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Self balancing robot based on Arduino UNO ATmega328 microcontroller http://arduino.cc/en/Main/ArduinoBoardUno/ Hardware list: arduino uno dual mc33926 motor carier lipo 11.1 v / 1300 mAh power cell MinIMU-9 Gyro 2x Motors, 12V 1A (max 2A), 50:1 gear ratio, 6kg/cm peak force big weels jy-mcu v1.02 ( Bluetooth RF Transceiver ) Operation basics: Read raw gyro Read raw accelerometer Calculate current angle Calculate engine torque with PID controller Correct current position Do the same thing over and over again ( should be around 100 Hz ) Notes: I decided against Kalman filter in favor of Complementary Filter as its has almost same performance but without the complexity of Kalman filter. video: http://www.youtube.com/watch?v=coYkNLxFi1g