At the heart of the bot is the MPU6050 – a combo accelerometer/gyroscope sensor that keeps track of tilt and movement. An Arduino Uno takes this data, runs it through a PID loop, and commands an ...

on an Arduino, which receives the roll angle (proportional) from the accelerometer on an MPU6050 MEMS sensor and the roll rate (Derivative) from a potentiometer that measures the gyro’s tilt angle.