MPU6050 IMU Integration with CM5

[danic85]

To support spatial positioning directly from the Raspberry Pi I have added an MPU6050 module, which is the same as is currently used in the body PCB of the Buddy release.

Guide

My wiring deviates slightly from this as the module is powered with 3v.

Full commit

The script is functioning, however there is frequently an error that blocks the continuation of the script:

 Reading Data of Gyroscope and Accelerometer
Gx=-0.23 °/s 	Gy=-0.12 °/s 	Gz=0.17 °/s 	Ax=1.05 g 	Ay=-0.03 g 	Az=-0.20 g
Gx=-0.22 °/s 	Gy=-0.12 °/s 	Gz=0.15 °/s 	Ax=1.05 g 	Ay=-0.02 g 	Az=-0.18 g
Gx=-0.22 °/s 	Gy=-0.11 °/s 	Gz=0.15 °/s 	Ax=1.05 g 	Ay=-0.03 g 	Az=-0.18 g
Traceback (most recent call last):
  File "/home/cm5/modular-biped/main.py", line 102, in <module>
    main()
  File "/home/cm5/modular-biped/main.py", line 29, in main
    module_instances = loader.load_modules()
                       ^^^^^^^^^^^^^^^^^^^^^
  File "/home/cm5/modular-biped/module_loader.py", line 68, in load_modules
    instance = getattr(mod, module_name)(**instance_config)
               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/cm5/modular-biped/modules/mpu6050.py", line 44, in __init__
    self.read_data()
  File "/home/cm5/modular-biped/modules/mpu6050.py", line 65, in read_data
    acc_x = self.read_raw_data(ACCEL_XOUT_H)
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/cm5/modular-biped/modules/mpu6050.py", line 48, in read_raw_data
    high = self.bus.read_byte_data(self.Device_Address, addr)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
OSError: [Errno 121] Remote I/O error

It seems that the more frequent the data is checked, the more likely the error is to take place.

This post suggested adding a delay, but this is not practical for real-time measurement.

For now I have handled and ignored any errors of that type: 19f57c6