Picture of Self Balancing Scooter Ver 2.0
Unfortunatly the IDG500/ADXL335 chips unsed on the accelometer is End of Life.
So they will no longer be manufacturing those chips and therefore the accelometers.

There are digital versions out there but a complete code change will have to be done to get it working.
Hopefully soon we will have a solution.

Solution has been found


After building the first Self Balancing Scooter as a test platform, we found it to be quite cool so we built another with a few extra features.

This time we added:
  • 2 x 14.4Volt Li-ion batterys
  • Solid frame for motor and wheel mounts
  • Adjustable height handle
  • A nice CNCed platform
  • And Tread Plate!

The exact same parts used on the first scooter were utilized to build this one.

Code bug updated on the 24th Feb 2012.
Issue with timing routine.


Step 1: Details about the build

Picture of Details about the build
Issues encountered with the first unit were fixed with this version.

The main issue was that the rear end of kids scooters were a cheap pressed plate that would buckle and bend when under weight so stronger, metal plates were laser-cut to replace the frame which holds the motor and wheels.

The frame was made from 25mm tube and reinforced to hold more of weight.

The front handle was made adjustable so smaller people can ride it too.

Because there wasn't any cheap torches that used the chosen batteries, a holder was made to store the batteries.

A tread plate was added to make it look professional.

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rajatnegi12 days ago
please can you send me electronic connection and codes of it at my email address is rajatnegi108@gmail.com.
ks49 months ago

Need the motor specifications for designing a self balancing two wheeled vehicle

jonnybo11112 months ago

How smooth is the turning? Is it very jerky or slow turning?

could you go into more detail about this frame please

XenonJohn1 year ago

Hi folks,

Just letting you know I have (finally) managed to get a self-balancer working with one of the newer and much easier to obtain DIGITAL IMU's from Sparkfun.

I have done a quick Instructable on it here:


Hope it helps somebody.


ScitechWA (author)  XenonJohn1 year ago

Thanks for the update John. I'll check out the code and adapt it to ours.

ScitechWA (author) 1 year ago

You push the switch on the top, either forward or back to adjust the upright position.


how to use the buttons to adjust the tilt?



CUSTOMIZER2 years ago

regarding the Ebaylink for the new IMU. that IMU uses ADXL335 and IDG650 not IDG500!!!

Will it work??
ScitechWA (author)  CUSTOMIZER1 year ago

Yes they work ok.

Hello,which IMU could make it works,I can't find the 5DOF GY-66 accelometer anywhere,please something could replace it please tell me ,thanks

hi bro

I have this one http://www.ebay.com/itm/1PC-5DOF-IDG655-ADXL335-Ac...

It's working perfectly but I have some tourqe issue that I can't solve it soon

Thanks very much.but I can't get this from eBay in China, and I found the oldest one(the red one)on Taobao


But it's expensive. T.T
ScitechWA (author)  CUSTOMIZER2 years ago
Yes it does. Someone has used it and works ok!
chenjian1 year ago

hello, if i want it could change the direction ,what should i do

ScitechWA (author)  chenjian1 year ago

The turn switch in the middle of the handle bars.

hello,i have a new problem, i can't find the 5DOF(5DOF module accelerometer + dual-axis gyro instrument IDG500/IDG655 650 ADXL335) on local store and ebay(in fact, i cant buy anything from ebay in China), i don't know should i do ,if anything could replace it, please tell me ,and thank you very much.

i get it , thanks very much ,i made this now thanks for your sharing. it's cool

aol10443 years ago
I can`t seem to find the 2x52 motor controller, would a 2x25 be ok to use?
ScitechWA (author)  aol10443 years ago
Lol. Sorry fixed that mistake.
Yes the correct one is the 2x25 sabertooth controller.


smasaye1 year ago
if i use seedstudio 2 single axis gyros what pins should i connect to analog pin 0,2 and 3 from arduino
XenonJohn1 year ago
December 2013:
If it helps anyone I have just found out that Seedstudio sell analog accelerometers and gyros still.

The "Grove" series of analog sensors from Seedstudio. Details below. The scaling factors in software may need tweaking but at least they are still available to buy:
3 axis analog accelerometer
Buy here:
and here:

Also they do an analog 3 axis accelerometer:
Buy here:
and here:

smasaye1 year ago
i ordered the 5dof from ebay but its not recieved it for 5 mnths now.any other trusted sites from where i can get it..
_Rommel_1 year ago
Which is better:
Chain or belt?
And how much RPM motor should i choose?
Hey guys, great work! I'm in the middle of a build using xenonjohns code as well and am running into some trouble. I commented on his project, but was hoping I might be able to see what you guys think...the comment includes some of my values and a link to a video of my bot. Comment can be found here: http://www.instructables.com/id/Easy-build-self-balancing-skateboardrobotsegway-/?comments=all#C2KJADTHLJV1SSK any help would be greatly appreciated!
csewell22 years ago
with the sabertooth is there any substitutes i can use
ScitechWA (author)  csewell22 years ago
There are other motor controllers but we have used this one because of the reliability and robust against burning out!
csewell22 years ago
when i test the codding on the audrino app it says

sketch_sep02a.ino: In function 'void initSabertooth()':
sketch_sep02a:58: error: 'BYTE' was not declared in this scope

As of Arduino 1.0, the 'BYTE' keyword is no longer supported.
Please use Serial.write() instead.

sketch_sep02a.ino: In function 'void set_motor()':
sketch_sep02a:513: error: 'BYTE' was not declared in this scope

As of Arduino 1.0, the 'BYTE' keyword is no longer supported.
Please use Serial.write() instead. what do i do please help
ScitechWA (author)  csewell22 years ago
Open it with a pre 1.0 version of arduino.
eg version 0023

We haven't updated the code to version 1.0 or greater as we are rewriting it to suit the digital IMU.
smasaye2 years ago
hello sir,
since where i live m not able to get the required electronics bt me and my friend have decided to build our segway,i somehow managed to get imu n uno bt again sabertooth unavailable,bt i gt a same specification motor controller.will it cause changes in coding???it has same pins as per sabertooth.need ur guidance sir
thank u
ScitechWA (author)  smasaye2 years ago
If the controller is exactly the same then it should work!
jaz me2 years ago
Greetings sir,
Do u have a code and drawing diagram for a detailed instruction for a newbie like me using a single ebike hub without controller? i want to use just a single wheel.
....my email ... vinnfernandez@yahoo.com
ScitechWA (author)  jaz me2 years ago
Nope sorry!
smasaye2 years ago
Sir the replacement u provided for the IMU also is not available in my proximity,will it b fin if i use IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345,wat necessary changes would be required
ScitechWA (author)  smasaye2 years ago
That would require a complete software change!
We are looking at this and hopefully have software sometime soon.
smasaye2 years ago
sir is it possible to use a joystick for steering plz reply
ScitechWA (author)  smasaye2 years ago
Yes just use the code and circuitry from here.
greetings sir,
my motors are not responding as per the tilt of the IMU board...it is responding slower...
do i want to go for the program edit or check the functionality of the sabertooth board??
ScitechWA (author)  sravanrkappen2 years ago
Have you changed the dip switch setting as per instructions?
Are they working at all? What IMU board are you using?
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