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Autonomous 4wd1 sabertooth with Arduino Leonardo

Hello !

I am currently working on a project that has an objective of building an autonomous rover with the use of a sabertooth 2x12 and arduino uno or leonardo.So I have the following :

-sabertooth 2x12

-arduino uno & leonardo

-4wd1 rover

-IMU

The objective of the project was to make it autonomous and do a closed loop feedback using an IMU. So from the IMU data I was supposed to see that the rover moves 1m straight and come back to its orginal position. As of now I am done with how to control the sabertooth 2X12 to make it moves forward and backward. So I am having problems with my IMU data and the arduino board. Does anyone have a guideline on how I can make use of an IMU data for distance tracking? To get the IMU data I am using the work of Fabio Varesano. I have attached the file for reference.

I also experience problems in interfacing the arduino leonardo with the processing sketch i have attached. I really hope for the advices. I am really motivated to complete this project however, I think the improvement of knowledge on automation from this forum will help me to achieve my goal.
AttachmentSize
Cube2.pde6 KB
FreeIMU_quaternion.pde570 bytes

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What is an IMU and where is the datasheet for your particular unit?

There's no way, at least that I'm aware of, to track the distance with an IMU (inertial measurement unit) if the IMU doesn't have 12 DOF (gyroscopee + accelerometer + magnemometer + barometer + GPS).

IMU is an Inertia Measurement Unit that includes a 3-axis accelerometer and 3-axis gyroscope, I believed its mainly used on planes to actually monitor the stabilisation. 

http://www.invensense.com/mems/gyro/documents/PS-MPU-6000A.pdf

I think you have missed out on putting the link.

Okay I have visited the site you suggested, however  the site uses an encoder instead of an IMU. So do anyone know a way for me to find the distance using IMU data and how will I go about on doing it?