mikeweiss
commented
1 year ago Of note: Control Hub SKU: REV-31-1595 HAS an IMU
REV Robotics Expansion Hub SKU: REV-31-1153 DOES NOT HAVE AN IMU!
If we do not have a Control Hub then we will would need to test with the Phone IMU.
https://first-tech-challenge.github.io/SkyStone/com/qualcomm/hardware/bosch/BNO055IMU.html
BNO055IMU interface abstracts the functionality of the Bosch/Sensortec BNO055 Intelligent 9-axis absolute orientation sensor. The BNO055 can output the following sensor data (as described in AdaFruit Absolute Orientation Sensor). Absolute Orientation (Euler Vector, 100Hz) Three axis orientation data based on a 360° sphere Absolute Orientation (Quaterion, 100Hz) Four point quaternion output for more accurate data manipulation Angular Velocity Vector (100Hz) Three axis of 'rotation speed' in rad/s Acceleration Vector (100Hz) Three axis of acceleration (gravity + linear motion) in m/s^2 Magnetic Field Strength Vector (20Hz) Three axis of magnetic field sensing in micro Tesla (uT) Linear Acceleration Vector (100Hz) Three axis of linear acceleration data (acceleration minus gravity) in m/s^2 Gravity Vector (100Hz) Three axis of gravitational acceleration (minus any movement) in m/s^2 Temperature (1Hz) Ambient temperature in degrees celsius Of those, the first (the gravity-corrected absolute orientation vector) is arguably the most useful in FTC robot design. It's really handy.
Another idea is to use 2 ultrasonic sensors to be able to determine if we are parallel to the wall, if logical.