Brushless balancer dreams

A quick test revealed the 50 turn motors could reach the required 8mph with the required torque, at 15V 0.6A. They probably need active cooling & stall detection. It comes to 15V 1.2A for the motors, 6V 0.25A for the cooling fans, 3.3V 0.06A for the CPU. It would take 2Ah, 15V which is too heavy with modern batteries.

It's more efficient to reach that speed in ESC mode than stepper mode, but transitioning from stepper mode to ESC mode would require a super algorithm. It needs to power all 3 phases & adjust phase for stationary balancing, then when RPM reaches a certain point, powers just 2 phases & adjusts voltage for balancing.

The balancing robot needs an outer loop further regulating speed by tilt angle. If the inner loop voltage is too high, it tilts less. If it's too low, it tilts more. If it's stationary, it needs to tilt based on the amount of phase change.

Such an algorithm would have earned a master's degree, 15 years ago. Amusingly, a commenter on a goo tube video about the nbot balancing robot wrote "When you get that awkward [interview] question 'so what skills do you have for us', slap that robot on the table and you can name you salery. After all, how many people do you know who can make one of these from scatch?" 5 years ago. Times have changed so much, jobs have become so much more specialized, & robots have become so much more commoditized, such a thing won't get any more than a teary eyed "My kid got 5 for XMas. Moving on..."