Electrical

Unicycle

Our final electrical schematic can be described by the below diagram. The key components are the battery, motor, motor controller, Arduino, and the IMU.

The motor controller links the battery and motor through a H-Bridge which is controlled by a direction bit and a PWM (Pulse Width Modulation) signal from the Arduino. The Arduino reads in signal from the IMU over I2C and reads the output of three buttons that serve as the control panel. The IMU is used to detect if the scooter is upright or turning sharply. You can read more about individual components here.