changed mpu6050 code to class for better abstraction

src/motors.cpp

@@ -6,7 +6,7 @@
 #include "lights.h"
 #include "steeringCurves.h"
 #include "balancing.h"
-
+#include "MPU6050.h"
 
 #include "MC34933.h"
 #include "PWMFrequency.h"
@@ -121,7 +121,7 @@ bool motorBrakeActive(motor_t motor)
   return getMotorptr(motor)->brakeActive();
 }
 
-void drive()
+void drive(_mpu* mpu)
 {
   vehicleConfig* cfg = getConfigptr();
 
@@ -135,7 +135,7 @@ void drive()
 
     case carwithMRSC:
     {
-      mrsc(); // Car with MSRC stabilty control
+      mrsc(mpu); // Car with MSRC stabilty control
     }
     break;
 
@@ -147,7 +147,7 @@ void drive()
 
     case balancingthing:
     {
-      balancing(); // Self balancing robot
+      balancing(mpu); // Self balancing robot
     }
     break;