3D printed 2 wheel balancing robot
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BalancingRobot
MegaArduinoBoxPlate.stl
README
Servo Mount.stl
Wheel.stl
arduino_motor_servo_shield.fzz

README

Balancing robot Arduino code and Fritzing file for PCB motor shield.

More on this project at 
http://www.transistor.io/balancing-robot.html
and 
http://www.thingiverse.com/thing:25531

I found a lot of the code and good information to build this robot from 
http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1284738418/all
and 
http://www.kerrywong.com/2012/03/08/a-self-balancing-robot-i