It is built mostly from FIRST parts, and with very little interference from the MIT contingent of the team. It uses the standard KOP Victor 884s. 120 Hz is fast enough. I thought I read somewhere that the commerical Segway controller checks its sensors at 100 Hz? The bigger problem with the 884s is the neutral deadband, but we have a software fix for that.
We just posted a big folder of more detailed technical documentation, which I'm sure you'll all appreciate much more than the general public, having knowledge of the components:
http://web.mit.edu/first/segway/segspecs.zip (13MB!)
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MIT Mechanical Engineering
>> College Mentor,
Team 97: Cambridge Rindge and Latin School with The Edgerton Center, MIT Mechanical Engineering, Bluefin Robotics, and Draper Laboratory
>> Alumnus, Team 527: Plainedge HS