Understanding the Project and the Blocks Used

This project includes several interconnected blocks. Below are the main blocks and their functions:

• startAll: Ensures the system initializes only once after power-up.
• i2c: Controls the I2C communication with the MPU6050 sensor.
• mpu6050: Manages and retrieves data from the inertial sensor.
• arctanCORDIC (two instances): Computes the tilt angles on two axes using the CORDIC algorithm.
• lowPassFilter (two instances): Filters the angle signals to smooth out noise and fluctuations.
• closeLoop (two instances): Feedback controllers that compare measured angles with the level reference and generate correction commands.
• servo (two instances): Drives the servo motors according to the control signals.
• inverterC and AND2b: Used for logic control of the SDA line during I2C communication.