Gimbal controller BGC 3.1 (use as Arduino), gimbal motor EMAX 2806-100KV, MPU6050, magnetic encoder AS5048A connected over SPI. One of the servos I modified for continuous rotation.
I use the Simple FOC library to control the BLDC motor.
Both bikes works with the same firmware. Difference only in design.
For remote control I use Joy BT Commander.
Balancing controller can be tuned remotely over bluetooth.
Example:
Send p+ (or p+p+p+p+p+p+p+) for increase K1.
Send p- (or p-p-p-p-p-p-p-) for decrease K1.
The same for K2, K3, K4. Send "s", "i", "d".
More about this bikes: