Balancing Robot Project Project Files files imu.py class to manage MPU6050 gyro/accelerometer motors.py class to manage DC motors and encoder pid.py PID implementation utilities.py utilities for all implementations simulator.py system simulator and comparison tools lqr.py linear quadratic regulator lqg.py linear quadratic regulator w/ Kalman Filter plotter.py plots robot run datastreams model.py mathematical model, linearization matrices InterruptTimer.py Timer class that enforces strict time interval