Pololu IMU(AHRS) orientation sensor

[Levansic]

Autocorrect thinks nav6 should be navy...

Anyway, after much trial and tribulation, we finally got the MinIMU-9 to do what we want. We still need to clean up our code, and put it into a similar architectural form to the WPI library code, but that should be available to all, soon. Specifically, we created code to read the L3G20 gyro on the IMU, so our code will work with all boards that use this gyro component.

For the curious, we tried to leave our outputs in integer form. The gyro outputs two unsigned integer bytes, which get concatenated into a 16 bit integer, which is represented as a signed integer in two's compliment. Labview sees this concatenated 16-bit integer as unsigned, and casting it to a signed integer type just didn't work. For some reason, changing this integer output to a floating point type double, immediately after the concatenation, fixed our problems.