Using antiderivative to find velocity from acceleration

[eugenebrooks]

See an old 2005 white paper titled:
An Introduction to C Programming for FIRST Robotics Applications

An Introduction to C Programming for FIRST Robotics Applicatyions [SP]

It describes a second on integration of a gyro, using second order
accuracy and careful subtraction of the average at rest in order to
obtain a low drift angular position. You could go further by adding
temperature compensation. The code is for the old control system.
You could do the same with an accelerometer to get velocity, but
the pulse rate of wheel counters would provide much better results.
Integrating a second time, using the relatively poor acceleration
measurements, would not produce very useful results, but I'll
resist going into that.

An issue with doing this on the cRIO is getting an accurate time
interval between measurements. There may be a suitable system
call to provide the time to sufficient accuracy.

Eugene