Just finished my balancing robot project. Started with this thread: Do these parts look ok for a balancing robot
The updated parts list can be found here: pololu.com/wishlist/1J700
Here is the video:
I used the sample Kalman filter code from Tom Pycke, ars.c 17/10/2007. The IR sensors mounted up front are not used for this project. The SVP-1284 is a very nice platform!