Inertial Sensor reading is slow

[Pi_way]

I see you are forcing the robot to wait half a second every loop iteration:

wait(0.5,seconds); //because heading reading is slow, need to wait to get accurate reading

void turn_to(double heading){
  double d = BrainInertial.heading(degrees);   //turn to a compass specific heading
  if (d > 180){
    d = d-360;
  }
  d = heading - d;
  turn(d);
}

The heading reading is ‘slow’ because you are making it slow. It will help a lot if you replaced this delay with something much more reasonable… like… wait(20, msec);.

Perhaps, if you can implement a PID as EngineerMike mentions, your overshooting problem will be much less significant.

@EngineerMike

Unless you’re doing things to slow the robot as it gets closer (PID-like behavior), the robot will by definition overshoot. Or, account for the overshoot at a given velocity and subtract that off your desired turn.

I can promise you the problem isn’t the sensor:

New Products - December 2019

raw message rate for the inertial sensor is 50Hz. Three wire port (ADI) is 100Hz. Motor is 200Hz, but data is still only available to user code at 100Hz as explained by @hotel. I’m very skeptical about the double integration being able to reproduce accurate results, but will be happy if someone can prove me wrong.