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Re: KoP Gyro and Accelerometer Placement
The accelerometer will falsely sense rotation as acceleration more strongly as it is mounted farther from the center of rotation of the robot.
The yaw rate sensor (gyro) will be increasingly inaccurate as centrifugal force from rotation affects its response.
Mounting the accelerometer higher will result in slightly less stable readings as the robot rocks.
We're mounting ours kind of low, reasonably close to the robot center line, near the rear of the robot.
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