A self-balancing dancing Segway
A two-wheeled Segway robot which successfully self-balances and dances to live music. A gyroscope and accelerometer on board, combined with a complementary filter and coded PID controller, enabled the Segway to stay upright and drive on two wheels. A microphone amplifier was also on board, responsible for the signal processing and resultant dancing of the Segway. An Interrupt Service Routine (ISR) was also embedded inside the main code base.