High speed balancing robot based on ESP32

It's robot time! A new version of the balancing, two wheeled robot. This time, everything is running on a low-cost ESP32 board, which allows for some nice tricks: wireless parameter tuning and data logging/plotting (via a web-browser interface), and of course remote control via a smartphone. Also, the ESP32 runs an access point (if a known network cannot be found).

The frame of the robot is fully 3D printed, as are the wheels. Further components are two Nema17 stepper motors, two DRV8825 drivers, an MPU6050 and an ESP32 module. I've developed a PCB (currently being produced), which makes life a lot easier (compared to the current experimental PCB).

The whole project will be made open source in some time. Everything has been designed with this in mind: the robot is very easy to replicate, and makes use of standard components. Everything that is required (software, 3D printing files, PCB design) will be made available. As soon as I do so, I'll post a link.

Edit: for more info and source files, see my website and Git repo:
http://elexperiment.nl/2018/11/high-speed-balancing-robot-introduction/
https://gitlab.com/kloppertje/balancingrobot

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