I haven't had the time to look at your code yet but it sounds like your having the same problems that I have.. I have no problem getting my robot to balance but it's shaking a lot and I think it's manly to the backlash. You can see it in the video blow if you look closely you will see the shaking..http://www.youtube.com/watch?v=X-pVfjXvQRo&feature=player_embeddedI have recently seen that I may have a problem with my IMU which the zero point is moving after a will and that I also think is do to the shaking and mess up the kalman filter..My next step is to change the motors to the stepper motors below:#1200 Stepper Motor: Unipolar/Bipolar, 200 Steps/Rev, 42x48mm, 4V, 1200mA#1182 A4988 Stepper Motor Driver Carrier
When you thinker with that bot you can really see way you need motors with encoders
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