On controlling the Segboy using a Gameboy Advance

The Segboy is based on a self-balancing, two-wheeled vehicle in reference [1]. This device was built at the College of Engineering Control Systems Laboratory (COECSL) at the University of Illinois at Urbana-Champaign, and is used in a classroom setting in many occasions. This paper describes the self-balancing control of this two-wheeled vehicle using the Gameboy Advance and XPort.