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Instruction guide: Thanks for JJRobots sharing this such great project. I am using ESP8266 as the host CPU and I port the code from Arduino Uno to ESP8266. it works pretty great! my project configuration is: ESP-12F(ESP8266 module) x 1 MPU6050 x 1 A4988 x 2 NEMA39 stepper x 2 SG90 servo x 1 12v Lipro battery x 1 DIY the motor board. here is my blog for you reference. http://regishsu.blogspot.tw/search/label/1.Balance%20car%E8%87%AA%E5%B9%B3%E8%A1%A1%E8%BB%8A