Self balanced robot "Junior 2"

"Junior 2" is a self balanced robot with retractable leg.

The idea was to create à self balanced robot with a pendular suspension. The pendular system also allows to have retractable leg.

Hardware:
- Motors Nema 17
- Servo Tower Pro MG995

Electronics :
- Arduino UNO
- Shield Dual Bipolar Stepper Motor Shield for Arduino (DRV8825)
http://www.dfrobot.com/index.php?route=product/product&path=35&product_id=1060#.V78lEDXwBG0
- MPU6050
- Bluetooth Arduino Module

The code is not finish yet, I share with you this unfinished project because I actually don't have much time to work on it.