I'm starting the process of building an inverted pendulum robot. I had great success with a stepper motor version designed by Joop Brooking. Search "YABR" and you will be sure to find it. My new project will be using a Sparfun SAMD21 Mini breakout board instead of the Pro Mini used for the stepper …

[SOLVED]SAMD21 reading MPU6050 Gyro MSB always 255

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