I have found a solution to the problem. Through my testing I could see that with just the 9V battery connected to the circuit, the motors would spin in only one direction as stated in the original problem. Then with only the arduino connected to my laptop (no battery connected), I could tell the MPU6050 was being detected by the motor due to a change in humming sound when MPU6050 was tilted, but not enough current was entering the motor to make wheels spin. After plugging the battery into the circuit and the arduino into the laptop is when I saw the dc motors both successfully responding to the input from the accelerometer. Thank you all for your help with these issues! Soon I will be building the chassis for this circuit and attempting to learn how to alter the PID values to match my specific build.
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