Balance Bot

Completely inspired by this project:
http://www.brokking.net/yabr_main.html
Code is a modified version that uses a basic motor shield as my proto board building skills were horrible!
Also modified to use a bluetooth for remote control.
Some tuning required but without the work carried our in the reference design I would have been struggling with the code.
I wanted to print the bot so designed this and a bit of tuning required as mass is much different.
Also started with some much smaller motors that were just too under powered.
The shield makes the electrical build super easy and quite clean.
Bumper and tyres are printed in TPU as gives grip and compliance for the bumber but all other parts in TPU.
Remote also uses a standard joystick, I was not happy with the hacked Wii controller.