import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.utils.BNO055;
-import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.I2C.Port;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
public void robotInit() {
driveTrain = DriveTrain.getDriveTrain();
oi = OI.getOI();
+ // declares IMU object to the connected port
imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
- BNO055.vector_type_t.VECTOR_EULER, I2C.Port.kOnboard, (byte) 0x29);
+ BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
+
+ // check if the robot is at the reference angle
+ if (imu.getHeading() == 0) {
+ System.out.println("At zero reference");
+ }
}
public static DriveTrain getDriveTrain() {
}
+ // @Override
@Override
public void teleopInit() {
- while (true) {
- System.out.println("Heading: " + imu.getHeading());
- }
+
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
+ System.out.println("Heading: " + imu.getHeading() + " Init: "
+ + imu.isInitialized() + " Calib: " + imu.isCalibrated());
}
}