Hello All, A friend and I took on a senior project design that is certainly proving to be more difficult than anticipated. Here are the details: Design Challenge: Self Balancing Motorcycle Description: A picture of our prototype is attached. The motorcycle is remote controlled with a DC motor that drives the bike. A tilt sensor is used to determine the inclination and a stepper motor is used to steer the front wheel in order to torque the bike back to a vertical position. Also we are using an Arduino for microprocessing. My question lies in the set up. I am confused exactly how the sensor tells the motor to turn. I know some sort of pulse width modulation is necessary, which is where I grow weary. This is how I think the set up should go: The tilt sensor sends an error signal to the Arduino. The Arduino calculates a proper output through PID control (which we will create the code). The output is sent to the Stepper Motor Controller which converts the signal to PWM which is then sent to the motor. Then the motor turns. Any help would be greatly appreciated. I can provide more information as well. Thank you in advance!