Guide to gyro and accelerometer with Arduino including Kalman filtering

Using Arduino Sensors
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You should use either the complimentary or Kalman filter or you won't be able to make it balance!
Sounds like you are not that happy about your co-workers? :wink: What is your profession?

See the following example on how to include the Kalman library: https://github.com/TKJElectronics/Example-Sketch-for-IMU-including-Kalman-filter/tree/master/IMU6DOF/MPU6050.
The simply is to simply add it next to the .ino file and then add it like so: https://github.com/TKJElectronics/Example-Sketch-for-IMU-including-Kalman-filter/blob/master/IMU6DOF/MPU6050/MPU6050.ino#L19.

Hope you will get it working before your deadline!