Inertial Motion Unit

The robot also contains an inertial motion unit (IMU): ICM 42688 by Invensense. This chip contains an accelerometer and a gyroscope, allowing the user to measure acceleration and rotation velocity. In addition to raw readings, the secondary MCU also runs a sensor fusion algorithm which uses the accelerometer and gyro data to constantly compute robot orientation in space, giving yaw, pitch, and roll angles. This can be used for precise navigation.