Self balancing mpu6050 + remotexy car gyro not working

I made the remotexy car gyro and it works well but when I give mpu6050 for self balancing it turns out that the self balancing code doesn't work, where is the error even though the library has been successfully uploaded?

https://pastebin.com/raw/BAVQ9fpg

I can self balancing code from here DIY Self Balancing Robot using Arduino

Does anyone have a solution?