Self Balancing Battle Bot

Self Balancing Battle Bot which balances on two wheels was designed, assembled and built with the intention of implementing a Proportional, Integral and Derivative (PID) Controller. The parts used for the robot include a gyroscope, infrared distance sensor, light sensor and 2 motors with built-in encoders. 
The project code was implemented in C using the Lego Mindstorms EV3 as a controller panel. The code was implemented to have 2 simultaneous threads one thread was in charge of balancing the robot based on the output from the gyro sensor and control feedback methods. And the other thread controlled the bias of the center of balance, so that the robot can charge towards enemy robot when the infrared sensor detects something in front. The second thread also controlled robot to stop moving forward when the light sensor detects a white line on the running surface. White line surrounds the battle arena.