Check out a few pics of the Panda II based Segway I’m building. I’d say I’m about 70% done.
It uses a Panda II and a 6 DOF IMU. I created a “shield” to hold the IMU, a serial bluetooth dongle, input for a steering potentiomenter, outputs for two motor controllers, and a serial port for control commands (start, stop settings etc.).
Most of the coding is done. Just need to tune the PID controller parameters, strap everything down, then build a handle and platform. I eventually may use a Hydra or Spider to run a display for speed, battery power etc. So far the Panda seems able to handle all of the IMU floating point math and constant streaming of system state data. I’m trying to get it done before the spring so I can take it around town as soon as the weather is better.