direction code and better IR seeker code

15 files changed, 2337 insertions, 18 deletions

diff --git a/debug/IMU_comp/HeadingWithLSM6/HeadingWithLSM6.ino b/debug/IMU_comp/HeadingWithLSM6/HeadingWithLSM6.ino
new file mode 100644
index 0000000..ac60515
--- /dev/null
+++ b/debug/IMU_comp/HeadingWithLSM6/HeadingWithLSM6.ino
@@ -0,0 +1,120 @@
+/*
+This sketch combines magnetometer readings from an LIS3MDL and accelerometer
+readings from an LSM6 to calculate a tilt-compensated magnetic heading. It
+requires Pololu's LSM6 Arduino library to be installed:
+
+https://github.com/pololu/lsm6-arduino
+
+This program can be used with a board that includes both sensors, like the
+Pololu MinIMU-9 v5 and AltIMU-10 v5, or with separate carrier boards for the two
+sensors, both connected to the same I2C bus. If you are using separate boards,
+make sure the axes are oriented the same way on both (i.e. the X, Y, and Z axes
+of both boards should point in the same direction, and the surfaces of the
+boards should be as close to parallel as possible).
+*/
+
+#include <Wire.h>
+#include <LIS3MDL.h>
+#include <LSM6.h>
+
+LIS3MDL mag;
+LSM6 imu;
+
+/*
+Calibration values; the default values of +/-32767 for each axis
+lead to an assumed magnetometer bias of 0. Use the Calibrate example
+program to determine appropriate values for your particular unit.
+*/
+LIS3MDL::vector<int16_t> m_min = {+5862, +2474, -6186};
+LIS3MDL::vector<int16_t> m_max = {+6610, +2849, -5547};
+
+void setup()
+{
+  Serial.begin(9600);
+  Wire.begin();
+
+  if (!mag.init())
+  {
+    Serial.println("Failed to detect and initialize LIS3MDL magnetometer!");
+    while (1);
+  }
+  mag.enableDefault();
+
+  if (!imu.init())
+  {
+    Serial.println("Failed to detect and initialize LSM6 IMU!");
+    while (1);
+  }
+  imu.enableDefault();
+}
+
+void loop()
+{
+  mag.read();
+  imu.read();
+
+  /*
+  When given no arguments, the heading() function returns the angular
+  difference in the horizontal plane between a default vector (the
+  +X axis) and north, in degrees.
+  */
+  float heading = computeHeading();
+
+  /*
+  To use a different vector as a reference, use the version of
+  computeHeading() that takes a vector argument; for example, call it like this
+  to use the -Z axis as a reference:
+  */
+  //float heading = computeHeading((LIS3MDL::vector<int>){0, 0, -1});
+
+  Serial.println(heading);
+  delay(100);
+}
+
+/*
+Returns the angular difference in the horizontal plane between the
+"from" vector and north, in degrees.
+
+Description of heading algorithm:
+Shift and scale the magnetic reading based on calibration data to find
+the North vector. Use the acceleration readings to determine the Up
+vector (gravity is measured as an upward acceleration). The cross
+product of North and Up vectors is East. The vectors East and North
+form a basis for the horizontal plane. The From vector is projected
+into the horizontal plane and the angle between the projected vector
+and horizontal north is returned.
+*/
+template <typename T> float computeHeading(LIS3MDL::vector<T> from)
+{
+  LIS3MDL::vector<int32_t> temp_m = {mag.m.x, mag.m.y, mag.m.z};
+
+  // copy acceleration readings from LSM6::vector into an LIS3MDL::vector
+  LIS3MDL::vector<int16_t> a = {imu.a.x, imu.a.y, imu.a.z};
+
+  // subtract offset (average of min and max) from magnetometer readings
+  temp_m.x -= ((int32_t)m_min.x + m_max.x) / 2;
+  temp_m.y -= ((int32_t)m_min.y + m_max.y) / 2;
+  temp_m.z -= ((int32_t)m_min.z + m_max.z) / 2;
+
+  // compute E and N
+  LIS3MDL::vector<float> E;
+  LIS3MDL::vector<float> N;
+  LIS3MDL::vector_cross(&temp_m, &a, &E);
+  LIS3MDL::vector_normalize(&E);
+  LIS3MDL::vector_cross(&a, &E, &N);
+  LIS3MDL::vector_normalize(&N);
+
+  // compute heading
+  float heading = atan2(LIS3MDL::vector_dot(&E, &from), LIS3MDL::vector_dot(&N, &from)) * 180 / PI;
+  if (heading < 0) heading += 360;
+  return heading;
+}
+
+/*
+Returns the angular difference in the horizontal plane between a
+default vector (the +X axis) and north, in degrees.
+*/
+float computeHeading()
+{
+  return computeHeading((LIS3MDL::vector<int>){1, 0, 0});
+}
diff --git a/debug/IMU_comp/IMU_comp.ino b/debug/IMU_comp/IMU_comp.ino
index 0c3928d..fc35244 100644
--- a/debug/IMU_comp/IMU_comp.ino
+++ b/debug/IMU_comp/IMU_comp.ino
@@ -1,8 +1,33 @@
+/*
+This sketch combines magnetometer readings from an LIS3MDL and accelerometer
+readings from an LSM6 to calculate a tilt-compensated magnetic heading. It
+requires Pololu's LSM6 Arduino library to be installed:
+
+https://github.com/pololu/lsm6-arduino
+
+This program can be used with a board that includes both sensors, like the
+Pololu MinIMU-9 v5 and AltIMU-10 v5, or with separate carrier boards for the two
+sensors, both connected to the same I2C bus. If you are using separate boards,
+make sure the axes are oriented the same way on both (i.e. the X, Y, and Z axes
+of both boards should point in the same direction, and the surfaces of the
+boards should be as close to parallel as possible).
+*/
+
 #include <Wire.h>
 #include <LIS3MDL.h>
-#include <math.h>
+#include <LSM6.h>
 
 LIS3MDL mag;
+LSM6 imu;
+int front = 0;
+
+/*
+Calibration values; the default values of +/-32767 for each axis
+lead to an assumed magnetometer bias of 0. Use the Calibrate example
+program to determine appropriate values for your particular unit.
