Let's Make Robots!

2 wheel self balancing robot using arduino and IMU6050

I want to build a two wheel self balancing robot using Arduino and the IMU6050. After a few weeks looking around robot and arduino forums, without much luck, I thought perhaps users might share their experiences, ideas and code on this forum.

For starters, I built the platform out of 5mm plywood, using the following componnents

2x Tamiya 70168 Double Gearbox Kits
2x  Pololu Wheel 90x10mm
1x L298N Dual H Bridge motor driver
1x Arduino Uno
1x IMU6050 board
1x bluetooth module