Self Balancing Robot with Wii parts

http://hackadaycom.files.wordpress.com/2012/01/seg1.jpg
[Moser] is looking to build a quadrocopter sometime in the future, without plunking down a good chunk of change for a kit model. Looking for a good place to start he figured why not work on the control system. Thinking that the balance of the flying platform of doom would be similar to working out a self balancing robot he spent a couple days and made his self balancing robot.
Armed with a plan, and a logic analyzer, he went out and got a Wii Motion Plus, which is an inexpensive three axis gyroscope, and a nunchuck which features an accelerometer which both can be found in just about any strip mall. After fiddling for a day getting the Wii nunchuck and motion plus to play nice all it took was a little more time to code up the self balancing routines.
And while its not perfect, all its going to take is a little tweaking and maybe some faster servo motors to get things up to top notch.

http://hackaday.com/2012/01/05/self-...ith-wii-parts/