+*/
+LIS3MDL::vector<int16_t> m_min = {+942, +3436, -3323};
+LIS3MDL::vector<int16_t> m_max = {+1053, +3559, -3142};
 
 void setup()
 {
@@ -11,35 +36,78 @@ void setup()
 
   if (!mag.init())
   {
-    Serial.println("Failed to detect and initialize magnetometer!");
+    Serial.println("Failed to detect and initialize LIS3MDL magnetometer!");
     while (1);
   }
-
   mag.enableDefault();
+
+  if (!imu.init())
+  {
+    Serial.println("Failed to detect and initialize LSM6 IMU!");
+    while (1);
+  }
+  imu.enableDefault();
+
+  //get start heading
+  mag.read();
+  imu.read();
+  float heading = computeHeading();
+  front = heading;
+  Serial.println(heading);
+
 }
 
 void loop()
 {
   mag.read();
+  imu.read();
 
-  // Calculate heading
-  float heading = atan2(mag.m.y, mag.m.x);
-  if (heading < 0)
-    heading += 2 * PI; // Normalize heading to positive angles
 
-  // Convert from radians to degrees
-  float headingDegrees = heading * 180.0 / PI;
+  float heading = computeHeading();
+  int offset = front - heading;
+  
+  Serial.print("heading: ");
+  Serial.print(heading);
+  Serial.print(", goal location: ");
+  Serial.print(front);
+  Serial.print(", offset: ");
+  
+  Serial.println(offset);
 
-  // Adjust for magnetic declination if needed
-  // headingDegrees += magneticDeclination;
+  delay(100);
+}
 
-  // Normalize headingDegrees to [0, 360) range
-  if (headingDegrees >= 360.0)
-    headingDegrees -= 360.0;
+template <typename T> float computeHeading(LIS3MDL::vector<T> from)
+{
+  LIS3MDL::vector<int32_t> temp_m = {mag.m.x, mag.m.y, mag.m.z};
 
-  // Print heading
-  Serial.print("Heading: ");
-  Serial.println(headingDegrees);
+  // copy acceleration readings from LSM6::vector into an LIS3MDL::vector
+  LIS3MDL::vector<int16_t> a = {imu.a.x, imu.a.y, imu.a.z};
 
-  delay(100);
+  // subtract offset (average of min and max) from magnetometer readings
+  temp_m.x -= ((int32_t)m_min.x + m_max.x) / 2;
+  temp_m.y -= ((int32_t)m_min.y + m_max.y) / 2;
+  temp_m.z -= ((int32_t)m_min.z + m_max.z) / 2;
+
+  // compute E and N
+  LIS3MDL::vector<float> E;
+  LIS3MDL::vector<float> N;
+  LIS3MDL::vector_cross(&temp_m, &a, &E);
+  LIS3MDL::vector_normalize(&E);
+  LIS3MDL::vector_cross(&a, &E, &N);
+  LIS3MDL::vector_normalize(&N);
+
+  // compute heading
+  float heading = atan2(LIS3MDL::vector_dot(&E, &from), LIS3MDL::vector_dot(&N, &from)) * 180 / PI;
+  if (heading < 0) heading += 360;
+  return heading;
+}
+
+/*
+Returns the angular difference in the horizontal plane between a
+default vector (the +X axis) and north, in degrees.
+*/
+float computeHeading()
+{
+  return computeHeading((LIS3MDL::vector<int>){1, 0, 0});
 }
diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/.gitignore b/debug/IMU_comp/minimu-9-ahrs-arduino-master/.gitignore
new file mode 100644
index 0000000..1089bae
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/.gitignore
@@ -0,0 +1 @@
+Serial*.txt
\ No newline at end of file
diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/COPYING b/debug/IMU_comp/minimu-9-ahrs-arduino-master/COPYING
new file mode 100644
index 0000000..94a9ed0
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/COPYING
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
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diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/COPYING.LESSER b/debug/IMU_comp/minimu-9-ahrs-arduino-master/COPYING.LESSER
new file mode 100644
index 0000000..65c5ca8
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/COPYING.LESSER
@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
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diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU-9-test.py b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU-9-test.py
new file mode 100644
index 0000000..0459874
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU-9-test.py
@@ -0,0 +1,148 @@
+# MinIMU9ArduinoAHRS
+# Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+# Copyright (c) 2011 Pololu Corporation.
+# http://www.pololu.com/
+
+# MinIMU9ArduinoAHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+# http://code.google.com/p/sf9domahrs/
+
+# sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+# Julio and Doug Weibel:
+# http://code.google.com/p/ardu-imu/
+
+# MinIMU9ArduinoAHRS is free software: you can redistribute it and/or modify it
+# under the terms of the GNU Lesser General Public License as published by the
+# Free Software Foundation, either version 3 of the License, or (at your option)
+# any later version.
+
+# MinIMU9ArduinoAHRS is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+# FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+# more details.
+
+# You should have received a copy of the GNU Lesser General Public License along
+# with MinIMU9ArduinoAHRS. If not, see <http://www.gnu.org/licenses/>.
+
+################################################################################
+
+# This is a test/3D visualization program for the Pololu MinIMU-9 + Arduino
+# AHRS, based on "Test for Razor 9DOF IMU" by Jose Julio, copyright 2009.
+
+# This script needs VPython, pyserial and pywin modules
+
+# First Install Python 2.6.4 (Python 2.7 also works)
+# Install pywin from http://sourceforge.net/projects/pywin32/
+# Install pyserial from http://sourceforge.net/projects/pyserial/files/
+# Install VPython from http://vpython.org/contents/download_windows.html
+
+from vpython import *
+import serial
+import string
+import math
+
+from time import time
+
+grad2rad = 3.141592/180.0
+
+# Check your COM port and baud rate
+ser = serial.Serial(port='COM9',baudrate=115200, timeout=1)
+
+# Main scene
+scene=display(title="Pololu MinIMU-9 + Arduino AHRS")
+scene.range=(1.2,1.2,1.2)
+#scene.forward = (0,-1,-0.25)
+scene.forward = (1,0,-0.25)
+scene.up=(0,0,1)
+
+# Second scene (Roll, Pitch, Yaw)
+scene2 = display(title='Pololu MinIMU-9 + Arduino AHRS',x=0, y=0, width=500, height=200,center=(0,0,0), background=(0,0,0))
+scene2.range=(1,1,1)
+scene.width=500
+scene.y=200
+
+scene2.select()
+#Roll, Pitch, Yaw
+cil_roll = cylinder(pos=(-0.4,0,0),axis=(0.2,0,0),radius=0.01,color=color.red)
+cil_roll2 = cylinder(pos=(-0.4,0,0),axis=(-0.2,0,0),radius=0.01,color=color.red)
+cil_pitch = cylinder(pos=(0.1,0,0),axis=(0.2,0,0),radius=0.01,color=color.green)
+cil_pitch2 = cylinder(pos=(0.1,0,0),axis=(-0.2,0,0),radius=0.01,color=color.green)
+#cil_course = cylinder(pos=(0.6,0,0),axis=(0.2,0,0),radius=0.01,color=color.blue)
+#cil_course2 = cylinder(pos=(0.6,0,0),axis=(-0.2,0,0),radius=0.01,color=color.blue)
+arrow_course = arrow(pos=(0.6,0,0),color=color.cyan,axis=(-0.2,0,0), shaftwidth=0.02, fixedwidth=1)
+
+#Roll,Pitch,Yaw labels
+label(pos=(-0.4,0.3,0),text="Roll",box=0,opacity=0)
+label(pos=(0.1,0.3,0),text="Pitch",box=0,opacity=0)
+label(pos=(0.55,0.3,0),text="Yaw",box=0,opacity=0)
+label(pos=(0.6,0.22,0),text="N",box=0,opacity=0,color=color.yellow)
+label(pos=(0.6,-0.22,0),text="S",box=0,opacity=0,color=color.yellow)
+label(pos=(0.38,0,0),text="W",box=0,opacity=0,color=color.yellow)
+label(pos=(0.82,0,0),text="E",box=0,opacity=0,color=color.yellow)
+label(pos=(0.75,0.15,0),height=7,text="NE",box=0,color=color.yellow)
+label(pos=(0.45,0.15,0),height=7,text="NW",box=0,color=color.yellow)
+label(pos=(0.75,-0.15,0),height=7,text="SE",box=0,color=color.yellow)
+label(pos=(0.45,-0.15,0),height=7,text="SW",box=0,color=color.yellow)
+
+L1 = label(pos=(-0.4,0.22,0),text="-",box=0,opacity=0)
+L2 = label(pos=(0.1,0.22,0),text="-",box=0,opacity=0)
+L3 = label(pos=(0.7,0.3,0),text="-",box=0,opacity=0)
+
+# Main scene objects
+scene.select()
+# Reference axis (x,y,z)
+arrow(color=color.green,axis=(1,0,0), shaftwidth=0.02, fixedwidth=1)
+arrow(color=color.green,axis=(0,-1,0), shaftwidth=0.02 , fixedwidth=1)
+arrow(color=color.green,axis=(0,0,-1), shaftwidth=0.02, fixedwidth=1)
+# labels
+label(pos=(0,0,0.8),text="Pololu MinIMU-9 + Arduino AHRS",box=0,opacity=0)
+label(pos=(1,0,0),text="X",box=0,opacity=0)
+label(pos=(0,-1,0),text="Y",box=0,opacity=0)
+label(pos=(0,0,-1),text="Z",box=0,opacity=0)
+# IMU object
+platform = box(length=1, height=0.05, width=1, color=color.blue)
+p_line = box(length=1,height=0.08,width=0.1,color=color.yellow)
+plat_arrow = arrow(color=color.green,axis=(1,0,0), shaftwidth=0.06, fixedwidth=1)
+
+
+f = open("Serial"+str(time())+".txt", 'w')
+
+roll=0
+pitch=0
+yaw=0
+while 1:
+    line = ser.readline()
+    if line.find("!ANG:") != -1:          # filter out incomplete (invalid) lines
+        line = line.replace("!ANG:","")   # Delete "!ANG:"
+        print line
+        f.write(line)                     # Write to the output log file
+        words = string.split(line,",")    # Fields split
+        if len(words) > 2:
+            try:
+                roll = float(words[0])*grad2rad
+                pitch = float(words[1])*grad2rad
+                yaw = float(words[2])*grad2rad
+            except:
+                print "Invalid line"
+
+            axis=(cos(pitch)*cos(yaw),-cos(pitch)*sin(yaw),sin(pitch)) 
+            up=(sin(roll)*sin(yaw)+cos(roll)*sin(pitch)*cos(yaw),sin(roll)*cos(yaw)-cos(roll)*sin(pitch)*sin(yaw),-cos(roll)*cos(pitch))
+            platform.axis=axis
+            platform.up=up
+            platform.length=1.0
+            platform.width=0.65
+            plat_arrow.axis=axis
+            plat_arrow.up=up
+            plat_arrow.length=0.8
+            p_line.axis=axis
+            p_line.up=up
+            cil_roll.axis=(0.2*cos(roll),0.2*sin(roll),0)
+            cil_roll2.axis=(-0.2*cos(roll),-0.2*sin(roll),0)
+            cil_pitch.axis=(0.2*cos(pitch),0.2*sin(pitch),0)
+            cil_pitch2.axis=(-0.2*cos(pitch),-0.2*sin(pitch),0)
+            arrow_course.axis=(0.2*sin(yaw),0.2*cos(yaw),0)
+            L1.text = str(float(words[0]))
+            L2.text = str(float(words[1]))
+            L3.text = str(float(words[2]))        
+ser.close
+f.close
diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino
new file mode 100644
index 0000000..767227b
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino
@@ -0,0 +1,56 @@
+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
+
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+void Compass_Heading()
+{
+  float MAG_X;
+  float MAG_Y;
+  float cos_roll;
+  float sin_roll;
+  float cos_pitch;
+  float sin_pitch;
+  
+  cos_roll = cos(roll);
+  sin_roll = sin(roll);
+  cos_pitch = cos(pitch);
+  sin_pitch = sin(pitch);
+  
+  // adjust for LSM303 compass axis offsets/sensitivity differences by scaling to +/-0.5 range
+  c_magnetom_x = (float)(magnetom_x - SENSOR_SIGN[6]*M_X_MIN) / (M_X_MAX - M_X_MIN) - SENSOR_SIGN[6]*0.5;
+  c_magnetom_y = (float)(magnetom_y - SENSOR_SIGN[7]*M_Y_MIN) / (M_Y_MAX - M_Y_MIN) - SENSOR_SIGN[7]*0.5;
+  c_magnetom_z = (float)(magnetom_z - SENSOR_SIGN[8]*M_Z_MIN) / (M_Z_MAX - M_Z_MIN) - SENSOR_SIGN[8]*0.5;
+  
+  // Tilt compensated Magnetic filed X:
+  MAG_X = c_magnetom_x*cos_pitch+c_magnetom_y*sin_roll*sin_pitch+c_magnetom_z*cos_roll*sin_pitch;
+  // Tilt compensated Magnetic filed Y:
+  MAG_Y = c_magnetom_y*cos_roll-c_magnetom_z*sin_roll;
+  // Magnetic Heading
+  MAG_Heading = atan2(-MAG_Y,MAG_X);
+}
diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino
new file mode 100644
index 0000000..7f9f276
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino
@@ -0,0 +1,164 @@
+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011-2016 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
+
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/**************************************************/
+void Normalize(void)
+{
+  float error=0;
+  float temporary[3][3];
+  float renorm=0;
+  
+  error= -Vector_Dot_Product(&DCM_Matrix[0][0],&DCM_Matrix[1][0])*.5; //eq.19
+
+  Vector_Scale(&temporary[0][0], &DCM_Matrix[1][0], error); //eq.19
+  Vector_Scale(&temporary[1][0], &DCM_Matrix[0][0], error); //eq.19
+  
+  Vector_Add(&temporary[0][0], &temporary[0][0], &DCM_Matrix[0][0]);//eq.19
+  Vector_Add(&temporary[1][0], &temporary[1][0], &DCM_Matrix[1][0]);//eq.19
+  
+  Vector_Cross_Product(&temporary[2][0],&temporary[0][0],&temporary[1][0]); // c= a x b //eq.20
+  
+  renorm= .5 *(3 - Vector_Dot_Product(&temporary[0][0],&temporary[0][0])); //eq.21
+  Vector_Scale(&DCM_Matrix[0][0], &temporary[0][0], renorm);
+  
+  renorm= .5 *(3 - Vector_Dot_Product(&temporary[1][0],&temporary[1][0])); //eq.21
+  Vector_Scale(&DCM_Matrix[1][0], &temporary[1][0], renorm);
+  
+  renorm= .5 *(3 - Vector_Dot_Product(&temporary[2][0],&temporary[2][0])); //eq.21
+  Vector_Scale(&DCM_Matrix[2][0], &temporary[2][0], renorm);
+}
+
+/**************************************************/
+void Drift_correction(void)
+{
+  float mag_heading_x;
+  float mag_heading_y;
+  float errorCourse;
+  //Compensation the Roll, Pitch and Yaw drift. 
+  static float Scaled_Omega_P[3];
+  static float Scaled_Omega_I[3];
+  float Accel_magnitude;
+  float Accel_weight;
+  
+  
+  //*****Roll and Pitch***************
+
+  // Calculate the magnitude of the accelerometer vector
+  Accel_magnitude = sqrt(Accel_Vector[0]*Accel_Vector[0] + Accel_Vector[1]*Accel_Vector[1] + Accel_Vector[2]*Accel_Vector[2]);
+  Accel_magnitude = Accel_magnitude / GRAVITY; // Scale to gravity.
+  // Dynamic weighting of accelerometer info (reliability filter)
+  // Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0)
+  Accel_weight = constrain(1 - 2*abs(1 - Accel_magnitude),0,1);  //  
+
+  Vector_Cross_Product(&errorRollPitch[0],&Accel_Vector[0],&DCM_Matrix[2][0]); //adjust the ground of reference
+  Vector_Scale(&Omega_P[0],&errorRollPitch[0],Kp_ROLLPITCH*Accel_weight);
+  
+  Vector_Scale(&Scaled_Omega_I[0],&errorRollPitch[0],Ki_ROLLPITCH*Accel_weight);
+  Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);     
+  
+  //*****YAW***************
+  // We make the gyro YAW drift correction based on compass magnetic heading
+ 
+  mag_heading_x = cos(MAG_Heading);
+  mag_heading_y = sin(MAG_Heading);
+  errorCourse=(DCM_Matrix[0][0]*mag_heading_y) - (DCM_Matrix[1][0]*mag_heading_x);  //Calculating YAW error
+  Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
+  
+  Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);//.01proportional of YAW.
+  Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding  Proportional.
+  
+  Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);//.00001Integrator
+  Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
+}
+/**************************************************/
+/*
+void Accel_adjust(void)
+{
+ Accel_Vector[1] += Accel_Scale(speed_3d*Omega[2]);  // Centrifugal force on Acc_y = GPS_speed*GyroZ
+ Accel_Vector[2] -= Accel_Scale(speed_3d*Omega[1]);  // Centrifugal force on Acc_z = GPS_speed*GyroY 
+}
+*/
+/**************************************************/
+
+void Matrix_update(void)
+{
+  Gyro_Vector[0]=Gyro_Scaled_X(gyro_x); //gyro x roll
+  Gyro_Vector[1]=Gyro_Scaled_Y(gyro_y); //gyro y pitch
+  Gyro_Vector[2]=Gyro_Scaled_Z(gyro_z); //gyro Z yaw
+  
+  Accel_Vector[0]=accel_x;
+  Accel_Vector[1]=accel_y;
+  Accel_Vector[2]=accel_z;
+    
+  Vector_Add(&Omega[0], &Gyro_Vector[0], &Omega_I[0]);  //adding proportional term
+  Vector_Add(&Omega_Vector[0], &Omega[0], &Omega_P[0]); //adding Integrator term
+
+  //Accel_adjust();    //Remove centrifugal acceleration.   We are not using this function in this version - we have no speed measurement
+  
+ #if OUTPUTMODE==1         
+  Update_Matrix[0][0]=0;
+  Update_Matrix[0][1]=-G_Dt*Omega_Vector[2];//-z
+  Update_Matrix[0][2]=G_Dt*Omega_Vector[1];//y
+  Update_Matrix[1][0]=G_Dt*Omega_Vector[2];//z
+  Update_Matrix[1][1]=0;
+  Update_Matrix[1][2]=-G_Dt*Omega_Vector[0];//-x
+  Update_Matrix[2][0]=-G_Dt*Omega_Vector[1];//-y
+  Update_Matrix[2][1]=G_Dt*Omega_Vector[0];//x
+  Update_Matrix[2][2]=0;
+ #else                    // Uncorrected data (no drift correction)
+  Update_Matrix[0][0]=0;
+  Update_Matrix[0][1]=-G_Dt*Gyro_Vector[2];//-z
+  Update_Matrix[0][2]=G_Dt*Gyro_Vector[1];//y
+  Update_Matrix[1][0]=G_Dt*Gyro_Vector[2];//z
+  Update_Matrix[1][1]=0;
+  Update_Matrix[1][2]=-G_Dt*Gyro_Vector[0];
+  Update_Matrix[2][0]=-G_Dt*Gyro_Vector[1];
+  Update_Matrix[2][1]=G_Dt*Gyro_Vector[0];
+  Update_Matrix[2][2]=0;
+ #endif
+
+  Matrix_Multiply(DCM_Matrix,Update_Matrix,Temporary_Matrix); //a*b=c
+
+  for(int x=0; x<3; x++) //Matrix Addition (update)
+  {
+    for(int y=0; y<3; y++)
+    {
+      DCM_Matrix[x][y]+=Temporary_Matrix[x][y];
+    } 
+  }
+}
+
+void Euler_angles(void)
+{
+  pitch = -asin(DCM_Matrix[2][0]);
+  roll = atan2(DCM_Matrix[2][1],DCM_Matrix[2][2]);
+  yaw = atan2(DCM_Matrix[1][0],DCM_Matrix[0][0]);
+}
+
diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino
new file mode 100644
index 0000000..5ca58e2
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino
@@ -0,0 +1,159 @@
+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011-2016 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
+
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+#ifdef IMU_V5
+
+#include <LSM6.h>
+#include <LIS3MDL.h>
+
+LSM6 gyro_acc;
+LIS3MDL mag;
+
+#else // older IMUs through v4
+
+#include <L3G.h>
+#include <LSM303.h>
+
+L3G gyro;
+LSM303 compass;
+
+#endif
+
+
+void I2C_Init()
+{
+  Wire.begin();
+}
+
+void Gyro_Init()
+{
+#ifdef IMU_V5
+  // Accel_Init() should have already called gyro_acc.init() and enableDefault()
+  gyro_acc.writeReg(LSM6::CTRL2_G, 0x4C); // 104 Hz, 2000 dps full scale
+#else
+  gyro.init();
+  gyro.enableDefault();
+  gyro.writeReg(L3G::CTRL_REG4, 0x20); // 2000 dps full scale
+  gyro.writeReg(L3G::CTRL_REG1, 0x0F); // normal power mode, all axes enabled, 100 Hz
+#endif
+}
+
+void Read_Gyro()
+{
+#ifdef IMU_V5
+  gyro_acc.readGyro();
+
+  AN[0] = gyro_acc.g.x;
+  AN[1] = gyro_acc.g.y;
+  AN[2] = gyro_acc.g.z;
+#else
+  gyro.read();
+
+  AN[0] = gyro.g.x;
+  AN[1] = gyro.g.y;
+  AN[2] = gyro.g.z;
+#endif
+
+  gyro_x = SENSOR_SIGN[0] * (AN[0] - AN_OFFSET[0]);
+  gyro_y = SENSOR_SIGN[1] * (AN[1] - AN_OFFSET[1]);
+  gyro_z = SENSOR_SIGN[2] * (AN[2] - AN_OFFSET[2]);
+}
+
+void Accel_Init()
+{
+#ifdef IMU_V5
+  gyro_acc.init();
+  gyro_acc.enableDefault();
+  gyro_acc.writeReg(LSM6::CTRL1_XL, 0x3C); // 52 Hz, 8 g full scale
+#else
+  compass.init();
+  compass.enableDefault();
+  switch (compass.getDeviceType())
+  {
+    case LSM303::device_D:
+      compass.writeReg(LSM303::CTRL2, 0x18); // 8 g full scale: AFS = 011
+      break;
+    case LSM303::device_DLHC:
+      compass.writeReg(LSM303::CTRL_REG4_A, 0x28); // 8 g full scale: FS = 10; high resolution output mode
+      break;
+    default: // DLM, DLH
+      compass.writeReg(LSM303::CTRL_REG4_A, 0x30); // 8 g full scale: FS = 11
+  }
+#endif
+}
+
+// Reads x,y and z accelerometer registers
+void Read_Accel()
+{
+#ifdef IMU_V5
+  gyro_acc.readAcc();
+
