The code is released under the GNU General Public License.
This is the code for my full size balancing robot.
Both our paper and poster can be found inside the Documents directory.
I have also written an Android application for the robot. The source code is available at the following link: https://github.com/Lauszus/BalancingRobotFullSizeAndroid.
Detailed information can be found at the blog post: http://blog.tkjelectronics.dk/2014/07/full-size-diy-balancing-robot/.
For more information send me an email at kristianl@tkjelectronics.dk.