Sure thing. Think of the board as a mass on a spring‑damper system. The key equations are the Newtonian dynamics: \(m\ddot{x}=F_{\text{motor}}-c\dot{x}-k\,x\). The sensors give you \(x\) (position) and \(\dot{x}\) (velocity) in real time. You can run a Kalman filter to fuse those readings with your bump sensor. Then use a simple PID controller: \(F_{\text{motor}}=K_p\,e+K_i\int e\,dt+K_d\dot e\), where \(e\) is the error between desired and measured position. Tune \(K_p,K_i,K_d\) so the board reacts just fast enough to keep the center of mass over the wheels when a bump hits. If you want to be fancy, replace the PID with a neural net that maps sensor inputs to motor outputs, training it on recorded ride data. That’s the math skeleton; the details depend on your hardware specs.

Sounds good—let’s set up the loop, grab the board, and let the data do the heavy lifting. I’ll be waiting for the first bump to see how the controller behaves. Keep the loggers on, and let’s iterate fast.