Add IMU for navigation, odometry and calibration

[jdrew1303]

IMUs or inertial measurement units are parts that sense the inertial forces on a robot. They vary depending on sensor, but may commonly include linear and rotational acceleration. They may sometimes include magnetometer to give global compass facing dir. Frequently temperature is available from these as it affects sensitivity of the IMU.

MPU6050

This is a cheap, small, and moderately precise IMU (around €4-5).

• I2C interface.
• 6DOF IMU (acceleration X, Y, Z, gyroscope X, Y, Z, and temperature).
• Chip built-in 16bit AD converter, 16bit data output
• Contains a DMP (Digital Motion Processor) which fuses the accelerometer and gyroscope data together to minimise the effects of errors inherent in each sensor.
• Gyroscopes range: +/- 250 500 1000 2000 degree/sec
• Acceleration range: ±2 ±4 ±8 ±16g

Documents

• Datasheet
• Pin Out
• Arduino Wiring Schematic

[jdrew1303]

Added pins needed for i2c to DuckieTown raspberry pi hat.

[jdrew1303]

IMU hooked up to the board: