package org.firstinspires.ftc.teamcode.solutions;

import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;

import com.qualcomm.robotcore.hardware.HardwareMap;

import com.qualcomm.robotcore.hardware.IMU;

import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;

public class ProgrammingBoard_14_3_8 extends ProgrammingBoard_14_3_7 {

private IMU imu;

public void init(HardwareMap hwMap) {

super.init(hwMap);

imu = hwMap.get(IMU.class, "imu");

RevHubOrientationOnRobot RevOrientation =

new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.UP,

RevHubOrientationOnRobot.UsbFacingDirection.FORWARD);

imu.initialize(new IMU.Parameters(RevOrientation));

}

public double getHeading(AngleUnit angleUnit) {

return imu.getRobotYawPitchRollAngles().getYaw(angleUnit);

}

}