Self-Balancing Robot Code

Please read and follow the directions in the "How to use this forum" post.

Post the code, using code tags.

I used a euler formula to calcuate the angle of the accelerometer.

What formula, exactly? Post a link to the theory.

You may find this page useful. How_to_Use_a_Three-Axis_Accelerometer_for_Tilt_Sensing-DFRobot