编码器 http://guy.carpenter.id.au/gaugette/2013/01/14/rotary-encoder-library-for-the-raspberry-pi/ https://github.com/guyc/py-gaugette MPU6050 http://blog.bitify.co.uk/2013/11/interfacing-raspberry-pi-and-mpu-6050.html https://github.com/bitify/raspi https://github.com/ricardodeazambuja/MPU6050_to_ROS