the first beep raise him up and balance him as evenly as possible
while balancing, press enter
Let go...adjust reference angle as necessary, see below
Buttons:
-Escape = quit
-Left = reduce reference angle (if he starts leaning, this is useful)
-Right = increase reference angle (if he starts leaning, this is useful)
code based heavily on PID function here http://www.robotc.net/forums/viewtopic.php?f=1&t=9673