Incorporate IMU readings to enhance low level motion control

[mkhlb]

Description of the task

Currently we use inverse kinematics on the wheel velocities to compute robot orientation and robot angular velocity in thunderloop.

If wheels are slipping as we think, then this is a very flawed way to measure angular velocity. This can be heavily improved with an IMU. Most IMUs measure angular velocity in 3 degrees. This can be discretely integrated over time to estimate heading.

Directions to research:

• Measure the error variance of the IMU for potential usage in kalman filtering.
• Other ways other teams use IMU values.

Ways this could improve our robot control:

• If we change linear motion planning such that it is rotated based on angular velocity, it is important to have angular velocity readings.
• This could also improve angular motion planning, which seemed drunk (potentially due to wheel slip, which other teams have cited IMU as a way to fix (see 3.1).

Acceptance criteria

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