View source for Capability:IMU Sensing

{{Capability
| name = IMU Sensing
| type = Sensing
| measures = 3-axis acceleration (m/s²) and 3-axis angular velocity (°/s)
| hardware = MPU6050, BNO055, ICM-20948, LSM6DS3
| enables = [[Activity:Dead Reckoning Navigation]] (heading estimation), tilt detection, self-balancing robots
| status = '''Stub''' - Not yet implemented in BRS robots
}}

'''IMU Sensing''' is a sensing capability that measures acceleration and angular velocity in 3D space.

== Overview ==

'''This is a stub page.''' This capability is not yet implemented in any BRS robot. This page exists to:
* Document the concept for future implementation
* Invite community members to add it to their robots
* Provide a starting point for hardware selection

== What It Measures ==

3-axis acceleration (m/s²) and 3-axis angular velocity (°/s)

== Common Hardware ==

MPU6050, BNO055, ICM-20948, LSM6DS3

== Enables Activities ==

Adding this capability to your robot would enable:

* [[Activity:Dead Reckoning Navigation]]

== Technical Considerations ==

* **Advantages**: Fast update rate, no external reference needed, multi-axis sensing
* **Disadvantages**: Gyro drift over time, accelerometer noise, requires sensor fusion for accurate heading
* **Typical cost**: $3-15 depending on accuracy
* **Interface**: I²C or SPI
* **Calibration**: Requires careful calibration for accurate results
* **Drift**: Gyro drift of 1-10°/min typical without correction

== Contributing ==

Want to add this capability to your robot? Here's how:

# Select appropriate hardware (see "Common Hardware" above)
# Mount the hardware to your robot chassis
# Wire to your microcontroller
# Write driver code or use existing libraries
# Test and calibrate
# Document your implementation
# Update this page with your findings
# Share on [[Discord]]

== See Also ==

* [[Capabilities]] - All capabilities
* [[Activities]] - What this capability enables
* [[Robotics Ontology]] - How capabilities fit into BRS knowledge structure

[[Category:Capability]]
[[Category:Sensing Capability]]
[[Category:Stub]]