How to Make DIY Balancing Robot [My Experience]

This is how I build a self balancing robot based on ESP32.
Like many such robots, it uses MPU6050 gyroscope and accelerometer module.
This robot uses stepper motors and DVR8825 Stepper motor drivers.
ESP32 is just like an Arduino, but more powerful, and has Wi-Fi.
For more information, circuit, list of components, modified code, go here: https://github.com/electrical-pro/ESP32_Robot

The original code, and inspiration I found here, check this video as well: https://www.youtube.com/watch?v=D7hvI_Tb0o4

Timecodes:
00:00 Intro
00:12 Research
01:19 Buying stuff
01:58 Assembling the frame
02:42 Making Stepper Driver Board
04:15 Wheels installation
04:25 First successful tests
04:53 Realizing my mistake
05:45 Making the Main Board
07:29 Installing different motors
08:03 Installing bigger wheels
08:11 Results.
08:38 Special PIDs for standing
09:01 More demo
09:27 Showing remote control
09:44 Showing telemetry
09:56 Charging
10:05 Even more demo with control
10:42 The END

Видео How to Make DIY Balancing Robot [My Experience] канала Electrical Projects [CreativeLab]