Balancing robot final year project

ATmega32 Gyroscope: mpu-6050 Accelerometer mpu-6050 Encoder: Ball mouse Motor Controller: Pololu TB6612FNG Motors: Old DC motors madi in Japan :) SM - E048 - 12500 RPM without load. - Current: 0.1 A Without load 1.5 A When the wheels are changing the direction of rotation, or when going uphill. Battery: Electric drill NiMH Wheels: Toy tractor Geer ratio: