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Expanding on the answer given by C.O Park and comment by Ben. The gyroscope and accelerometer will give you 6 sensor values corresponding to the $x$/$y$/$z$ linear accelerations and the $x$/$y$/$z$ angular velocities. If you are looking to interpret whether your robot is turning left or right at any particular moment then you can simply check the sign of the ...


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The acceleration raw data looks weird, because of the discrete jumps. For comparison here is raw data from a stationary MPU-9150 (MEMS IMU): The raw accelerometer and gyroscope data are not integrated, and thus should not experience integration drift. The roll and pitch are integrated quantities, which then follow a random walk, and could end up anywhere. ...


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