+  AN[3] = gyro_acc.a.x >> 4; // shift right 4 bits to use 12-bit representation (1 g = 256)
+  AN[4] = gyro_acc.a.y >> 4;
+  AN[5] = gyro_acc.a.z >> 4;
+#else
+  compass.readAcc();
+
+  AN[3] = compass.a.x >> 4; // shift right 4 bits to use 12-bit representation (1 g = 256)
+  AN[4] = compass.a.y >> 4;
+  AN[5] = compass.a.z >> 4;
+#endif
+  accel_x = SENSOR_SIGN[3] * (AN[3] - AN_OFFSET[3]);
+  accel_y = SENSOR_SIGN[4] * (AN[4] - AN_OFFSET[4]);
+  accel_z = SENSOR_SIGN[5] * (AN[5] - AN_OFFSET[5]);
+}
+
+void Compass_Init()
+{
+#ifdef IMU_V5
+  mag.init();
+  mag.enableDefault();
+#else
+  // LSM303: doesn't need to do anything because Accel_Init() should have already called compass.enableDefault()
+#endif
+}
+
+void Read_Compass()
+{
+#ifdef IMU_V5
+  mag.read();
+
+  magnetom_x = SENSOR_SIGN[6] * mag.m.x;
+  magnetom_y = SENSOR_SIGN[7] * mag.m.y;
+  magnetom_z = SENSOR_SIGN[8] * mag.m.z;
+#else
+  compass.readMag();
+
+  magnetom_x = SENSOR_SIGN[6] * compass.m.x;
+  magnetom_y = SENSOR_SIGN[7] * compass.m.y;
+  magnetom_z = SENSOR_SIGN[8] * compass.m.z;
+#endif
+}
+
diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino
new file mode 100644
index 0000000..5307f5e
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino
@@ -0,0 +1,241 @@
+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011-2016 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
+
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+// Uncomment the following line to use a MinIMU-9 v5 or AltIMU-10 v5. Leave commented for older IMUs (up through v4).
+#define IMU_V5
+
+// Uncomment the below line to use this axis definition:
+   // X axis pointing forward
+   // Y axis pointing to the right
+   // and Z axis pointing down.
+// Positive pitch : nose up
+// Positive roll : right wing down
+// Positive yaw : clockwise
+int SENSOR_SIGN[9] = {1,1,1,-1,-1,-1,1,1,1}; //Correct directions x,y,z - gyro, accelerometer, magnetometer
+// Uncomment the below line to use this axis definition:
+   // X axis pointing forward
+   // Y axis pointing to the left
+   // and Z axis pointing up.
+// Positive pitch : nose down
+// Positive roll : right wing down
+// Positive yaw : counterclockwise
+//int SENSOR_SIGN[9] = {1,-1,-1,-1,1,1,1,-1,-1}; //Correct directions x,y,z - gyro, accelerometer, magnetometer
+
+// tested with Arduino Uno with ATmega328 and Arduino Duemilanove with ATMega168
+
+#include <Wire.h>
+
+// accelerometer: 8 g sensitivity
+// 3.9 mg/digit; 1 g = 256
+#define GRAVITY 256  //this equivalent to 1G in the raw data coming from the accelerometer
+
+#define ToRad(x) ((x)*0.01745329252)  // *pi/180
+#define ToDeg(x) ((x)*57.2957795131)  // *180/pi
+
+// gyro: 2000 dps full scale
+// 70 mdps/digit; 1 dps = 0.07
+#define Gyro_Gain_X 0.07 //X axis Gyro gain
+#define Gyro_Gain_Y 0.07 //Y axis Gyro gain
+#define Gyro_Gain_Z 0.07 //Z axis Gyro gain
+#define Gyro_Scaled_X(x) ((x)*ToRad(Gyro_Gain_X)) //Return the scaled ADC raw data of the gyro in radians for second
+#define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second
+#define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second
+
+// LSM303/LIS3MDL magnetometer calibration constants; use the Calibrate example from
+// the Pololu LSM303 or LIS3MDL library to find the right values for your board
+
+#define M_X_MIN -1000
+#define M_Y_MIN -1000
+#define M_Z_MIN -1000
+#define M_X_MAX +1000
+#define M_Y_MAX +1000
+#define M_Z_MAX +1000
+
+#define Kp_ROLLPITCH 0.02
+#define Ki_ROLLPITCH 0.00002
+#define Kp_YAW 1.2
+#define Ki_YAW 0.00002
+
+/*For debugging purposes*/
+//OUTPUTMODE=1 will print the corrected data,
+//OUTPUTMODE=0 will print uncorrected data of the gyros (with drift)
+#define OUTPUTMODE 1
+
+#define PRINT_DCM 0     //Will print the whole direction cosine matrix
+#define PRINT_ANALOGS 0 //Will print the analog raw data
+#define PRINT_EULER 1   //Will print the Euler angles Roll, Pitch and Yaw
+
+#define STATUS_LED 13
+
+float G_Dt=0.02;    // Integration time (DCM algorithm)  We will run the integration loop at 50Hz if possible
+
+long timer=0;   //general purpuse timer
+long timer_old;
+long timer24=0; //Second timer used to print values
+int AN[6]; //array that stores the gyro and accelerometer data
+int AN_OFFSET[6]={0,0,0,0,0,0}; //Array that stores the Offset of the sensors
+
+int gyro_x;
+int gyro_y;
+int gyro_z;
+int accel_x;
+int accel_y;
+int accel_z;
+int magnetom_x;
+int magnetom_y;
+int magnetom_z;
+float c_magnetom_x;
+float c_magnetom_y;
+float c_magnetom_z;
+float MAG_Heading;
+
+float Accel_Vector[3]= {0,0,0}; //Store the acceleration in a vector
+float Gyro_Vector[3]= {0,0,0};//Store the gyros turn rate in a vector
+float Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data
+float Omega_P[3]= {0,0,0};//Omega Proportional correction
+float Omega_I[3]= {0,0,0};//Omega Integrator
+float Omega[3]= {0,0,0};
+
+// Euler angles
+float roll;
+float pitch;
+float yaw;
+
+float errorRollPitch[3]= {0,0,0};
+float errorYaw[3]= {0,0,0};
+
+unsigned int counter=0;
+byte gyro_sat=0;
+
+float DCM_Matrix[3][3]= {
+  {
+    1,0,0  }
+  ,{
+    0,1,0  }
+  ,{
+    0,0,1  }
+};
+float Update_Matrix[3][3]={{0,1,2},{3,4,5},{6,7,8}}; //Gyros here
+
+
+float Temporary_Matrix[3][3]={
+  {
+    0,0,0  }
+  ,{
+    0,0,0  }
+  ,{
+    0,0,0  }
+};
+
+void setup()
+{
+  Serial.begin(115200);
+  pinMode (STATUS_LED,OUTPUT);  // Status LED
+
+  I2C_Init();
+
+  Serial.println("Pololu MinIMU-9 + Arduino AHRS");
+
+  digitalWrite(STATUS_LED,LOW);
+  delay(1500);
+
+  Accel_Init();
+  Compass_Init();
+  Gyro_Init();
+
+  delay(20);
+
+  for(int i=0;i<32;i++)    // We take some readings...
