[dbeckwith]

If other teams have done it, I stand corrected, but I guess what I really was getting at was that these robots that we're developing in FIRST (or at least our team's) aren't ideal for balancing. Our robot's center of gravity is not in the very center since we never really had time to fine-tune that. Those robots in those videos are small and light and built specifically for balancing, and the Segway especially is built to have perfect balance. I guess what I really meant was that in the time frame we had for coding and tweaking, we realized we wouldn't be able to develop something that was better at balancing than the human driver. Although it is true that the design of the bridges makes it slightly easier than if they were just balanced on a single fulcrum. Also we had a weird issue with the gyro itself, but that's a separate problem.
fsgond, I'd love to see your code for the PID. My team is new to PID, we only started using it this year and we don't really know much about how to use it or especially how to tweak it to get optimal coefficients.