Chapter 12: IMU Programming with Python
Modern robots need to know their position relative to the world. In Chapter 11, Programming Encoders with Python, we looked at how encoders can get an idea of how much the robot has moved or turned. However, this turning was relative to where the robot was and had no absolute reference. Wheel slipping could lead to false readings. In this chapter, you will see more ways the robot can read changes in its position and measure its movements.
In principle, an inertial measurement unit (IMU) can give absolute position measurements and not slip. In practice, they are complicated. This chapter is a small practical tour of adding an IMU to your robot. I will introduce the components of an IMU in this chapter. ...
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