org.firstinspires.ftc.teamcode.util

Class BNO055IMUUtil

java.lang.Object

org.firstinspires.ftc.teamcode.util.BNO055IMUUtil

public class BNO055IMUUtil
extends java.lang.Object

Various utility functions for the BNO055 IMU.

Constructor Summary

Constructors

Constructor and Description
BNO055IMUUtil()

Method Summary

Modifier and Type	Method and Description
static void	remapAxes(com.qualcomm.hardware.bosch.BNO055IMU imu, org.firstinspires.ftc.robotcore.external.navigation.AxesOrder order, AxesSigns signs) Remap BNO055 IMU axes and signs.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

BNO055IMUUtil

public BNO055IMUUtil()

Method Detail

remapAxes

public static void remapAxes(com.qualcomm.hardware.bosch.BNO055IMU imu,
                             org.firstinspires.ftc.robotcore.external.navigation.AxesOrder order,
                             AxesSigns signs)

Remap BNO055 IMU axes and signs. For reference, the default order is AxesOrder.ZYX. Call after BNO055IMU.initialize(BNO055IMU.Parameters). Although this isn't mentioned in the datasheet, the axes order appears to affect the onboard sensor fusion. Adapted from this post.

Parameters:

imu - IMU

order - axes order

signs - axes signs