08:16 14/01/2011
@Osmaneram
Nice bot 
I played with a MPC3208 ADC which is the 8 input version
As far as I remember, those are 12 bit ADC's with 4096 units (not 8096) :o
Please clarify
Your IMU board may have a different noise pattern that may require specific Kalman filter tuning.
The ADC should not inpact Kalman tuning (it didn't on my setup)
@Ro-Bot-X
I am also tempted to go digital for several reasons
- analogic is noisy by nature
- additional features
- this is the future...
I2C frequency is in the 100KHz range, don't be affraid
Please try it and let us know the outcome, we all need guinea pigs 