+    {
+    Read_Gyro();
+    Read_Accel();
+    for(int y=0; y<6; y++)   // Cumulate values
+      AN_OFFSET[y] += AN[y];
+    delay(20);
+    }
+
+  for(int y=0; y<6; y++)
+    AN_OFFSET[y] = AN_OFFSET[y]/32;
+
+  AN_OFFSET[5]-=GRAVITY*SENSOR_SIGN[5];
+
+  //Serial.println("Offset:");
+  for(int y=0; y<6; y++)
+    Serial.println(AN_OFFSET[y]);
+
+  delay(2000);
+  digitalWrite(STATUS_LED,HIGH);
+
+  timer=millis();
+  delay(20);
+  counter=0;
+}
+
+void loop() //Main Loop
+{
+  if((millis()-timer)>=20)  // Main loop runs at 50Hz
+  {
+    counter++;
+    timer_old = timer;
+    timer=millis();
+    if (timer>timer_old)
+    {
+      G_Dt = (timer-timer_old)/1000.0;    // Real time of loop run. We use this on the DCM algorithm (gyro integration time)
+      if (G_Dt > 0.2)
+        G_Dt = 0; // ignore integration times over 200 ms
+    }
+    else
+      G_Dt = 0;
+
+
+
+    // *** DCM algorithm
+    // Data adquisition
+    Read_Gyro();   // This read gyro data
+    Read_Accel();     // Read I2C accelerometer
+
+    if (counter > 5)  // Read compass data at 10Hz... (5 loop runs)
+    {
+      counter=0;
+      Read_Compass();    // Read I2C magnetometer
+      Compass_Heading(); // Calculate magnetic heading
+    }
+
+    // Calculations...
+    Matrix_update();
+    Normalize();
+    Drift_correction();
+    Euler_angles();
+    // ***
+
+    printdata();
+  }
+
+}
diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino
new file mode 100644
index 0000000..f1f31e5
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino
@@ -0,0 +1,91 @@
+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011-2016 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
+
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+void printdata(void)
+{   
+      Serial.print("!");
+
+      #if PRINT_EULER == 1
+      Serial.print("ANG:");
+      Serial.print(ToDeg(roll));
+      Serial.print(",");
+      Serial.print(ToDeg(pitch));
+      Serial.print(",");
+      Serial.print(ToDeg(yaw));
+      #endif      
+      #if PRINT_ANALOGS==1
+      Serial.print(",AN:");
+      Serial.print(AN[0]);  //(int)read_adc(0)
+      Serial.print(",");
+      Serial.print(AN[1]);
+      Serial.print(",");
+      Serial.print(AN[2]);  
+      Serial.print(",");
+      Serial.print(AN[3]);
+      Serial.print (",");
+      Serial.print(AN[4]);
+      Serial.print (",");
+      Serial.print(AN[5]);
+      Serial.print(",");
+      Serial.print(c_magnetom_x);
+      Serial.print (",");
+      Serial.print(c_magnetom_y);
+      Serial.print (",");
+      Serial.print(c_magnetom_z);
+      #endif
+      #if PRINT_DCM == 1
+      Serial.print (",DCM:");
+      Serial.print(DCM_Matrix[0][0]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[0][1]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[0][2]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[1][0]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[1][1]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[1][2]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[2][0]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[2][1]);
+      Serial.print (",");
+      Serial.print(DCM_Matrix[2][2]);
+      #endif
+      Serial.println();
+      
+}
+
+/*long convert_to_dec(float x)
+{
+  return x*10000000;
+}*/
+
diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino
new file mode 100644
index 0000000..d69b49c
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino
@@ -0,0 +1,70 @@
+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011-2016 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
+
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+//Computes the dot product of two vectors
+float Vector_Dot_Product(float vector1[3],float vector2[3])
+{
+  float op=0;
+  
+  for(int c=0; c<3; c++)
+  {
+  op+=vector1[c]*vector2[c];
+  }
+  
+  return op; 
+}
+
+//Computes the cross product of two vectors
+void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3])
+{
+  vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
+  vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
+  vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
+}
+
+//Multiply the vector by a scalar. 
+void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2)
+{
+  for(int c=0; c<3; c++)
+  {
+   vectorOut[c]=vectorIn[c]*scale2; 
+  }
+}
+
+void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3])
+{
+  for(int c=0; c<3; c++)
+  {
+     vectorOut[c]=vectorIn1[c]+vectorIn2[c];
+  }
+}
+
+
+
diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino
new file mode 100644
index 0000000..c8a7a15
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino
@@ -0,0 +1,49 @@
+/*
+
+MinIMU-9-Arduino-AHRS
+Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Copyright (c) 2011-2016 Pololu Corporation.
+http://www.pololu.com/
+
+MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
+http://code.google.com/p/sf9domahrs/
+
+sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
+Julio and Doug Weibel:
+http://code.google.com/p/ardu-imu/
+
+MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
+under the terms of the GNU Lesser General Public License as published by the
+Free Software Foundation, either version 3 of the License, or (at your option)
+any later version.
+
+MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
+more details.
+
+You should have received a copy of the GNU Lesser General Public License along
+with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/**************************************************/
+//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!). 
+void Matrix_Multiply(float a[3][3], float b[3][3], float mat[3][3])
+{
+  for(int x = 0; x < 3; x++)
+  {
+    for(int y = 0; y < 3; y++)
+    {
+      mat[x][y] = 0;
+      
+      for(int w = 0; w < 3; w++)
+      {
+        mat[x][y] += a[x][w] * b[w][y];
+      } 
+    }
+  }
+}
+
+
diff --git a/debug/IMU_comp/minimu-9-ahrs-arduino-master/README.textile b/debug/IMU_comp/minimu-9-ahrs-arduino-master/README.textile
new file mode 100644
index 0000000..ac1cb3f
--- /dev/null
+++ b/debug/IMU_comp/minimu-9-ahrs-arduino-master/README.textile
@@ -0,0 +1,108 @@
+h1. Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
+
+Version: 1.3.0
+Release Date: 2016-04-27
+"www.pololu.com":http://www.pololu.com/
+
+h2. Summary
+
+This is a program (sketch) for the "Arduino":http://pololu.com/catalog/product/2191 that interfaces with the Pololu MinIMU-9 inertial measurement units:
+
+* "MinIMU-9 v5 <notextile>(LSM6DS33 and LIS3MDL carrier)</notextile>":http://www.pololu.com/product/2738
+* "MinIMU-9 v3 <notextile>(L3GD20H and LSM303D carrier)</notextile>":http://www.pololu.com/product/2468
+* "MinIMU-9 v2 <notextile>(L3GD20 and LSM303DLHC carrier)</notextile>":http://www.pololu.com/catalog/product/1268 (discontinued)
+* "MinIMU-9 <notextile>(L3G4200D and LSM303DLM carrier)</notextile>":http://www.pololu.com/catalog/product/1265 (discontinued)
+* "MinIMU-9 <notextile>(L3G4200D and LSM303DLH carrier)</notextile>":http://www.pololu.com/catalog/product/1264 (discontinued)
+
+It also works with the Pololu AltIMU-10 boards, although the output from the barometer is not used:
+
+* "AltIMU-10 v5 <notextile>(LSM6DS33, LIS3MDL, and LPS25H carrier)</notextile>":http://www.pololu.com/product/2739
+* "AltIMU-10 v4 <notextile>(L3GD20H, LSM303D, and LPS25H carrier)</notextile>":http://www.pololu.com/catalog/product/2470
+* "AltIMU-10 v3 <notextile>(L3GD20H, LSM303D, and LPS331AP carrier)</notextile>":http://www.pololu.com/catalog/product/2469
+* "AltIMU-10 <notextile>(L3GD20, LSM303DLHC, and LPS331AP carrier)</notextile>":http://www.pololu.com/catalog/product/1269 (discontinued)
+
+This Arduino program processes the raw rotation, acceleration, and magnetic data from the MinIMU-9 to derive an estimate of the board's absolute orientation, which it outputs through the Arduino's serial interface, turning the MinIMU-9 and Arduino into an attitude and heading reference system (AHRS).
