I purchased the Pololu IMU and integrated it into the robot over the last few days. I was able to get the magnetometer and the accelerometers to work quickly with the supplied code. But I had issues with the gyro. After re-reading everything, I discovered that the gyro code provided is not a standalone gyro not the gyro on the IMU. They are the same part, but the I2C address is different. Quickly changing the address had that part up and running as well. Now I need to start the calibration process. I have hacked an old record player/turntable to calibrate the gyros. The accelerometers I can calibrate using the gravity vector (available anywhere gravity can be found). The magnetometers I can calibrate using the supplied code and check against a true north vector (from a sun shot) corrected by my local magvar.
Progress has been rather slow due to visitors and other home issues. This weekend is also shot due to a mini vacation. Summer is quickly passing by. Hope I make enough progress to stay on schedule with data collection before the snow starts to fly.