Understanding the Project and the Blocks Used

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

• startAllstartAll:

Ensures the system initializes only once after power-up.

i2ci2c: 

Controls the I2C communication with the MPU6050 sensor.

mpu6050mpu6050: 

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 AND2bAND2b: 

Used for logic control of the SDA line during I2C communication.