I'm using this hardware. There's a Fritzing diagram in the repo that shows how it's all connected: BB-8-v1-Electronics.fzz.
- Arduino Mega 2560
- RN42 BlueSMiRF Silver Bluetooth module (https://www.sparkfun.com/products/12577)
- MPU-6050 Accelerator/gyro 6DOF IMU (http://playground.arduino.cc/Main/MPU-6050)
- Pololu VNH5019 Dual Motor Driver (https://www.pololu.com/product/2507)
- Qty 2, gearmotors for drive
- Qty 1, gearmotor for rotation disk
- 74LS241 bridge
- Qty 2, AX-12a servos
You need to install the following libraries in your Arduino/libraries folder:
- https://github.com/pololu/dual-vnh5019-motor-shield
- https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
- https://github.com/br3ttb/Arduino-PID-Library/
- The custom SoftwareSerial at http://sourceforge.net/projects/dynamixelforarduino/files/?source=navbar (required for Dynamixel)
- One of the Dynamixel serial libraries at http://savageelectronics.blogspot.com.es/2011/08/actualizacion-biblioteca-dynamixel.html