IMU.java

package org.firstinspires.ftc.teamcode;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
import com.qualcomm.robotcore.hardware.HardwareMap;

import org.firstinspires.ftc.robotcore.external.Func;
import org.firstinspires.ftc.robotcore.external.navigation.Acceleration;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.Position;
import org.firstinspires.ftc.robotcore.external.navigation.Velocity;

import java.util.Locale;

public class IMU {

    // The IMU sensor object
    BNO055IMU imu;

    // State used for updating telemetry
    Orientation angles;
    Acceleration gravity;

    HardwareMap hwMap           =  null;

    public IMU(BNO055IMU imu) {
        // Set up the parameters with which we will use our IMU. Note that integration
        // algorithm here just reports accelerations to the logcat log; it doesn't actually
        // provide positional information.
        BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
        parameters.angleUnit           = BNO055IMU.AngleUnit.DEGREES;
        parameters.accelUnit           = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
        parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample opmode
        parameters.loggingEnabled      = true;
        parameters.loggingTag          = "IMU";
        parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();

        // Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port
        // on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU",
        // and named "imu".
        this.imu = imu;
        imu.initialize(parameters);



        // Start the logging of measured acceleration
        imu.startAccelerationIntegration(new Position(), new Velocity(), 1000);

    }


    public float[] getAngles(){
        angles   = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
        float[] arr={angles.firstAngle, angles.secondAngle, angles.thirdAngle};
        return arr;

    }

}