Adding an External IMU to your Hub
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DUO Control System
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The 9-Axis IMU is configured similar to other I2C devices. First, navigate to the Control Hub Portal or Expansion Hub where it is connected in the configuration menu.
Next, scroll to find the option to add something to the I2C Bus. Note: The internal IMU appears in I2C Bus 0. For this example, we are adding the 9-Axis IMU to I2C Bus 1.
Once in the menu, click "Add". This will show the option to add a new sensor to this I2C Bus.
Scroll to select the REV 9-Axis IMU from the dropdown menu.
Name the IMU something relevant that will be easy to identify later. Remember the built-in IMU, if applicable, may also appear as an option while programming.
Finally, select "Done" and complete the remainder of your configuration process.
Once configured, the 9-Axis IMU will appear as an option under "Sensors" in the Blocks menu.
When calling the IMU, the configured 9-Axis IMU will appear as the assigned name in the dropdown option on the individual block.
When "Setup Code for Configured Hardware" is checked while creating a new OpMode in OnBot Java, the IMU will automatically be added to the hardwareMap using the assigned name from configuration.
An internal IMU, if applicable, will retain its default name based on the version of IMU (BNO055 or BHI260AP).
There are a few options that will work for giving your Hub Gyro/IMU function.
- Also supported in the FTC programming environment. Code examples are listed on AndyMark's page, and this product includes the correct cables to use within FTC.
- This is the same IMU as in Control Hubs from before 2022, but will require you to either create an adapter cable or solder a cut to the board. Plugging this in and configuring the IMU on I2C port zero will allow you to use and program the same as an internal IMU.
with our and - This is supported in the FTC Programing environment but is just a single-axis gyro, not a full IMU.
