During my studies at TU-Dresden i’ve been working on these projects below and also developed my favorite robot-project Balancing Robot called MarBot with the great help of the control system department TU-Dresden.
This is a robot controller board MarBoard v1, a further development of the currently using board MarBoard v0 on my self balancing robot called MarBot. I have made many updates to this custom board recently. It does work very well. Unfortunately the micro usb socket has brocken newly, i cut the micro usb cabel and soldered it to the pins as you can see it in the pictures below.
This is an overview of the schematic: