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Bingo. The code has what i call a correction factor that adjusts how fast the motors throttle to react to the sway of the rider. By intergrating potentiometers we will be able to manually adjust the correction factor to add more or less acceleration and decceleration.
Hence turning by adding more acceleration to one side while removing from the other side.
However you can't spin in place like this. From what i see in the segway videos the 3 angular rate sensors help detect lean into the turns so one doesn't fall off the side of the seqway.
Will
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