+
+A Python test program is also included. It communicates with the Arduino serially and displays a 3D representation of the MinIMU-9 board, allowing you to visualize the output of the AHRS in real time.
+
+Both the Arduino software and Python test program are based on "sf9domahrs":http://code.google.com/p/sf9domahrs/ by Doug Weibel and Jose Julio, which is in turn based on "ArduIMU":http://code.google.com/p/ardu-imu/ v1.5 by Jordi Munoz, William Premerlani, Jose Julio, and Doug Weibel.
+
+h2. Getting Started
+ 
+h3. Software
+
+The Arduino program uses Pololu's Arduino libraries for the sensors on the IMU board, which can also be downloaded from GitHub. Follow the instructions on their respective pages to install the libraries.
+
+* *v5* IMUs: "LSM6":https://github.com/pololu/LSM6-arduino and "LIS3MDL":https://github.com/pololu/LIS3MDL-arduino libraries
+* *v4 and earlier* IMUs: "L3G":https://github.com/pololu/L3G and "LSM303":https://github.com/pololu/LSM303 libraries
+
+The Python test program also has several dependencies you must install before you can run it:
+
+* "Python 2.7":http://www.python.org/download/ (download the 32-bit version)
+* "pywin32":http://sourceforge.net/projects/pywin32/files/pywin32/ (direct link: "pywin32-218.win32-py2.7.exe":http://sourceforge.net/projects/pywin32/files/pywin32/Build%20218/pywin32-218.win32-py2.7.exe/download)
+* "pyserial":http://sourceforge.net/projects/pyserial/files/pyserial/ (direct link: "pyserial-2.5.win32.exe":http://sourceforge.net/projects/pyserial/files/pyserial/2.5/pyserial-2.5.win32.exe/download)
+* "VPython 5":http://vpython.org/contents/download_windows.html (direct link: "VPython-Win-Py2.7-5.74.exe":http://vpython.org/contents/download/VPython-Win-Py2.7-5.74.exe)
+
+After you have set up the prerequisites, download the archive from "GitHub":https://github.com/pololu/MinIMU-9-Arduino-AHRS and decompress it.
+
+h3. Hardware
+
+Make the following connections with wires between the Arduino and the MinIMU-9:
+
+h4. 5V Arduino boards
+
+(including Arduino Uno, Leonardo, Mega; Pololu A-Star 32U4)
+
+pre. Arduino   IMU
+-------   ---
+     5V - VIN
+    GND - GND
+    SDA - SDA
+    SCL - SCL
+
+h4. 3.3V Arduino boards
+
+(including Arduino Due)
+
+pre. Arduino   IMU
+-------   ---
+    3V3 - VIN
+    GND - GND
+    SDA - SDA
+    SCL - SCL
+   
+h3. Using the AHRS
+
+From the Arduino environment, open MinIMU9AHRS.ino, which can be found in the MinIMU9AHRS folder.
+
+The Arduino program is set up for a *v4 or earlier* IMU by default. If you are using a MinIMU or AltIMU *v5*, uncomment the line that says @//#define IMU_V5@ at the beginning of MinIMU9AHRS.ino.
+
+By default, the Arduino code treats the positive X axis of the MinIMU-9 as forward and the negative Z axis as up (so that the components are on the bottom of the board and the silkscreen is on top). If you want the positive Z axis to be up instead (so that the components are on top), find the definition of @SENSOR_SIGN[9]@ at the beginning of MinIMU9AHRS.ino and uncomment the appropriate line (after commenting the original).
+
+To ensure that the heading derived from the compass is accurate, you should change the @M_X_MIN@ through @M_Z_MAX@ calibration constants to appropriate values. You can use the Calibrate example from the "LIS3MDL library":https://github.com/pololu/LIS3MDL-arduino (v5) or "LSM303 library":https://github.com/pololu/LSM303 (v4 or earlier) to find the right values for your board.
+
+In the Tools menu, select the appropriate board and serial port. Click the "Upload" button to compile the sketch and load it onto your Arduino.
+
+When the AHRS program first starts running, it takes some readings to establish a baseline orientation, during which it expects both the roll and the pitch of the sensors to be zero. Therefore, it is important to keep the MinIMU-9 level for a few seconds after powering on or resetting the Arduino or connecting to it from a computer.
+
+After performing the startup routine, the program constantly takes readings from the gyro, accelerometer, and magnetometer on the MinIMU-9 and calculates an estimate of the board's orientation. It outputs estimated roll, pitch, and yaw angles (in degrees) through the Arduino's serial interface, and you can view the output with the Arduino Serial Monitor.
+
+Example output:
+
+pre. !ANG:0.08,0.09,137.01
+!ANG:0.14,0.11,137.04
+!ANG:0.15,0.12,137.06
+
+To visualize the output of the AHRS, you can run the Python test program (MinIMU-9-test.py) while the Arduino is connected to your computer. (You will probably have to edit the file first and change the definition of @ser@ to match the COM port your Arduino is using.) You should be able to see three indicators showing the roll, pitch, and yaw angles being calculated by the AHRS, as well as a 3D representation of the MinIMU-9 board (the arrow indicates the positive X direction). You can watch these change in real time as you move the board around.
+
+!http://b.pololu-files.com/picture/0J3722.600.jpg!
+
+h2. Version History
+
+* 1.3.0 (2016-04-27): Added support for MinIMU-9 v5 and AltIMU-10 v5. Added a check to help work around nan (not a number) problems caused by USB serial stalling the main loop.
+* 1.2.3 (2015-02-05): Updated to work with L3G library version 2.0.0.
+* 1.2.2 (2013-11-27): Updated to work with LSM303 library version 2.0.0.
+* 1.2.1 (2013-03-15): Fixed issue with properly enabling high-resolution mode on accelerometer.
+* 1.2.0 (2012-07-06): Added support for MinIMU-9 v2 (L3GD20 and LSM303DLHC); L3G4200D library dependency changed to L3G.
+* 1.1.0 (2011-11-15): Added support for LSM303DLM; LSM303DLH library dependency changed to LSM303.
