2x ESP-32 BLDC Controllers from https://hackaday.io/project/169905-esp-32-bldc-robot-actuator-controller.
2x ML5010 direct drive motors inside the wheels.
CAN intercoms.
UM7 Orientation Sensor.
ESP-NOW to joystick.
Status
Not working yet
Got electronics
All 3D Printed parts done
Needs wiring
Needs software
Possibly the best aesthetic treatment for a self-balancing robot ever ;-)