Design of a mini balancing robot based on ATMega328p-PU

There are already many balancing robot projects on the internet, but I also wanted to make one. More specifically, I wanted to make a mini balancing robot. The robot should get information from a homemade remote control with a bluetooth connection so that we can move around. But internally, the robot should also get information from the IMU module and calculate PID values ​​for the angles so that it doesn't fall and is always able to stay level. Parts required for this project: We need stepper drivers, which can be basic A4988, but better, TMC2225 drivers for better silent movement. We need two NEMA 17 motors, MPU6050 gyro/acc module, a small 5V buck converter, a 3S battery, two HC-05 bluetooth modules, one for the robot and the other for the remote control. In addition, we can add a small OLED screen to create a face for the robot. As a small device, we need an ATMega328p-AU chip, a 16MHz resonator and some SMD resistors and capacitors. There is also a small SMD buzzer and some LEDs.