Final Documentation

The Robot Company segBoard Ricardo Cole – Project Manager, Systems Engineer, Structural Design

Verification Report

Requirements: Level One Must support the weight of a 190lb. person. The average weight of a male as determined by is 190lbs. Verified by fully loading the segBoard and measuring for distortion. PASS

The Motor Mount

By: Ricardo Cole (Project Manager/Systems Engineer) The motor that we chose, MY1016, comes with a predrilled motor mount. In order to determine chain length and tensioning, I needed to mount the motor to the board in a location that seemed optimal.


By: Ricardo Cole (Project Manager/Systems Engineer) Once orientation of the board is determined, the next step is to adjust the orientation to keep the board balanced. This is accomplished using proportional, integral, and derivative (PID) control.

PCB Design and Fabrication

One requirement for the segBoard project is to have a PCB incorporated in the final product. One of my tasks was to design and manufacture a PCB for the motor controller and the voltage regulators used to power the HIP4081A motor driver and the Arduino.

Motor Tradeoff Study

Typical EScooter and Ebike motors range from 12V-48V and 100-1000W. Minimum Requirement Instructables is a website for hobby enthusiasts. No calculations were performed in sizing the motor and it appears motor selection was arbitrary and chosen for high torque, low cost, and proven functionality with electric scooters. They chose a 420W, 24V, 2.8 Nm DC […]

Battery Tradeoff Study

Typical high quality EScooter and Ebike batteries range from 12V-48V and 1.2-20ah. From our selected motor and mission profile, our battery must be 36V, and a minimum of 1 ah

The Frame

The intention of the segBoard is to look similar to Future Motion’s Onewheel. One look at Onewheel and you will see that it is, without a doubt, simple and efficient.

Allegro A1233

By: Rodolfo Ramos (Control Systems and Image Processing) The Allegro A1233 is a dual-channel hall-effect sensor ideal for use in speed and direction sensitive systems.

Pololu ACS711EX

By: Rodolfo Ramos (Control Systems and Image Processing) The Pololu ACS711EX is a bi-directional current sensor that can handle -31 to 31 Amps and up to 100 Volts. This current sensor is a breakout board that utilizes Allegro’s ACS711KEXLT-31AB-T hall-effect based linear sensor. This board has a low resistance of just 0.6 mOhms, and together […]