Example code for reading the IMU

IMU.java

//you will need to import these
import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
import com.qualcomm.robotcore.hardware.HardwareMap;

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;

//this code goes before the init portion
BNO055IMU imu;

//this code needs to go inside the init portion
BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
parameters.angleUnit = BNO055IMU.AngleUnit.DEGREES;
parameters.accelUnit = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
parameters.calibrationDataFile = "BNO055IMUCalibration.json";
parameters.loggingEnabled = true;
parameters.loggingTag = "IMU";
parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();

imu = hwMap.get(BNO055IMU.class, "IMU");
imu.initialize(parameters);

//Here is the code you will need for reading the heading of the IMU
//you may have to adjust which of X, Y, and Z you are reading based on your orientation of the hub
//you can use this wherever you need to use the heading value in teleop loop or inside an autonomous loop for turning for example
Orientation angles = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
double heading = (angles.firstAngle+360+offset)%360;