>>1866971The wheel motor is always self-balancing.
If you lean a little towards, it will apply more power to keep self-balancing.
If you lean a little backwards...
Well, it's a DC motor, having rotor and stator in series. So, switching polarity, will make the motor act as a generator (consume mechanical energy to produce electricity), that is, it will "brake".
So, if you lean a little backwards, the motor will become a generator - braking and slightly charging the batteries.
That's why you only have to balance yourself sidewards - the electric unicycle will always self-balance. That is, you do the "roll" part, the motor does the "pitch" part.
You also do the "yaw" part, by moving part of your body in the direction you want to turn and then forcing your legs to "update". Or you can turn by keeping leaning, just like a motorbike, because the motor has enough power to keep you from falling.
Skidding like Kaneda is the ultimate no-no.
