This is a project of the simple wheel. Since factory made wheels prizes are not very attractive (10€ for a piece of plastic does not look good), it’s cheaper to make it yourself. The wheel is optimized to be printed on 3D printer.
The robot is able to balance on two wheels.
Originally this project was created using only junk parts to test software for electric unicycle. But as time passed the initial design was upgraded. At the beginning robot was using 2 hacked car lamp servos as motors, ATmega16 board, quickly assembled motor controller based on L293 and the only brand new part: gyro + 2 axis accelerometer board.