Topic: Self Balancing Robot

I am using RemoteXY to pass in the PID and CG parameters in real-time to my Arduino self balancing robot. Works awesome. Need to buy the full version as I need a joystick control to add directionality.
The only problem I encountered is the RemoteXY quit communicating with my bluetooth module when it encountered a timer1 interrupt. So I got rid of the interrupt routine, used a millisecond count routine and everything is working well.