Using the framewor ionic an application was developed to control a self-balancing robot from the use of bluetooth. The device communicates with the Mega Arduino board that has the built-in bluetooth module HC-06
It has three fundamental folders. The folder 'controllers', contains the mudulos and components to control the robot, has the modal to establish the connection with the bluetooth, in addition to the manual option to directly activate the robot, similar to a remote control and an automatic option that allows send the reference speeds to the robot, or the point of the plane to which you must navigate automatically.
See the apk images in the folder 'App Images'