Hi,
I'm also using an MD23 for a self balancing robot - but I'm getting very strange behaviour. i can control the speed of the wheels but every 5 seconds it spins teh opposite way for a split second and then continues the correct way.
it also sometimes randomly stops one of the wheels.
is there any chance you can upload wire.h? I understand everything else and i think I may be going wrong with the actual iic interface.
Unless you maybe had this problem? I've tried in modes 2 and 3 and the same thing happens.