* The sample will display the current Yaw, Pitch and Roll of the robot.
* With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
*
* Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X)
* Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y)
* Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z)
*
* The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller) *
* This specific sample DOES NOT assume that the Hub is mounted on one of the three orthogonal * planes (X/Y, X/Z or Y/Z) OR that the Hub has only been rotated in a range of 90 degree increments. *
* Note: if your Hub is mounted Orthogonally (on a orthogonal surface, angled at some multiple of * 90 Degrees) then you should use the simpler SensorImuOrthogonal sample in this folder. *
* But... If your Hub is mounted Non-Orthogonally, you must specify one or more rotational angles * that transform a "Default" Hub orientation into your desired orientation. That is what is * illustrated here. *
* 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. *
* Finally, edit this OpMode to use at least one angle around an axis to orient your Hub. */ @TeleOp(name = "Sensor: IMU Non-Orthogonal", group = "Sensor") @Disabled // Comment this out to add to the OpMode list public class SensorIMUNonOrthogonal extends LinearOpMode { // The IMU sensor object IMU imu; //---------------------------------------------------------------------------------------------- // Main logic //---------------------------------------------------------------------------------------------- @Override public void runOpMode() throws InterruptedException { // Retrieve and initialize the IMU. // This sample expects the IMU to be in a REV Hub and named "imu". imu = hardwareMap.get(IMU.class, "imu"); /* Define how the hub is mounted to the robot to get the correct Yaw, Pitch and Roll values. * * You can apply up to three axis rotations to orient your Hub according to how it's mounted on the robot. * * The starting point for these rotations is the "Default" Hub orientation, which is: * 1) Hub laying flat on a horizontal surface, with the Printed Logo facing UP * 2) Rotated such that the USB ports are facing forward on the robot. * * The order that the rotations are performed matters, so this sample shows doing them in the order X, Y, then Z. * For specifying non-orthogonal hub mounting orientations, we must temporarily use axes * defined relative to the Hub itself, instead of the usual Robot Coordinate System axes * used for the results the IMU gives us. In the starting orientation, the Hub axes are * aligned with the Robot Coordinate System: * * X Axis: Starting at Center of Hub, pointing out towards I2C connectors * Y Axis: Starting at Center of Hub, pointing out towards USB connectors * Z Axis: Starting at Center of Hub, pointing Up through LOGO * * Positive rotation is defined by right-hand rule with thumb pointing in +ve direction on axis. * * Some examples. * * ---------------------------------------------------------------------------------------------------------------------------------- * Example A) Assume that the hub is mounted on a sloped plate at the back of the robot, with the USB ports coming out the top of the hub. * The plate is tilted UP 60 degrees from horizontal. * * To get the "Default" hub into this configuration you would just need a single rotation. * 1) Rotate the Hub +60 degrees around the X axis to tilt up the front edge. * 2) No rotation around the Y or Z axes. * * So the X,Y,Z rotations would be 60,0,0 * * ---------------------------------------------------------------------------------------------------------------------------------- * Example B) Assume that the hub is laying flat on the chassis, but it has been twisted 30 degrees towards the right front wheel to make * the USB cable accessible. * * To get the "Default" hub into this configuration you would just need a single rotation, but around a different axis. * 1) No rotation around the X or Y axes. * 1) Rotate the Hub -30 degrees (Clockwise) around the Z axis, since a positive angle would be Counter Clockwise. * * So the X,Y,Z rotations would be 0,0,-30 * * ---------------------------------------------------------------------------------------------------------------------------------- * Example C) Assume that the hub is mounted on a vertical plate on the right side of the robot, with the Logo facing out, and the * Hub rotated so that the USB ports are facing down 30 degrees towards the back wheels of the robot. * * To get the "Default" hub into this configuration will require several rotations. * 1) Rotate the hub +90 degrees around the X axis to get it standing upright with the logo pointing backwards on the robot * 2) Next, rotate the hub +90 around the Y axis to get it facing to the right. * 3) Finally rotate the hub +120 degrees around the Z axis to take the USB ports from vertical to sloping down 30 degrees and * facing towards the back of the robot. * * So the X,Y,Z rotations would be 90,90,120 */ // The next three lines define the desired axis rotations. // To Do: EDIT these values to match YOUR mounting configuration. double xRotation = 0; // enter the desired X rotation angle here. double yRotation = 0; // enter the desired Y rotation angle here. double zRotation = 0; // enter the desired Z rotation angle here. Orientation hubRotation = xyzOrientation(xRotation, yRotation, zRotation); // Now initialize the IMU with this mounting orientation RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(hubRotation); imu.initialize(new IMU.Parameters(orientationOnRobot)); // Loop and update the dashboard while (!isStopRequested()) { telemetry.addData("Hub orientation", "X=%.1f, Y=%.1f, Z=%.1f \n", xRotation, yRotation, zRotation); // Check to see if heading reset is requested if (gamepad1.y) { telemetry.addData("Yaw", "Resetting\n"); imu.resetYaw(); } else { telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n"); } // Retrieve Rotational Angles and Velocities YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles(); AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES); telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES)); telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES)); telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES)); telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate); telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate); telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate); telemetry.update(); } } }