Roll Angle Trailer
I've spent the week developing a trailer capable of measuring the roll angle of the bicycle.
I haven't been able to get good estimations of roll angle with the VectorNav IMU, so instead of spending a lot of time trying to continue to figure that out I've designed a trailer that can measure the roll angle of the bicycle. Here is what it will look like.
I also wrote out the kinematics for the trailer to make sure that the potentiometer angle has close to a 1:1 ratio to the actual roll angle of the bicycle and it turns out that it does. Some code that is basically working can be found here.
Also check out the work Peter and Dr. Hess have done the past couple of weeks on system identification of the bicycle model. It looks promising.