The leaning part was fairly simple (for him), but the sensor integration for uneven surfaces ... Check out this simple design using an Arduino and stepper motors.

hacked it in with an Arduino. The video does a wonderful job going into the details, but essentially by using an oxygen sensor with finer resolution (wide-band) and then outputting the appropriate ...

The first current sensor, ACS37630, is designed to be sat on top of a bus bar and partly surrounded by a U-core magnetic field concentrator. “Its vertical Hall technology enables sensing parallel to ...