The Pigeon, by Cross the Road Electronics, is an IMU (Inertial Measurement Unit) designed with FIRST® Robotics Competition teams in mind. This lightweight device has 9 degrees of freedom, and contains an accelerometer, a gyro, and a 3-axis magnetometer. It can be connected to the Gadgeteer Port on the Talon SRX or HERO for power, or it can be wired to the CAN bus while powered from a separate 12V source. Use it during autonomous as an easy way to measure direction or acceleration in a direction.
Note: An additional procedure must be used to update pre 2017-image RIOs to support Pigeons. Information and Instructions found here: https://github.com/CrossTheRoadElec/FRC-Examples-STEAMWORKS/tree/master/Season2016