// MCU BASIC: https://www.basic4mcu.com
// DateTime : 2019-05-27 오후 10:13:09
// by Ok-Hyun Park
//
#include <Wire.h>
const int MPU=0x68; //MPU 6050 의 I2C 기본 주소
#define TRIG 3  //초음파
#define ECHO 4  //초음파
int Buzzer=9;   //부저
int infrared=5; //적외선
int pwm=7;      //모터
int dir=6;      //모터
//
int16_t GyX;
//
void setup(){
  Wire.begin(); //Wire 라이브러리 초기화
  Wire.beginTransmission(MPU); //MPU로 데이터 전송 시작
  Wire.write(0x6B); // PWR_MGMT_1 register
  Wire.write(0); //MPU-6050 시작 모드로
  Wire.endTransmission(true);
  pinMode(TRIG,OUTPUT);
  pinMode(ECHO,INPUT); //초음파
  pinMode(infrared,INPUT);
  pinMode(Buzzer,OUTPUT);
  Serial.begin(9600);
  pinMode(7,OUTPUT); //모터
  pinMode(6,OUTPUT); //모터
}
//
void loop(){
  int state=digitalRead(infrared);
  if(state==1){ //적외선 감지 x
    first();
  }
  else{
    digitalWrite(Buzzer,HIGH);
    analogWrite(pwm,255);
    digitalWrite(dir,HIGH);
  }
}
//
void first(){
  float duration,distance;
  digitalWrite(TRIG,1);     delay(1); digitalWrite(TRIG,0);
  duration=pulseIn(ECHO,1); distance=((340*duration)/1000)/2;
  //Serial.print(distance); Serial.println("mm");
  Wire.beginTransmission(MPU);   // 데이터 전송시작
  Wire.write(0x3B);              // register 0x3B(ACCEL_XOUT_H),큐에 데이터 기록
  Wire.endTransmission(false);   // 연결유지
  Wire.requestFrom(MPU,14,true); // MPU에 데이터 요청
  //데이터 한 바이트 씩 읽어서 반환
  GyX=Wire.read()<<8|Wire.read(); // 0x43(GYRO_XOUT_H)&0x44(GYRO_XOUT_L)
  Serial.print("|GyX="); Serial.print(GyX);
  //
  if(GyX>2500||GyX<-2500){ digitalWrite(Buzzer,0); analogWrite(pwm,255); digitalWrite(dir,0); }
  else if(distance>150)  { digitalWrite(Buzzer,0); analogWrite(pwm,255); digitalWrite(dir,0); }
  else                   { digitalWrite(Buzzer,1); analogWrite(pwm,255); digitalWrite(dir,1); }
  delay(1000);
}
 
 analogWrite(pwm,255); 
모터 데이터시트를 체크하세요
이 값이 10cm 이동한다면 
 analogWrite(pwm,51); 
1/5 이동하기 위해서는 51을 출력하면 되겠죠