ESP8266 Self Balancing Robot

This is my self balancing robot based on ESP8266, with an obstacle avoidance and remote control features, the entire code is written using arduino, also it has a responsive single web page where you can configure all needed parameters and control the robot remotely. The code and schematic can be found here https://github.com/Dave4675/Inverted-Pendulum
OTA is used so you can upload the firmware without connecting the usb cable https://arduino-esp8266.readthedocs.io/en/latest/ota_updates/readme.html
No arduino modules are used, just the ESP8266 in the version of wemos d1 mini

The bottom object is designed for be attached to a 400hundred bread board with no power supply lines

NOTE: glue gun is needed

The 9g holder is a remix of https://www.thingiverse.com/thing:1774451

The bottom is just a box with this https://www.thingiverse.com/thing:2848756 added

The battery used is a 2S 15C husban h502 one

The motors are n20 12V 200 or 300 RPM

video 1
https://youtu.be/Fy60T7QKW5E

video 2
https://youtu.be/FBLBiT4ejvY

I made the videos with my smartphone so I can't let you see how I remote control the robot, but actually it works like a kick, because the robot doesn't have speed encoders, if you have any suggestion for make this project better let me know.