Autonomous 4wd1 sabertooth with Arduino Leonardo

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Cube2.pde (6140Bytes)
FreeIMU_quaternion.pde (570Bytes)

Hello !

I am currently working on a project that has an objective of building an autonomous rover with the use of a sabertooth 2x12 and arduino uno or leonardo.So I have the following :

-sabertooth 2x12

-arduino uno & leonardo

-4wd1 rover

-IMU

The objective of the project was to make it autonomous and do a closed loop feedback using an IMU. So from the IMU data I was supposed to see that the rover moves 1m straight and come back to its orginal position. As of now I am done with how to control the sabertooth 2X12 to make it moves forward and backward. So I am having problems with my IMU data and the arduino board. Does anyone have a guideline on how I can make use of an IMU data for distance tracking? To get the IMU data I am using the work of Fabio Varesano. I have attached the file for reference.

I also experience problems in interfacing the arduino leonardo with the processing sketch i have attached. I really hope for the advices. I am really motivated to complete this project however, I think the improvement of knowledge on automation from this forum will help me to achieve my goal.
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What’s an IMU?

What is an IMU and where is the datasheet for your particular unit?

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There’s no way, at least

There’s no way, at least that I’m aware of, to track the distance with an IMU (inertial measurement unit) if the IMU doesn’t have 12 DOF (gyroscopee + accelerometer + magnemometer + barometer + GPS).

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IMU

IMU is an Inertia Measurement Unit that includes a 3-axis accelerometer and 3-axis gyroscope, I believed its mainly used on planes to actually monitor the stabilisation. 

http://www.invensense.com/mems/gyro/documents/PS-MPU-6000A.pdf

5

**Which website? **

I think you have missed out on putting the link.

6

Still clueless

Okay I have visited the site you suggested, however  the site uses an encoder instead of an IMU. So do anyone know a way for me to find the distance using IMU data and how will I go about on doing it?