For a self balancing robot project, I want to make Self balancing robot, hence MPU6050 sensor, come into horizontal position everytime it loses its balance Therefore, when I upload the code in the link and adjust it horizontally, it keeps calculating (https://codebender.cc/sketch:97892#MPU6050%20calibration.ino) It always keeps calculating these six values. buff_ax= 24212 buff_ay= -5720 buff_az= 770924 abs(mean_ax) = 484 ay=114 az= 15900 Have you ever placed mpu6050 and done the same operation? How did you do that?