The hardware of the current segwii model consists of:
- IMU 5DoF: http://www.sparkfun.com/commerce/product_info.php?products_id=741
- Wiring Board: http://wiring.org.co/
- L293 H-Bridge
- 74HC10
- NPN transistors
- 3.3V voltage Regulator
- Red, Yellow, Green LED's
- (2) 3 position switches
- (2) Motors
- (4) 9V Batteries
Here is the current model: