10.2 IMU

IMU=inertial measurement unit

Se foloseste la fel ca un Gyro extern doar ca este incorporat in Rev Expansion Hub

Recomandam parcurgerea ghidului REV EXpansion HUB

Programe exemplu puteti gasi in Skystone SDK


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package org.firstinspires.ftc.robotcontroller.external.samples;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

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;

/**
 * {@link SensorBNO055IMU} gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit.
 *
 * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
 *
 * @see <a href="http://www.adafruit.com/products/2472">Adafruit IMU</a>
 */
@TeleOp(name = "Sensor: BNO055 IMU", group = "Sensor")
@Disabled                            // Comment this out to add to the opmode list
public class SensorBNO055IMU extends LinearOpMode
    {
    //----------------------------------------------------------------------------------------------
    // State
    //----------------------------------------------------------------------------------------------

    // The IMU sensor object
    BNO055IMU imu;

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

    //----------------------------------------------------------------------------------------------
    // Main logic
    //----------------------------------------------------------------------------------------------

    @Override public void runOpMode() {

        // 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".
        imu = hardwareMap.get(BNO055IMU.class, "imu");
        imu.initialize(parameters);

        // Set up our telemetry dashboard
        composeTelemetry();

        // Wait until we're told to go
        waitForStart();

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

        // Loop and update the dashboard
        while (opModeIsActive()) {
            telemetry.update();
        }
    }

    //----------------------------------------------------------------------------------------------
    // Telemetry Configuration
    //----------------------------------------------------------------------------------------------

    void composeTelemetry() {

        // At the beginning of each telemetry update, grab a bunch of data
        // from the IMU that we will then display in separate lines.
        telemetry.addAction(new Runnable() { @Override public void run()
                {
                // Acquiring the angles is relatively expensive; we don't want
                // to do that in each of the three items that need that info, as that's
                // three times the necessary expense.
                angles   = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
                gravity  = imu.getGravity();
                }
            });

        telemetry.addLine()
            .addData("status", new Func<String>() {
                @Override public String value() {
                    return imu.getSystemStatus().toShortString();
                    }
                })
            .addData("calib", new Func<String>() {
                @Override public String value() {
                    return imu.getCalibrationStatus().toString();
                    }
                });

        telemetry.addLine()
            .addData("heading", new Func<String>() {
                @Override public String value() {
                    return formatAngle(angles.angleUnit, angles.firstAngle);
                    }
                })
            .addData("roll", new Func<String>() {
                @Override public String value() {
                    return formatAngle(angles.angleUnit, angles.secondAngle);
                    }
                })
            .addData("pitch", new Func<String>() {
                @Override public String value() {
                    return formatAngle(angles.angleUnit, angles.thirdAngle);
                    }
                });

        telemetry.addLine()
            .addData("grvty", new Func<String>() {
                @Override public String value() {
                    return gravity.toString();
                    }
                })
            .addData("mag", new Func<String>() {
                @Override public String value() {
                    return String.format(Locale.getDefault(), "%.3f",
                            Math.sqrt(gravity.xAccel*gravity.xAccel
                                    + gravity.yAccel*gravity.yAccel
                                    + gravity.zAccel*gravity.zAccel));
                    }
                });
    }

    //----------------------------------------------------------------------------------------------
    // Formatting
    //----------------------------------------------------------------------------------------------

    String formatAngle(AngleUnit angleUnit, double angle) {
        return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
    }

    String formatDegrees(double degrees){
        return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
    }
}