Arduino Library interfacing with Mobile Robotics Library?

Hello everyone! I'm trying to model a control system in Simulink for my control systems class. I'm not super experienced in Simulink but I have done a few assignments on it. I watched the Matlab youtube series about the Mobile Robotics package and modeling a robot using line tracker and ultrasonic sensors. The results he got for his simulink model using the line followers was exactly what I'm looking for and I'm trying to implement it into my project. Along with line following, I'm also trying to using a feedback look using an MPU-6050. Can I use the Arduino Hardware / sensors library to get the MPU-6050 block to interface with the Mobile Robotics Library blocks? If not, what could be some potential counter routes to take?

Thank you!