Balancing robot consist of Arduino UNO and two NXT motors with Encoder.
This Balancig robot is result of my meeting with MPU6050 and nxt motors. I used allready written library I2CDevlib which helps me to read Pitch, Roll and Yaw. I made also the GUI for easyer manipulation with Constants P,I,D and debuging what arduino says.
This all code is free and you can use him for your own projects! ENJOY!