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  package org.firstinspires.ftc.robotcontroller.external.samples;
  
  import com.qualcomm.hardware.bosch.BNO055IMU;
  import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
  import com.qualcomm.robotcore.eventloop.opmode.Disabled;
  import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
  import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
  import org.firstinspires.ftc.robotcore.external.Func;
  import org.firstinspires.ftc.robotcore.external.navigation.Acceleration;
  import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
  import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
  import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
  import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
  import org.firstinspires.ftc.robotcore.external.navigation.Position;
  import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
  
  import java.util.Locale;
  
  /*
   * This OpMode gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit.
   *
   * Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
   * Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
   *
   * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
   * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
   *
   * @see <a href="http://www.adafruit.com/products/2472">Adafruit IMU</a>
   */
  @TeleOp(name = "Sensor: BNO055 IMU", group = "Sensor")
  @Disabled   // Comment this out to add to the OpMode list
  public class SensorBNO055IMU extends LinearOpMode
      {
      //----------------------------------------------------------------------------------------------
      // State
      //----------------------------------------------------------------------------------------------
  
      // The IMU sensor object
      BNO055IMU imu;
  
      // State used for updating telemetry
      Orientation angles;
      Acceleration gravity;
  
      //----------------------------------------------------------------------------------------------
      // Main logic
      //----------------------------------------------------------------------------------------------
  
      @Override public void runOpMode() {
  
          // Set up the parameters with which we will use our IMU. Note that integration
          // algorithm here just reports accelerations to the logcat log; it doesn't actually
          // provide positional information.
          BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
          parameters.angleUnit           = BNO055IMU.AngleUnit.DEGREES;
          parameters.accelUnit           = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
          parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample OpMode
          parameters.loggingEnabled      = true;
          parameters.loggingTag          = "IMU";
          parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();
  
          // Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port
          // on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU",
          // and named "imu".
          imu = hardwareMap.get(BNO055IMU.class, "imu");
          imu.initialize(parameters);
  
          // Set up our telemetry dashboard
          composeTelemetry();
  
          // Wait until we're told to go
          waitForStart();
  
          // Start the logging of measured acceleration
          imu.startAccelerationIntegration(new Position(), new Velocity(), 1000);
  
          // Loop and update the dashboard
          while (opModeIsActive()) {
              telemetry.update();
          }
      }
  
      //----------------------------------------------------------------------------------------------
      // Telemetry Configuration
      //----------------------------------------------------------------------------------------------
  
      void composeTelemetry() {
  
          // At the beginning of each telemetry update, grab a bunch of data
          // from the IMU that we will then display in separate lines.
          telemetry.addAction(new Runnable() { @Override public void run()
                  {
                  // Acquiring the angles is relatively expensive; we don't want
                  // to do that in each of the three items that need that info, as that's
                  // three times the necessary expense.
                  angles   = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
                  gravity  = imu.getGravity();
                  }
              });
  
          telemetry.addLine()
              .addData("status", new Func<String>() {
                  @Override public String value() {
                      return imu.getSystemStatus().toShortString();
                      }
                  })
              .addData("calib", new Func<String>() {
                  @Override public String value() {
                      return imu.getCalibrationStatus().toString();
                      }
                  });
  
          telemetry.addLine()
              .addData("heading", new Func<String>() {
                  @Override public String value() {
                      return formatAngle(angles.angleUnit, angles.firstAngle);
                      }
                  })
              .addData("roll", new Func<String>() {
                  @Override public String value() {
                      return formatAngle(angles.angleUnit, angles.secondAngle);
                      }
                  })
              .addData("pitch", new Func<String>() {
                  @Override public String value() {
                      return formatAngle(angles.angleUnit, angles.thirdAngle);
                      }
                  });
  
          telemetry.addLine()
              .addData("grvty", new Func<String>() {
                  @Override public String value() {
                      return gravity.toString();
                      }
                  })
              .addData("mag", new Func<String>() {
                  @Override public String value() {
                      return String.format(Locale.getDefault(), "%.3f",
                              Math.sqrt(gravity.xAccel*gravity.xAccel
                                      + gravity.yAccel*gravity.yAccel
                                      + gravity.zAccel*gravity.zAccel));
                      }
                  });
      }
  
      //----------------------------------------------------------------------------------------------
      // Formatting
      //----------------------------------------------------------------------------------------------
  
      String formatAngle(AngleUnit angleUnit, double angle) {
          return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
      }
  
      String formatDegrees(double degrees){
          return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
      }
  }
  