I want to make a line following robot . the robot climb a bridge . bridge slope angle is 30 degree . for climbing bridge I want to use gyro+accelerometer (mpu-6050) . when the robot arrives bridge I want to increase its velocity and after the bridge I must decrease its velocity the I'm trying to use the Jeff Rowberg MPU-6050 code ,MPU6050_raw.ino,with I2CDev library also DMP codes. all programs are working wery well and there is no problem . So I can get Yaw/Pitch/Roll, Euler Angles, and Accelerations from the accelerometer.

and my problem is I don't know which data (Yaw/Pitch/Roll, Euler Angles, and Accelerations...) I must use for climbing bridge .