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Espruino is a JavaScript interpreter for low-power Microcontrollers. This site is both a support community for Espruino and a place to share what you are working on.
@Gordon
I've heard of some folks suggesting this, but not of anyone that has actually tried.
The first thing you would likely need is a 'sensor fusion' algorithm that can use gyro/accelerometer/magnetometer values and get a good idea about XYZ values.
Realistically you'd probably be better sending the raw sensor data from the Puck to a PC, and doing the sensor fusion there - because if you know a Puck is attached to a certain joint then those restrictions could actually help with the reliability of the data since it'll give more of a clue to where the Puck actually is.