Arduino code

I need to modify some existing Arduino code for an Arduino Mega device. My project involves a complex set of processes that can be automated with the help of the right Arduino code. Working with Arduino has come as no surprise for me, but writing the code efficiently and accurately is the difficult part. I'm looking for an experienced freelance Arduino coder to revise the code and deliver a comprehensive tested product. Proficiency in coding with the Arduino Mega is required and a knowledge of previous code modifications is preferred. With the right person on board, my project can achieve the desired automation with precision and accuracy.

See the attachment shows the main code in which i want modification. Particularly their is a turning part which is time based and using time is inaccurate for me. So i implemented MPU6050 module for accurate turning using change in angle in Z-plane . So i need someone who will change the time-based turning to mpu6050 based turning.