After some fine tuning the drunk bot is on its way to rehabilitation...

I am now trying to add in a Sonar Sensor (HC-SR04) to add in obstacle and/or people avoidance. I am having a bit of trouble as I think there is some conflict with the time critical stuff in the ping library and MPU6050 library as the code works intermittently. If anyone has used both of these in a project I would like to hear of it.