How would i implement position and heading readings into my SLAM robot?

i have posted question on stack exchange yesterday haven't gotten response yet i'm trying luck here.

i trying build low-cost slam system mpu-6050 , gy-271 (magnetometer). currently, have robot arduino collects sensor data , raspberry pi (hopefully) slam calculations.

i want robot able use 3 sensor readings (along pml) in slam create 2d map of environment. however, considering want 2d map, not require axis readings correct?

i read post 1 of answers said yaw gyroscope, , x , y accelerometer needed.

1. question is, how implement slam robot? complementary filter work??

2. need use axis (x, y, , z) readings magnetometer? or 1 or 2 axis?

here code if want have @ it.

code: [select]

#include <wire.h>

long accelx, accely, accelz;
float gforcex, gforcey, gforcez;

long gyrox, gyroy, gyroz;
float rotx, roty, rotz;

long magx, magy, magz;

void setup() {
  serial.begin(9600);
  wire.begin();
  setupmpu();

  //  //find starting angle.
  //  acceldata();
  //  gyrodata();
  //  magdata();
  //  printdata();
  //  delay(1000);
}

void loop() {
  acceldata();
  gyrodata();
  magdata();
  printdata();
  delay(100);
}

void setupmpu() {
  //initialize mpu-6050.
  wire.begintransmission(0x68);
  wire.write(0x6b);
  wire.write(0);
  wire.endtransmission();

  //gyroscope range configuration
  wire.begintransmission(0x68);
  wire.write(0x1b);
  wire.write(0);
  wire.endtransmission();

  //accelerometer range configuration
  wire.begintransmission(0x68);
  wire.write(0x1c);
  wire.write(0);
  wire.endtransmission();

  //magnetometer mode selection
  wire.begintransmission(0x1e);
  wire.write(0x02);
  wire.write(0);
  wire.endtransmission();
}

void acceldata() {
  wire.begintransmission(0x68);
  wire.write(0x3b);
  wire.endtransmission();

  wire.requestfrom(0x68, 6);
  while (wire.available() < 6);
  accelx = wire.read() << 8 | wire.read();
  accely = wire.read() << 8 | wire.read();
  accelz = wire.read() << 8 | wire.read();

  gforcex = accelx / 16384.0;
  gforcey = accely / 16384.0;
  gforcez = accelz / 16384.0;
}

void gyrodata() {
  wire.begintransmission(0x68);
  wire.write(0x43);
  wire.endtransmission();

  wire.requestfrom(0x68, 6);
  while (wire.available() < 6);
  gyrox = wire.read() << 8 | wire.read();
  gyroy = wire.read() << 8 | wire.read();
  gyroz = wire.read() << 8 | wire.read();

  rotx = gyrox / 131.0;
  roty = gyroy / 131.0;
  rotz = gyroz / 131.0;
}

void magdata() {
  wire.begintransmission(0x1e);
  wire.write(0x03);
  wire.endtransmission();

  wire.requestfrom(0x1e, 6);
  while (wire.available() < 6);
  magx = wire.read() << 8 | wire.read();
  magz = wire.read() << 8 | wire.read();
  magy = wire.read() << 8 | wire.read();
}

void printdata() {
  serial.print("gyro (degrees)");
  serial.print(" x=");
  serial.print(rotx);
  serial.print(" y=");
  serial.print(roty);
  serial.print(" z=");
  serial.print(rotz);
  serial.print(" accelerometer (g)");
  serial.print(" x=");
  serial.print(gforcex);
  serial.print(" y=");
  serial.print(gforcey);
  serial.print(" z=");
  serial.print(gforcez);
  serial.print(" magnetometer");
  serial.print(" x=");
  serial.print(magx);
  serial.print(" y=");
  serial.print(magy);
  serial.print(" z=");
  serial.println(magz);
}

quote

however, considering want 2d map, not require axis readings correct?

if robot moves in 2d plane, acceleration in 1 axis (assuming mount accelerometer correctly) constant. gravity still sucks. can ignore 1 axis.

quote

1. question is, how implement slam robot?

what "this" wish implement?

quote

would complementary filter work??

as in, every time pi got x acceleration greater value, sent "great job!" , every time got y acceleration less value, sent "keep great work'?

what, exactly, want filter?

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