Hi,
Firstly, you have cross posted onto 3 forums. This does not make you friends on this forum. Try to find the best of the areas to post and post your questions 1 time. I posted on the other threads that replies should come here.
Secondly, turn off the caps lock key. All capital letters is the same as shouting. SHOUTING!!! See what I mean?
You have already worked through some of the tutorials. That is good. Now let us know where you are having difficulty. What are you planning on using for motors? Have you had any success driving them, even in a non-balancing mode?