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Ever wonder how Segways work? This tutorial will show you how to build an Arduino self-balancing robot that balances itself — just like a Segway! To keep the robot balanced, the motors must counteract the fall of the robot. This action requires a feedback and a correcting element. The feedback element is the MPU6050 gyroscope + accelerometer, which tells the Arduino the current orientation of the robot. The correcting element is the motor and wheel combination.”

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