Two Legged Wheel Balancing Bot

This took a while to fine tune, and it's still nowhere near done! Feel free to try to improve upon my design. In essence, this bot is a glorified Segway, built around the style of the Boston Dynamics "Handle" robot. It uses its two drive motors to balance itself on a PID system, and the servos in the legs to help level itself out on rough terrain. It drives forwards and backwards by biasing the output of the balancing PID system, and similarly rotates with differential drive in the same way. The controls are WASD to move, and that's it! Everything else is automatic. It is best suited to flatland terrain, but it can manage an occasional slope if you make sure to try 10 times over ;)