SegBoard / SideWay - self balancing two-wheeled skateboard
![JasonDorie](https://forums.parallax.com/uploads/userpics/602/nWFP112UNWGYR.jpg)
This is still a work in progress, but it's far enough along to show it now.
It's a two-wheeled, self-balancing, electric "skateboard" thing. The brain is a Parallax Propeller (on a HoveryFly Gimbal board) running my latest Quaternion/DCM hybrid IMU code. It doesn't steer yet, but only because I haven't gotten to that part. There's no motor feedback either, so keeping it tracking straight is all done with the IMU - it adjusts the motor outputs to compensate for measured changes in heading.
Update: steering via Wii Nunchuk, and a power switch.
The frame parts all laid out prior to welding.
![SegBoard-Frame.jpg](https://forums.parallax.com/uploads/attachments/54251/108840.jpg)
The underside of the board, showing the motors, gearing, chains, and the results of my horrible welding skills.
![Segboard-Underside.jpg](https://forums.parallax.com/uploads/attachments/54251/108839.jpg)
The custom motor mount plates - my very first home-CNC'd aluminum parts.
![SegBoard-MotorMounts.jpg](https://forums.parallax.com/uploads/attachments/54251/108838.jpg)
The HoverFly Gimbal board and the 2x32 Sabertooth motor controller.
It's a two-wheeled, self-balancing, electric "skateboard" thing. The brain is a Parallax Propeller (on a HoveryFly Gimbal board) running my latest Quaternion/DCM hybrid IMU code. It doesn't steer yet, but only because I haven't gotten to that part. There's no motor feedback either, so keeping it tracking straight is all done with the IMU - it adjusts the motor outputs to compensate for measured changes in heading.
Update: steering via Wii Nunchuk, and a power switch.
The frame parts all laid out prior to welding.
![SegBoard-Frame.jpg](https://forums.parallax.com/uploads/attachments/54251/108840.jpg)
The underside of the board, showing the motors, gearing, chains, and the results of my horrible welding skills.
![Segboard-Underside.jpg](https://forums.parallax.com/uploads/attachments/54251/108839.jpg)
The custom motor mount plates - my very first home-CNC'd aluminum parts.
![SegBoard-MotorMounts.jpg](https://forums.parallax.com/uploads/attachments/54251/108838.jpg)
The HoverFly Gimbal board and the 2x32 Sabertooth motor controller.
![SegBoard-Brains.jpg](https://forums.parallax.com/uploads/attachments/54251/108844.jpg)
Comments
I patched in to the I2C pins on the EEPROM, and the power / ground pins on the 3.3v regulator, added some hot glue for strain relief, and voila! I have steering. The Nunchuk now serves as both steering and the deadman switch. If you let go of the trigger button, or pull the cord, the board stops. A friend at work wanted to see it, so I took it for a spin through the office hallways.
Saw you going sideways this morning, now your doing doughnuts.
Great progress!
Jim
hard to find room underneath, so I reckon strengthening spars welded on top across the middle would be possible.
Or make it into a leaf spring and add bounce/suspension?
As you probably know, generic Nunchucks can vary greatly in quality. I'm guessing you're using an original Wii version.
If you want to try a wireless Nunchuck, I recommend the ones made by Kama (or is it Nyko?). Both the joystick and the accelerometer appear to work well on the two I have.
I hope you have some sort of error detection code to monitor for a disconnected Nunchuck.
Again, super cool project. Thanks for posting.
Duane - It's an authentic Nintendo controller I've had in a box along with a Wiimote for a few years. I actually don't need to monitor for a disconnect, exactly. Since the trigger button has to be held for the board to run, a disconnect results in all 1 bits on I2C, and the Nunchuk button states are inverted, so a 1 bit means "button off". A cord pull has the same effect as releasing the button - the board stops running. The intention was to handle a disconnect properly, but I didn't end up needing to. I thought about getting a wireless one, but the cord pull actually works to my advantage.
Duane, that wireless nunchuck is just what I need!