WebbotLib AVR library
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Sparkfun Razor

The Sparkfun Razor 9DoF IMU board contains an accelerometer, gyros for roll, pitch and yaw and a magnetometer compass and communicates with your board via a TTL level UART, or directly to your PC with the addition of a (MAX232 type) level shifter.
Based on an 8MHz ATmel ATMega328 processor the firmware for this sensor can be programmed using this library - meaning that you can write your own code to be installed on the sensor. The supplied board contains firmware allowing it to be accessed via a serial terminal like Hyperterminal.
Suitable firmware for the board is available via many sources but this library currently supports firmware from Admin at the Society of Robots and so the sensor will need this firmware to be uploaded prior to use by this library. This can be found here: http://www.societyofrobots.com/robotforum/index.php?topic=11599.msg88205#msg88205
WebbotLib does not currently support the firmware supplied pre-installed on the board.
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