Balancing robot final year project

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You can find the Atmel studio folder of the robot's code and schemantic here:
https://www.dropbox.com/sh/fjjwcn1w03x88dm/AAAuDtT0P5aNE84Ddran-ydWa?dl=0
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Usefull informations:

PID controller:
http://www.cds.caltech.edu/~murray/courses/cds101/fa02/caltech/astrom-ch6.pdf
Complementary filter:
https://b94be14129454da9cf7f056f5f8b89a9b17da0be.googledrive.com/host/0B0ZbiLZrqVa6Y2d3UjFVWDhNZms/filter.pdf
//-----------------------------------------------------------------//

Microcontroller: ATmega32
Gyroscope:

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