Summary
In this chapter, you've seen how to combine the IMU sensors to approximate an absolute orientation in space. You've seen how to render these in graphs and how to display them onscreen with a virtual robot. You've then seen how to hook this sensor system up to a PID controller and motor to get the robot to drive.
You've learned a little of the math needed to convert between vector components and angles, in 3D, along with how to use complementary filters to compensate for noise in one system and drift in another. You've started to see multiple sensors fused together to make inferences about the world. Your block diagram and data flow skills have been exercised, and you have had more practice with the PID algorithm.
In the next chapter, we will look at how you can control your robot and choose behaviors from a menu with a smartphone.
