SPIKE IMU Integration

[Andrewyx]

Description of the task

The new fleet now contains an IMU, and thus, we should integrate this new sensor into SensorFusion and investigate how its data can be utilized. In particular, we should investigate how the IMU's gyroscope data can be tuned to provide meaningful rotation data and see how adding this to the robot localizer in #3716 might improve robot tracking.

Note

The IMU is not yet implemented, so it is the task of this ticket to port over the imu code from #3716 and provide a clean software implementation.

IMU Spec: https://www.st.com/resource/en/application_note/an5040-lsm6dsl-alwayson-3d-accelerometer-and-3d-gyroscope-stmicroelectronics.pdf

Finally, the IMU also has an accelerometer, but it is unclear at the time how we might be able to use it (if even possible). So, it is up to this ticket to look into and conclude efficacy/use cases.

Acceptance criteria

• Implement IMU filtering logic
• Analyze the data
• Integrate into the robot localizer and observe field rotation test results
• Report results here

Blocked By

#3723 #3725

[nycrat]

Also see #3362