This is an experiment in autonomous robot navigation codes.
It is built on a lot a work from others. I hope to document all the sources as this moves along.
##IMU - The art of Gyro, Accel and Mag sensors
The MotionPlug unit is coming. Hardware documentation for the MotionPlug from Modern Device. Here is Motionplug Code for Arduino with DMP
Very Good: Kalman filter vs Complementary filter
Using the gyro, Mag and Accel to help with weaknesses can be found here: A practical approach to Kalman filter and how to implement it
##Motion Control Profiles - Smooth Movement
2015 FIRST World Championships Conference - Motion Planning & Control in FRC - CheesyPoofs FRC 254 Presentation and the Powerpoint to that presentation.
Good overview behind The Mathematics behind Motion control profiles
[Simple motion control profile discussion]http://electronics.stackexchange.com/questions/38573/smooth-a-motor-movement Sinisodal Acceleration FRC - Chief Delphi code - Very Good!