I bought a bunch of Dynamixel robotics servos a while back and decided to roll my own robot controller with wi-fi and bluetooth capabilities. The current firmware allows for PID calibration via an embedded web server. This allows for tuning the PID parameters via a phone or a computer. The robot uses bonjour/mDNS to make its presence known on the network. Scanning the QR code on the display will open a web page, where the user can tune PID parameters and select to save them to non volatile storage on the board.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/self-righting-balancing-robot