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Orientating the IMU

The IMU Blocks can be found under the Sensors dropdown menu:

There are a few different ways to define the Hub's orientation. The easiest is by using the REV Robotics logo and USB ports to signify orientation:

However, if the Hub is not flat you may also define its location using an orientation perimeter block:

This method uses a perimeter object to specify the Hub's arbitrary orientation on the robot by describing the rotation that would need to be applied in order to rotate the Hub from its default to the actual orientation. A similar method using a Quaternion block is also available.

The default position assumes the logo is UP and USBs are FORWARD.

Orientating the IMU

The IMU Blocks can be found under the Sensors dropdown menu:

There are a few different ways to define the Hub's orientation. The easiest is by using the REV Robotics logo and USB ports to signify orientation:

However, if the Hub is not flat you may also define its location using an orientation perimeter block:

The default position assumes the logo is UP and USBs are FORWARD.

It is also possible to define the orientation of a Hub in a nonorthogonal position by setting rotations along the X, Y, and Z axes. For more information on this process, please see the "SensorIMUNonOrthogonal" sample available in OnBot Java as part of the FTC SDK.

RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
RevHubOrientationOnRobot.UsbFacingDirection  usbDirection  = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;

RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);

imu.initialize(new IMU.Parameters(orientationOnRobot));

RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
RevHubOrientationOnRobot.UsbFacingDirection  usbDirection  = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;

RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);

imu.initialize(new IMU.Parameters(orientationOnRobot));

Orientating the IMU

Orientating the IMU

Setting Orientation in Code:

Blocks:

OnBot Java:

Recommended Orientations

Control Hubs with the Bosch BHI260AP IMU:

Control and Expansion Hubs with the Bosch BNO055 IMU: