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In a moment of boredom and inspiration I have decided to build a self balancing, single wheeled robot. the overall dimensions are 7″ tall x 1.5″ wide. The basic principal for the robot is as follows:  A single moving outer wheel will rotate on three supporting wheels, one of which is driven by a small dc motor. The robot will balance with the aid of three GP2D120 IR sensors, one mounted on each side of the robot, and a third mounted on the rear. Balance will be achieved by measuring the distance each IR sensor reads relative to the ground, adjustments to the center of gravity will be achieved by rotating the battery pack left or right to get the desired orientation. The third IR sensor will be used to control forward and backward rotation of the body, as to unsure the center section does not rotate within the outer wheel.


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