This is the software for the Velociryder, a self balancing two wheeled skateboard, started as a side project and was then entered in Georgia Tech's 2011 InVenture Prize. We made it all the way to the finals!

The code has the following features:

• PD control (no integral, wasn't necessary)
• Automatic startup via killswitch and level detection
• Support for foot pedal steering, just as in the Velociryder
• Use of accelerometer and gyroscope to obtain board level
• Moving average and complementary filters for the sensors

It works alright.

Things you will probably need to tweak:

• Turning constants

• GYROTORAD4, GYROTORAD, ACCLTORAD: These convert the sensor's ADC units to radians
• ACCL_CENTER: This defines the center balance point of the board
• sensor defines: The pins the sensors are on
• OHSHITSWITCH: killswitch pin

• However you control your motors

This is Arduino source code. So put it in a directory called velociryder in your sketchbook, fiddle, program, and go!

• Version 1 of the Velociryder, back when it was called the Glide Board http://www.youtube.com/watch?v=xvfUIxusPZw

• Version 2, built in aluminum and eliminated hand controller http://www.gpb.org/inventure/velociryder

This code is released under the MIT License. If you do use it, send me a message, I want to see it!