+* 1.0.0 (2011-09-26): Original release.
diff --git a/debug/IR_seeker/IR_seeker.ino b/debug/IR_seeker/IR_seeker.ino
new file mode 100644
index 0000000..90c9965
--- /dev/null
+++ b/debug/IR_seeker/IR_seeker.ino
@@ -0,0 +1,205 @@
+#include <Adafruit_MCP23X17.h>
+
+#define ir1  0   // GPA0
+#define ir2  1   // GPA1
+#define ir3  2   // GPA2
+#define ir4  3   // GPA3
+#define ir5  4   // GPA4  
+#define ir6  5   // GPA5
+#define ir7  6   // GPA6
+#define ir8  7   // GPA7
+#define ir9  8   // GPB0  
+#define ir10 9   // GPB1
+#define ir11 10  // GPB2
+#define ir12 11  // GPB3
+#define ir13 12  // GPB4
+#define ir14 13  // GPB5
+#define ir15 14  // GPB6
+#define ir16 15  // GPB7
+
+int dir1 = 1;   // data IR1
+int dir2 = 1;   // data IR2
+int dir3 = 1;   // etc
+int dir4 = 1;   
+int dir5 = 1;    
+int dir6 = 1;   
+int dir7 = 1;   
+int dir8 = 1;   
+int dir9 = 1;     
+int dir10 = 1;  
+int dir11 = 1; 
+int dir12 = 1; 
+int dir13 = 1; 
+int dir14 = 1; 
+int dir15 = 1; 
+int dir16 = 1; 
+
+volatile long IRcount1 = 0;
+volatile long IRcount2 = 0;
+volatile long IRcount3 = 0;
+volatile long IRcount4 = 0;
+volatile long IRcount5 = 0;
+volatile long IRcount6 = 0;
+volatile long IRcount7 = 0;
+volatile long IRcount8 = 0;
+volatile long IRcount9 = 0;
+volatile long IRcount10 = 0;
+volatile long IRcount11 = 0;
+volatile long IRcount12 = 0;
+volatile long IRcount13 = 0;
+volatile long IRcount14 = 0;
+volatile long IRcount15 = 0;
+volatile long IRcount16 = 0;
+
+// Instance for the first MCP23017 at address 0x20
+Adafruit_MCP23X17 mcp1;
+
+void setup() {
+  Serial.begin(9600);
+  while (!Serial);
+  Serial.println("MCP23xxx Button Test!");
+
+  // Initialize first MCP23017 with I2C address 0x20
+  if (!mcp1.begin_I2C(0x20)) {
+    Serial.println("Error initializing MCP23017 at 0x20.");
+    while (1);
+  }
+
+  // Configure pins for the first MCP23017 (0x20)
+  mcp1.pinMode(ir1, INPUT);
+  mcp1.pinMode(ir2, INPUT);
+  mcp1.pinMode(ir3, INPUT);
+  mcp1.pinMode(ir4, INPUT);
+  mcp1.pinMode(ir5, INPUT);
+  mcp1.pinMode(ir6, INPUT);
+  mcp1.pinMode(ir7, INPUT);
+  mcp1.pinMode(ir8, INPUT);
+  mcp1.pinMode(ir9, INPUT);
+  mcp1.pinMode(ir10, INPUT);
+  mcp1.pinMode(ir11, INPUT);
+  mcp1.pinMode(ir12, INPUT);
+  mcp1.pinMode(ir13, INPUT);
+  mcp1.pinMode(ir14, INPUT);
+  mcp1.pinMode(ir15, INPUT);
+  mcp1.pinMode(ir16, INPUT);
+  
+  attachInterrupt(digitalPinToInterrupt(ir1), IRtrigger1, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir2), IRtrigger2, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir3), IRtrigger3, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir4), IRtrigger4, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir5), IRtrigger5, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir6), IRtrigger6, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir7), IRtrigger7, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir8), IRtrigger8, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir9), IRtrigger9, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir10), IRtrigger10, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir11), IRtrigger11, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir12), IRtrigger12, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir13), IRtrigger13, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir14), IRtrigger14, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir15), IRtrigger15, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir16), IRtrigger16, CHANGE);
+
+  Serial.println("Looping...");
+}
+
+void IRtrigger1() {
+  IRcount1++;
+}
+void IRtrigger2() {
+  IRcount2++;
+}
+void IRtrigger3() {
+  IRcount3++;
+}
+void IRtrigger4() {
+  IRcount4++;
+}
+void IRtrigger5() {
+  IRcount5++;
+}
+void IRtrigger6() {
+  IRcount6++;
+}
+void IRtrigger7() {
+  IRcount7++;
+}
+void IRtrigger8() {
+  IRcount8++;
+}
+void IRtrigger9() {
+  IRcount9++;
+}
+void IRtrigger10() {
+  IRcount10++;
+}
+void IRtrigger11() {
+  IRcount11++;
+}
+void IRtrigger12() {
+  IRcount12++;
+}
+void IRtrigger13() {
+  IRcount13++;
+}
+void IRtrigger14() {
+  IRcount14++;
+}
+void IRtrigger15() {
+  IRcount15++;
+}
+void IRtrigger16() {
+  IRcount16++;
+}
+
+
+void loop() {
+  Serial.print("ir 1 changes: ");
+  Serial.print(IRcount1);
+  Serial.print(", ir 2 changes: ");
+  Serial.print(IRcount2);
+  Serial.print(", ir 3 changes: ");
+  Serial.print(IRcount3);
+  Serial.print(", ir 4 changes: ");
+  Serial.print(IRcount4);
+  Serial.print(", ir 5 changes: ");
+  Serial.print(IRcount5);
+  Serial.print(", ir 6 changes: ");
+  Serial.print(IRcount6);
+  Serial.print(", ir 7 changes: ");
+  Serial.print(IRcount7);
+  Serial.print(", ir 8 changes: ");
+  Serial.print(IRcount8);
+  Serial.print(", ir 9 changes: ");
+  Serial.print(IRcount9);
+  Serial.print(", ir 10 changes: ");
+  Serial.print(IRcount10);
+  Serial.print(", ir 11 changes: ");
+  Serial.print(IRcount11);
+  Serial.print(", ir 12 changes: ");
+  Serial.print(IRcount12);
+  Serial.print(", ir 13 changes: ");
+  Serial.print(IRcount13);
+  Serial.print(", ir 14 changes: ");
+  Serial.print(IRcount14);
+  Serial.print(", ir 15 changes: ");
+  Serial.print(IRcount15);
+  Serial.print(", ir 16 changes: ");
+  Serial.println(IRcount16);
+
+  volatile long IRcounts[] = {IRcount1, IRcount2, IRcount3, IRcount4, IRcount5, IRcount6, IRcount7, IRcount8, IRcount9, IRcount10, IRcount11, IRcount12, IRcount13, IRcount14, IRcount15, IRcount16};
+  long maxCount = IRcounts[0];
+  int highessensor = 1;
+  for (int i = 0; i < 15; ++i) {
+    if (IRcounts[i] > maxCount) {
+      maxCount = IRcounts[i];
+      highessensor = i + 1;
+    }
+  }
+  Serial.print("Ball is at sensor: ");
+  Serial.print(highessensor);
+  Serial.print(", with value of ");
+  Serial.println(maxCount);
+
+  delay(250);
+}