Question: Create a self - balancing robot using the Makeblock Ultimate 2 . 0 robot kit. Will need to be coded in arduino. It will need

Create a self-balancing robot using the Makeblock Ultimate 2.0 robot kit. Will need to be coded in arduino. It will need to include PID_v1.h and MeMegaPi.h libaries since that is what I am came with the kit. Below I have attached my code that does not work very well. I need to incorporate the PID into my code. Please use my code for starting point. You may have to zoom in.
Create a self - balancing robot using the

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