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@LillSlick You should check out my robot at Kickstarter: http://www.kickstarter.com/projects/tkjelectronics/balanduino-balancing-robot-kit. The source code is available at Github: Balanduino/Firmware/Balanduino at master · TKJElectronics/Balanduino · GitHub. It will pretty much answer all your questions 😉
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