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.
Configuration menu on the Driver Hub
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.
I2C Bus options in the configuration menu
Once in the menu, click "Add". This will show the option to add a new sensor to this I2C Bus.
Option to add a new I2C device to the bus
Scroll to select the REV 9-Axis IMU from the dropdown menu.
9-Axis IMU within the available 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.
Naming the IMU to identify it while programming
Finally, select "Done" and complete the remainder of your configuration process.
The "Done" option will save the added sensor
9-Axis IMU in Blocks
Once configured, the 9-Axis IMU will appear as an option under "Sensors" in the Blocks menu.
The IMU listing in the Blocks side menu
When calling the IMU, the configured 9-Axis IMU will appear as the assigned name in the dropdown option on the individual block.
IMU selection dropdown
9-Axis IMU in OnBot Java
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).
The configured IMU appearing in OnBot's hardwareMap
