ESP8266 Self Balancing Robot

This is my self balancing robot based on ESP8266, with an obstacle avoidance and remote control features, the entire code is written using arduino, also it has a responsive single web page where you can configure all needed parameters and control the robot remotely. The code and schematic can be found here https://github.com/Dave4675/Inverted-Pendulum OTA is used so you can upload the firmware without connecting the usb cable https://arduino-esp8266.readthedocs.io/en/latest/ota_updates/readme.html No arduino modules are used, just the ESP8266 in the version of wemos d1 mini The bottom object is designed for be attached to a 400hundred bread board with no power supply lines NOTE: glue gun is needed The 9g holder is a remix of https://www.thingiverse.com/thing:1774451 The bottom is just a box with this https://www.thingiverse.com/thing:2848756 added The battery used is a 2S 15C husban h502 one The motors are n20 12V 200 or 300 RPM video 1 https://youtu.be/Fy6