After watching videos on Youtube and on my children drooling, I decided to try my hand at self-assembly of this device on rented gyro scooters. Arguing about the expediency of making it yourself or buying it, I convinced myself that this is a toy, and a seasonal one, and for my children, the weather cannot do with one device. Also, the experience of assembling a home CNC machine played a role in self-belief, and the popularity of the hoverboard trend itself and the wow effect on the people around me played a role.
Experience in assembling a gyroscooter on your own
Getting to work, I decided to first test the concept and determine the required power of electromechanical units in order to justify further investments in components.
The first version (segway)
From a mechanical point of view, the segway version seemed simpler (there is no loaded middle swivel unit), in addition, everything that I found on youtube is homemade segway.
Despite the fact that I have sufficient experience in programming and working with controllers, I decided not to write the software myself, but to find the most ready-made solutions. In addition, I can rarely maintain my motivation for more than one month, and debugging software with electromechanical nodes rarely ends in an absolute victory, more often in a compromise, and the thought that perfection had not been achieved would worm me.
As a result, the choice fell on the work of Ovaltine's Segway Clone (the source is on GitHub). This project seemed to me to be the most mature and supporting hardware I have (Arduino, MPU-6050, motor drivers with 2 and 3 control signals per channel). The project is comprehensively commented, which allows not to go deep into the analysis of nuances and, as a result, not to guess about the shortcomings.
After a short delay, the test platform was slapped:
Aluminum plate thickness 12mm
Axle with a diameter of 14mm - guide from the dot matrix printer
Construction staples diameter 14mm
Wheels - wheelchair front (8 "diameter, bearings are embedded).
Motors and planetary gearboxes from 18V screwdrivers
Gears of transmission on wheels from electric meat grinders
Battery 12V 5Ah Li-pol (left after the downturn of the quadcopter construction trend)
Vhn3sp30 driver
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... and invaluable experience of getting off the couch motivation!
That's all. All good!