My Self-Balancing Scooter

Since several people have expressed interest in more detail on my home-built Segway, I figured I'd put up a bit more detail until I can truly document the process of making one.

  • It uses motors and wheels from a Quickie P300 wheelchair, though they're 20 years old I don't know if they can still be found anywhere. However any wheelchair motors should suffice. The primary key in motor selection is to minimize gear slop.
  • The motors are driven by a Sabertooth 2x25motor driver, controlled via R/C servo PWM from the Tilty Duo. I also use a modified version of the servo library to increase the update frequency from 50x a second to 200x. It greatly smoothed out motor response and I'll include it with the TiltyIMU software libraries.
  • Steering is read by a potentiometer attached to the base of the steering handle using a custom machined mount. Though the same system can be built with just a hack saw and a drill.
  • The software is simple, no seriously advanced math is needed (such as is used by Kalman filters). All of the sensor measurement and integration is taken care of on the motion sensor and in the sensor's software library where you don't need to worry about it. Though the sensor can be read directly if you want to develop your own control system.

Back to Tilty Duo