Add function to calibrate MPU6050

[gautam-dev-maker]

As any other IMU, MPU6050 needs to be calibrated before use, this ensures that if there is any offset in the readings (which may be due to position of MPU6050) then it is accounted for.

An example of calibration : https://github.com/kerikun11/micromouse-kerise-v4/blob/master/firmware/src/hardware/imu.h#L125

[Ayush-Kaura]

@RISHI27-dot will be taking up the task

[RISHI27-dot]

Ack.