If FIFO keeps resetting try configuring the MPU6050_DMP_FIFO_RATE_DIVISOR in Gyro.cpp. To stop I2C library from hanging, patch Wire lib with contents from i2c_patch ...

After being inspired by RYNO motors and other self-balancing scooters from Segway, I always wanted to build something of my own Arduino Segway Robot. Thinking for a while, I decided to build a Self ...