self balancing robot

Projects Programming
1

hello guys, Iam asked to build a self balancing robot. my problem is that using gyroscpe i can know the angle, but so far i used PID to help it balance when tilted to 1 angle, i dont know how to use it to the opposite angle. i have no idea how to use two PIDs in same code, my first time.
here is my code:

#include <MPU6050_tockn.h>
#include <Wire.h>

#include <PID_v1.h>
#define PIN_OUTPUT 3
MPU6050 mpu6050(Wire);

long timer = 0;
//Define Variables we'll be connecting to
double Setpoint, Input, Output;

//Specify the links and initial tuning parameters
double Kp=15, Ki=0, Kd=2;
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);

void setup() {
  Serial.begin(9600);
  Wire.begin();
  mpu6050.begin();
  mpu6050.calcGyroOffsets(true);
    //initialize the variables we're linked to

  Setpoint = -90;

  //turn the PID on
  myPID.SetMode(AUTOMATIC);
}

void loop() {
  mpu6050.update();

 Input = mpu6050.getAngleY();
    

    analogWrite(PIN_OUTPUT, Output);
  

    
  myPID.Compute();

      Serial.print("  anglex : ");Serial.print(mpu6050.getAngleY());
   
    Serial.println("!!");


}

Moderator edit:
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tags added.

2

@Darkestnight5, please do not cross-post. Threads merged.

3

@Darkestnight5, do not cross-post.
Duplicates deleted

4

A consumer grade gyro senses the rate of rotation, not the angle. Most people use an IMU to obtain the orientation needed to make a balancing robot, and the accelerometer is used as the vertical reference.

It is not clear to me whether your example is doing that, because you forgot to state where you obtained the MPU6050 library.

Google will show you many other examples.