Self balancing one wheeled electric skateboard

Step 26 Final assembly

Test test and test it some more.

You might think it would just tip over and stop on anything other than a smooth surface. This was true early on when just getting it to balance was the overriding issue.
However now it will easily go over a 1 inch high obstruction and stay level. Have not tested it with anything larger yet. The term in the equation "how fast am I tipping?" from the gyro, goes very high very fast as soon as you meet an obstacle. The power to the motor then also goes very high very fast. Assuming you have the power excess I spoke of earlier plus a hefty power controller, then the board will do a slight wobble and just power over the obstruction. The response time in this circumstance obviously needs to be very short, which is another reason why you need the program to loop at 100 times per second. It would otherwise probably balance OK on level ground if looping slower than this, say 25 times per second.
The term that asked "are we STILL tipping?" is what makes it move along: If you deliberately hold the board tipped, this term will slowly increase like an accelerator, moving you along. The thing on the far end is an LED headlight.