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so the accelerometer/rate gyro combonation is usually used in segway style self balancing robots.since the angle of your base will always be the same (ie, paralell to the ground) and you are just trying to measure the angle between it and the stick, what about encoders round the pivot point?dunk.
this actually belongs more in the mechanics section, but how would I actually go around attaching a pole to a robot that'll allow the pole to fall in the x-y axes?