Hello there ,
i have worked on various projects on arduino and the one that took alot of work was a real size Segway not the small one but one like Segway i2 , i can provide you with a link to see pictures of my project.
i once wrote a library for a 13bit adc , one of those old ADCs that u find in old electronics with timings and stuff just to make it run .
i have already started digging to understand more about the project and hope we can do more work together .
choose me ;)