This balancing robot uses the CHR-6d IMU from CH Robotics for stabilization, and motors and motor controller from Pololu. We modified the CHR-6d firmware to run a PID control loop. Motor commands are then sent over the UART to Pololu's motor control, which handles the low-level control details.
(that's my brother in the backgroud, playing guitar...)
You should push it to see its response ;)
kld555 1 year ago