None of the ICM-20948 Arduino libraries contained support for the DMP (Digital Motion Processor), so I sorted through the Invensense library (worst code ever written) and wrote a layer on top of that ...

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Reaction wheels are useful things, typically used by satellites to keep themselves oriented the right way up in space. Turning the reaction wheel creates an equal and opposite torque in the spacecraft ...

The code is all contained in a single .ino file. Open it in the Arduino IDE, install Teensyduino, and upload it. That is all. The PID control loop, attitude estimation using a complementary filter, ...

Industry-Grade Robotics. Built for Education.