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  package org.firstinspires.ftc.robotcontroller.external.samples;
  
  import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
  import com.qualcomm.robotcore.eventloop.opmode.Disabled;
  import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
  import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
  import com.qualcomm.robotcore.hardware.IMU;
  import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
  import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
  import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
  
  /*
   * This OpMode shows how to use the new universal IMU interface. This
   * interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
   * on the robot with the name "imu".
   *
   * The sample will display the current Yaw, Pitch and Roll of the robot.<br>
   * With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
   *   Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
   *   Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
   *   Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
   *
   * The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
   *
   * This specific sample assumes that the Hub is mounted on one of the three orthogonal planes
   * (X/Y, X/Z or Y/Z) and that the Hub has only been rotated in a range of 90 degree increments.
   *
   * Note: if your Hub is mounted on a surface angled at some non-90 Degree multiple (like 30) look at
   *       the alternative SensorIMUNonOrthogonal sample in this folder.
   *
   * This "Orthogonal" requirement means that:
   *
   * 1) The Logo printed on the top of the Hub can ONLY be pointing in one of six directions:
   *    FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
   *
   * 2) The USB ports can only be pointing in one of the same six directions:<br>
   *    FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
   *
   * So, To fully define how your Hub is mounted to the robot, you must simply specify:<br>
   *    logoFacingDirection<br>
   *    usbFacingDirection
   *
   * 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.
   *
   * Finally, choose the two correct parameters to define how your Hub is mounted and edit this OpMode
   * to use those parameters.
   */
  @TeleOp(name = "Sensor: IMU Orthogonal", group = "Sensor")
  @Disabled   // Comment this out to add to the OpMode list
  public class SensorIMUOrthogonal extends LinearOpMode
  {
      // The IMU sensor object
      IMU imu;
  
      //----------------------------------------------------------------------------------------------
      // Main logic
      //----------------------------------------------------------------------------------------------
  
      @Override public void runOpMode() throws InterruptedException {
  
          // Retrieve and initialize the IMU.
          // This sample expects the IMU to be in a REV Hub and named "imu".
          imu = hardwareMap.get(IMU.class, "imu");
  
          /* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
           *
           * Two input parameters are required to fully specify the Orientation.
           * The first parameter specifies the direction the printed logo on the Hub is pointing.
           * The second parameter specifies the direction the USB connector on the Hub is pointing.
           * All directions are relative to the robot, and left/right is as-viewed from behind the robot.
           *
           * If you are using a REV 9-Axis IMU, you can use the Rev9AxisImuOrientationOnRobot class instead of the
           * RevHubOrientationOnRobot class, which has an I2cPortFacingDirection instead of a UsbFacingDirection.
           */
  
          /* The next two lines define Hub orientation.
           * The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
           *
           * To Do:  EDIT these two lines to match YOUR mounting configuration.
           */
          RevHubOrientationOnRobot.LogoFacingDirection logoDirection = RevHubOrientationOnRobot.LogoFacingDirection.UP;
          RevHubOrientationOnRobot.UsbFacingDirection  usbDirection  = RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
  
          RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
  
          // Now initialize the IMU with this mounting orientation
          // Note: if you choose two conflicting directions, this initialization will cause a code exception.
          imu.initialize(new IMU.Parameters(orientationOnRobot));
  
          // Loop and update the dashboard
          while (!isStopRequested()) {
  
              telemetry.addData("Hub orientation", "Logo=%s   USB=%s\n ", logoDirection, usbDirection);
  
              // Check to see if heading reset is requested
              if (gamepad1.y) {
                  telemetry.addData("Yaw", "Resetting\n");
                  imu.resetYaw();
              } else {
                  telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
              }
  
              // Retrieve Rotational Angles and Velocities
              YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
              AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
  
              telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
              telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
              telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
              telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
              telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
              telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
              telemetry.update();
          }
      }
  }
  