IMUs

NextIMU is a wrapper for the Control Hub or an IMU that uses lazy initialization.

Creating a NextIMU

Kotlin

// Defaults to the configuration name "imu"
val imu = NextIMU()

// Using a custom configuration name
val imu = NextIMU("imu")

Java

// Defaults to the configuration name "imu"
NextIMU imu = new NextIMU();

// Using a custom configuration name
NextIMU imu = new NextIMU("imu");

Usage

initialize(parameters)

Initializes the IMU with the given IMU.Parameters, such as the hub’s mounting orientation.

Kotlin

imu.initialize(IMU.Parameters(RevHubOrientationOnRobot(LogoFacingDirection.UP, UsbFacingDirection.FORWARD)))

Java

imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(LogoFacingDirection.UP, UsbFacingDirection.FORWARD)));

resetYaw()

Resets the yaw angle to zero.

Kotlin

imu.resetYaw()

Java

imu.resetYaw();

angularVelocity

AngularVelocity the robot’s current angular velocity, in radians per second.

Kotlin

val turnRate = imu.angularVelocity

Java

AngularVelocity turnRate = imu.getAngularVelocity();