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[* black] Phillips #2 screws secure the two bottom covers, so it's not long before we're well within the belly of the beast.
[* black] Things look… not bad! Given these boards' reputation, we weren't expecting clean insides.
[* black] 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.
[* black] Those sensor switches live on the backs of the two gyro boards—one for each wheel. Each board is home to:
[* red] Invensense MPU6050[http://www.invensense.com/products/motion-tracking/6-axis/mpu-6050/|MPU6050|new_window=true] 6-axis gyroscope+accelerometer
[* orange] GigaDevice GD32F130[http://www.gigadevice.com/product-category/15.html?locale=en_US|GD32F130|new_window=true] ARM Cortex-M3[http://www.arm.com/products/processors/cortex-m/cortex-m3.php|Cortex-M3|new_window=true] 32-bit microcontroller
[* red] Invensense MPU6050[http://www.invensense.com/products/motion-tracking/6-axis/mpu-6050/|MPU6050|new_window=true] 6-axis gyroscope+accelerometer
[* orange] GigaDevice GD32F130[http://www.gigadevice.com/product-category/15.html?locale=en_US|GD32F130|new_window=true] ARM Cortex-M3[http://www.arm.com/products/processors/cortex-m/cortex-m3.php|Cortex-M3|new_window=true] 32-bit microcontroller