Constructor Detail

• BNO055IMUImpl

  BNO055IMUImpl(I2cDeviceSynch deviceClient, boolean deviceClientIsOwned)

  This constructor is called internally by the FTC SDK.

Method Detail

• imuIsPresent

   static boolean imuIsPresent(I2cDeviceSynchSimple deviceClient, boolean retryAfterWaiting)

  The deviceClient parameter needs to already have its I2C address set.

• resetDeviceConfigurationForOpMode

   void resetDeviceConfigurationForOpMode()

• onOpModePreInit

   void onOpModePreInit(OpMode opMode)

• onOpModePreStart

   void onOpModePreStart(OpMode opMode)

• onOpModePostStop

   void onOpModePostStop(OpMode opMode)

• getI2cAddress

   I2cAddr getI2cAddress()

• setI2cAddress

   void setI2cAddress(I2cAddr newAddress)

• internalInitialize

   boolean internalInitialize(@NonNull() BNO055IMU.Parameters parameters)

  Initialize the device to be running in the indicated operation mode

• getSystemStatus

   synchronized BNO055IMU.SystemStatus getSystemStatus()

  Returns the current status of the system.

• getSystemError

   synchronized BNO055IMU.SystemError getSystemError()

  If getSystemStatus is 'system error' (1), returns particularsregarding that error.See section 4.3.58 of the BNO055 specification.

• getCalibrationStatus

   synchronized BNO055IMU.CalibrationStatus getCalibrationStatus()

  Returns the calibration status of the IMU

• close

   void close()

• getDeviceName

   abstract String getDeviceName()

• getManufacturer

   abstract HardwareDevice.Manufacturer getManufacturer()

• getAngularVelocityAxes

   Set<Axis> getAngularVelocityAxes()

• getAngularOrientationAxes

   Set<Axis> getAngularOrientationAxes()

• getAngularVelocity

   synchronized AngularVelocity getAngularVelocity(AngleUnit unit)

• getAngularOrientation

   Orientation getAngularOrientation(AxesReference reference, AxesOrder order, AngleUnit angleUnit)

  Returns the absolute orientation of the sensor as a set three angles with indicated parameters.

  Parameters:

  reference - the axes reference in which the result will be expressed

  order - the axes order in which the result will be expressed

  angleUnit - the angle units in which the result will be expressed

• isSystemCalibrated

   synchronized boolean isSystemCalibrated()

  Answers as to whether the system is fully calibrated. The system is fullycalibrated if the gyro, accelerometer, and magnetometer are fully calibrated.

• isGyroCalibrated

   synchronized boolean isGyroCalibrated()

  Answers as to whether the gyro is fully calibrated.

• isAccelerometerCalibrated

   synchronized boolean isAccelerometerCalibrated()

  Answers as to whether the accelerometer is fully calibrated.

• isMagnetometerCalibrated

   synchronized boolean isMagnetometerCalibrated()

  Answers as to whether the magnetometer is fully calibrated.

• readCalibrationData

   BNO055IMU.CalibrationData readCalibrationData()

  Read calibration data from the IMU which later can be restored with writeCalibrationData().This might be persistently stored, and reapplied at a later power-on.For greatest utility, full calibration should be achieved before readingthe calibration data.

• writeCalibrationData

   void writeCalibrationData(BNO055IMU.CalibrationData data)

  Write calibration data previously retrieved.

  Parameters:

  data - the calibration data to write

• getTemperature

   synchronized Temperature getTemperature()

  Returns the current temperature.

• getMagneticFieldStrength

   synchronized MagneticFlux getMagneticFieldStrength()

  Returns the magnetic field strength experienced by the sensor. See Section 3.6.5.2 ofthe BNO055 specification.

• getOverallAcceleration

   synchronized Acceleration getOverallAcceleration()

  Returns the overall acceleration experienced by the sensor. This is composed ofa component due to the movement of the sensor and a component due to the force of gravity.

• getLinearAcceleration

   synchronized Acceleration getLinearAcceleration()

  Returns the acceleration experienced by the sensor due to the movement of the sensor.

• getGravity

   synchronized Acceleration getGravity()

  Returns the direction of the force of gravity relative to the sensor.

• getAngularVelocity

   synchronized AngularVelocity getAngularVelocity()

  Returns the rate of change of the absolute orientation of the sensor.

• getAngularOrientation

   synchronized Orientation getAngularOrientation()

  Returns the absolute orientation of the sensor as a set three angles

• getQuaternionOrientation

   synchronized Quaternion getQuaternionOrientation()

  Returns the absolute orientation of the sensor as a quaternion.

• getAcceleration

   Acceleration getAcceleration()

  Returns the last observed acceleration of the sensor. Note that this does not communicatewith the sensor, but rather returns the most recent value reported to the accelerationintegration algorithm.

• getVelocity

   Velocity getVelocity()

  Returns the current velocity of the sensor as calculated by integrating the observedsensor accelerations.

• getPosition

   Position getPosition()

  Returns the current position of the sensor as calculated by doubly integrating the observedsensor accelerations.

• startAccelerationIntegration

   void startAccelerationIntegration(Position initalPosition, Velocity initialVelocity, int msPollInterval)

  Start (or re-start) a thread that continuously at intervals polls the current linear accelerationof the sensor and integrates it to provide velocity and position information.

  Parameters:

  initialVelocity - If non-null, the current sensor velocity is set to this value.

  msPollInterval - the interval to use, in milliseconds, between successive calls to getLinearAcceleration

• stopAccelerationIntegration

   void stopAccelerationIntegration()

  Stop the integration thread if it is currently running.

• read8

   synchronized byte read8(BNO055IMU.Register reg)

  Low level: read the byte starting at the indicated register

• read

   synchronized Array<byte> read(BNO055IMU.Register reg, int cb)

  Low level: read data starting at the indicated register

  Parameters:

  cb - the number of bytes to read

• write8

   void write8(BNO055IMU.Register reg, int data)

  Low level: write a byte to the indicated register

• write8

   void write8(BNO055IMU.Register reg, int data, I2cWaitControl waitControl)

• write

   void write(BNO055IMU.Register reg, Array<byte> data)

  Low level: write data starting at the indicated register

  Parameters:

  data - the data to write

• write

   void write(BNO055IMU.Register reg, Array<byte> data, I2cWaitControl waitControl)