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My balancing robot with dsPIC33FJ128MC802 , 2xencoder hardware, + ARM stm32f3 discovery board with gyro and accelerometer (arm process kalman). Motor: EMG30 Pololu Dual VNH5019 Motor Driver Shield for Arduino
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/segwino-balancing-robot