LEGO Self-balancing Robot – Segway Type

Thanks Laurens Valk’s article I made my first self-balancing robot with using LEGO Mindstorms EV3. I made some small change on the original robot structure and program to match my design, which has only single motor and two wheels. It can be IR controlled to move forward and backward, but it cannot steer (of cause it cannot!). Other motors are in another project so that is why this robot is like this.