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Ever since I took my first Segway tour in Philadelphia, PA I have wanted to construct my own. An actual Segway could set you back $6k so I decided to start really small and try and understand the basics of the device before shelling out lots of money on motors, batteries, custom fabrication, etc. I did a little research online and came across a couple good links [INSERT HERE]. I then went to www.sparkfun.com and purchased an accelerometer and a gyroscope.