code for two wheeled balancing robot with 3 dof robotic arm pick and place.

i need a code for two wheeled balancing robot with 3 dof robotic arm pick and place. for my project to two wheeled balancing robot i used 12v dc motors with encoders and ardunio mega 2560, 3 dof robotic arm i also used for 3 * 12v dc motor with encoder and ardunio mega 2560 and to detect and measure the distance between the robot and bottle . for my project to detect the bottle and measure the bottle after the robot will start moving and stop it infront of the bottle and then robotic arm will pick and hold the bottle. After the hold the bottle to detect the stop sign board and go to there robot will place the bottle