Description: This is a small 2-wheels robotic project. I learnt most of the algorithms from the Segwii project (http://www.segwii.com). The inertia measurement unit (IMU) and the geared motors are sourced from Cytron itself. The 'complementary filter' approach is used to combine the signals from the accelerometer and gyroscope.
Microcontroller: Microchip's dsPIC33F128GP204
Language: C
Compiler: MPLAB C30
IMU: 5-axis (3 for accelerometer, 2 for gyroscope), I use the SN-IMU5D from Cytron. Actually only 1 axis each is used for the accelerometer and gyroscope.
Battery: 7.4V 1000mA/hour Lithium Polymer
Motor: 150:1 micro-metal geared motor. Initially I used Cytron's SPG10-150K, later I switch to the high-power (HP) version from Pololu.
Motor Driver: Standard H-bridge
Video: http://www.youtube.com/watch?v=LJTW1lulGBY