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I did a tut on motor controllers here http://www.societyofrobots.com/member_tutorials/node/159But if you want a closed loop system you will also need an encoder to provide the feedback on each motor re how fast it is actually turning. Here is an encoder made specifically for your motor http://www.solarbotics.com/products/gmww02/
Serial.println("#0 P1400 #1 P1600");
Serial.println("#0 P1400");Serial.println("#1 P1600");
To start/stop both motors at the same time, just change the bits of a byte that you transfer to a port they're hanging on, no big deal.
Personally, I think the motors are too slow for this application. You will be able to make the robot balance, but if you give it a push, it will not be able to recover in time. I was looking to get motors with over 200 RPM and built in encoders for a balancing robot.
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