Omni-directional spherical robot.

The project is about the design and fabrication of a small-sized spherical robot. The Design and Fabrication process has been completed but needs someone to write a code in Arduino. I am using TinyPico as my microcontroller, Pololu DRV8835 dual motor driver, Pololu AltIMU v5 IMU sensor, 160 mAh Lipo battery, and a small brushed DC motor from Portescap motors. I need to use the Pololu IMU sensor to control my two-brush DC motor to maneuver my robot to move in a Straight line and circle. Also, It has needed to be wirelessly controlled.