Configuring the 9-Axis IMU

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.

9-Axis IMU in Blocks

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.

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).