Implement balancing logic

[isch4196]

Task: Implement balancing logic using a PID controller in the application logic.

• [x] Find a library or implement a PID controller algorithm in C
• [x] Integrate the PID controller with the application logic

Status: Complete with commit d399486a95f21efa17393d0b33aef1c7c36fb417

[isch4196]

Balbot is now balancing correctly. There was an issue in which the motor was vibrating too much, which messed up the sensor readings of the gyrometer. I found out that this vibration was because the step angle of the stepper motor was too high (too low resolution), so I lowered to 1/8 of its original value, and now it is much smoother.