Things used in this project

Hardware components:
Teensy36
Teensy 3.6
×1
Teensy ILI9341 TFT Display
×1
NEMA23 Dual Shaft Stepper Motor
×2
CUI AMT10 Encoder
×2
ST-M5045 Microstep Driver
×2
LSM6DS3 6-dof IMU
×1
Software apps and online services:
Ide web
Arduino IDE
Teensyduino

Schematics

Main Board with Teensy 3.6
The SPI devices, the LSM6DS3 IMU and TFT display, are highly susceptible to EMI. It's best to use CAT6 (or higher) cables and make them as short as possible. All jumpers on the breadboard should also be as short and flat as possible. Also very important, decouple the ground planes between the main microcontroller board and stepper drivers and encoders with optoisolation.
Picture9 uzcp1sa1kf

Code

Source Code Not AvailableC/C++
Eigen, an important library that performs matrix algebra like Matlab, can be found here:
http://eigen.tuxfamily.org/index.php?title=Main_Page
Eigen simplified implementing the Extended Kalman Filter (EKF).
No preview (download only).

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