I'm trying to get down to how PEVs of this sort balance on a physical level if that makes sense. So I know it's a whole bunch of sensors in a whole (accel,gyro, hall/imu) just like in a hoverboard or even EUC, but aren't those just sensors? I originally thought gyroscopes were something made to balance by spinning. I know having actual large gyroscopes spinning would throw off the balance of something like this badly. But since these gyros are only sensors, what actually makes it balance and handle weight physically? Is it magnets in the hub motor or is part of the motor being told to constantly spin back to balance, at all times?