TestMap.java

package org.firstinspires.ftc.teamcode.Stuff_From_Loveland;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
import com.qualcomm.robotcore.hardware.AnalogInput;
import com.qualcomm.robotcore.hardware.HardwareMap;
import com.qualcomm.robotcore.util.ElapsedTime;

import org.firstinspires.ftc.robotcore.external.navigation.RelicRecoveryVuMark;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;

/**
 * Created by Sushruth on 9/1/17.
 */

public class TestMap {
    public BNO055IMU imu;
    HardwareMap hwMap = null;


    ElapsedTime runtime = new ElapsedTime();

    AnalogInput ultrasonicLeft = null;

    double tX;
    double tY;
    double tZ;

    double rX;
    double rY;
    double rZ;
    RelicRecoveryVuMark vuMark;

    VuforiaLocalizer vuforia;

    public void init(HardwareMap ahwMap) {

        // save reference to HW Map
        hwMap = ahwMap;
        imu = hwMap.get(BNO055IMU.class, "imu");




        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();

        imu.initialize(parameters);


        ultrasonicLeft = hwMap.get(AnalogInput.class,"ultrasonic");


    }
}