DragoneerCode/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/EasyIMU.java at master · GCS-Robotics/DragoneerCode · GitHub

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package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.hardware.IMU;

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

public class EasyIMU {
    IMU imu;
    public EasyIMU(IMU i){
        imu = i;
    }
    public double getYaw(){
        YawPitchRollAngles orientation;
        orientation = imu.getRobotYawPitchRollAngles();
        return orientation.getYaw(AngleUnit.DEGREES);
    }
    public double getRoll(){
        YawPitchRollAngles orientation;
        orientation = imu.getRobotYawPitchRollAngles();
        return orientation.getRoll(AngleUnit.DEGREES);
    }
    public double getPitch(){
        YawPitchRollAngles orientation;
        orientation = imu.getRobotYawPitchRollAngles();
        return orientation.getPitch(AngleUnit.DEGREES);
    }
}