├── .github └── workflows │ └── main.yml ├── Arduino └── simplefoc_balancer │ ├── balancer_pinouts.h │ ├── imu_helpers.cpp │ ├── imu_helpers.h │ ├── simplefoc_balancer.ino │ └── src │ ├── I2Cdev │ ├── I2Cdev.cpp │ ├── I2Cdev.h │ ├── keywords.txt │ └── library.json │ └── MPU6050 │ ├── Examples │ ├── IMU_Zero │ │ └── IMU_Zero.ino │ ├── MPU6050_DMP6 │ │ ├── MPU6050_DMP6.ino │ │ └── Processing │ │ │ ├── MPUTeapot.pde │ │ │ └── MPUTeapot │ │ │ └── MPUTeapot.pde │ ├── MPU6050_DMP6_ESPWiFi │ │ ├── MPU6050_DMP6_ESPWiFi.ino │ │ └── Processing │ │ │ └── MPUOSCTeapot │ │ │ └── MPUOSCTeapot.pde │ ├── MPU6050_DMP6_Ethernet │ │ └── MPU6050_DMP6_Ethernet.ino │ ├── MPU6050_DMP6_using_DMP_V6.12 │ │ ├── MPU6050_DMP6_using_DMP_V6.12.ino │ │ └── MPUplane │ │ │ ├── MPUplane.pde │ │ │ └── data │ │ │ ├── biplane.obj │ │ │ └── diffuse_512.png │ └── MPU6050_raw │ │ └── MPU6050_raw.ino │ ├── MPU6050.cpp │ ├── MPU6050.h │ ├── MPU6050_6Axis_MotionApps20.cpp │ ├── MPU6050_6Axis_MotionApps20.h │ ├── MPU6050_6Axis_MotionApps612.cpp │ ├── MPU6050_6Axis_MotionApps612.h │ ├── MPU6050_9Axis_MotionApps41.cpp │ ├── MPU6050_9Axis_MotionApps41.h │ ├── helper_3dmath.h │ └── library.json ├── CAD ├── STEP │ └── balancer.STEP ├── STL │ ├── FOC_balancer.STL │ ├── arduino_holder.STL │ ├── top_plate.STL │ └── wheel.STL └── SolidWorks │ ├── AMT102 │ ├── CUI_amt-102-base-rev-k.sldprt │ ├── CUI_amt-102-top-cover-rev-h.sldprt │ ├── CUI_amt-hub-bottom-rev-b.sldprt │ ├── CUI_amt-hub-top-rev-d1.sldprt │ ├── CUI_amt10x-shaft-adaptor-rev-e.sldprt │ └── CUI_cui_amt102-0048-n2000-s.sldasm │ ├── FOC_balancer.SLDPRT │ ├── SimpleFOCShield │ ├── 2_RGB15238730.sldprt │ ├── 37753_RGB15238730.sldprt │ ├── 5920131968.sldasm │ ├── 5920132160.sldasm │ ├── ArduinoFOC.SLDASM │ ├── BAT1.sldasm │ ├── Board.sldprt │ ├── C1.sldasm │ ├── C2.sldasm │ ├── C3.sldasm │ ├── C4.sldasm │ ├── CAP1.sldasm │ ├── Extruded.sldprt │ ├── Extruded_2.sldprt │ ├── L6234.sldasm │ ├── L6234PD.sldprt │ ├── PULL_A.sldasm │ ├── PULL_B.sldasm │ 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