Self Righting Balancing Robot

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.

If the robot falls over, it will right itself and then attempt to rebalance itself.