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Phillips #2 screws secure the two bottom covers, so it's not long before we're well within the belly of the beast.

Things look… not bad! Given these boards' reputation, we weren't expecting clean insides.

Each foot pad has two infrared sensors. Stepping down on the pad pushes a peg between emitter and receiver; when all four sensors are blocked, you are ready to roll.

Those sensor switches live on the backs of the two gyro boards—one for each wheel. Each board is home to:

Invensense MPU6050 6-axis gyroscope+accelerometer

GigaDevice GD32F130 ARM Cortex-M3 32-bit microcontroller

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