Wheelbot open source unicycle (schematic, PCB, source code, etc.)

Compared with other existing reaction wheel unicycle robots, this open source ferry robot Wheelbot has the following unique features: (1) Symmetry: The design of Wheelbot is symmetrical, so its rollers and reaction wheels are the same. In turn, both wheels can act as rolling or reaction wheels. From a practical perspective, this design reduces the number of different 3D printed parts, making it easier to build your own robot. (2) Roll-up: Wheelbot can stand up on its own from any initial position using the wheels we call "roll-up". (3) Standing: Wheelbot can use its reaction wheels to stand up on its own from any initial position, which we call "standing". (4) Withstand interference: Wheelbot’s electronic and mechanical design combines a brushless motor with a high torque-to-weight ratio and compact wheels. Wheelbot is able to reject considerable interference. (5) Onboard power supply and RF communication: Wheelbot comes with its own onboard power supply in the form of four 3S lithium polymer batteries, allowing for up to 30 minutes of cable-free balancing. Additionally, the robot communicates with the computer via a radio frequency dongle, so it can be operated completely wirelessly.