Gryo Setup

[mikets]

Originally Posted by compwiztobe

If you want to try and balance this way I would suggest using the accelerometer since this will give you an absolute "heading" of sorts

The accelerometer doesn't give you "absolute heading", it gives you the G force that was applied to each axis. It's perfect for detecting tilt using the Z-axis because if you are flat on the ground, the Z-axis will read 1 G. But if you are tilted then by applying physics to split the G force vector into two vectors (one perpendicular to the accelerometer: the Z-axis, another parallel to the surface of the accelerometer), you can see the Z-axis will have a value smaller than 1 G. The more it is tilted, the smaller the Z-axis value). So to determine the tilt angle, you can do an arccosine to the Z value.