import org.firstinspires.ftc.robotcore.external.navigation.Position; //导入依赖的package包/类
@Override public void runOpMode() {

        // Set up the parameters with which we will use our IMU. Note that integration
        // algorithm here just reports accelerations to the logcat log; it doesn't actually
        // provide positional information.
        BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
        parameters.angleUnit           = BNO055IMU.AngleUnit.DEGREES;
        parameters.accelUnit           = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
        parameters.calibrationDataFile = "AdafruitIMUCalibration.json"; // see the calibration sample opmode
        parameters.loggingEnabled      = true;
        parameters.loggingTag          = "IMU";
        parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();

        // Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port
        // on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU",
        // and named "imu".
        imu = hardwareMap.get(BNO055IMU.class, "imu");
        imu.initialize(parameters);

        // Set up our telemetry dashboard
        composeTelemetry();

        // Wait until we're told to go
        waitForStart();

        // Start the logging of measured acceleration
        imu.startAccelerationIntegration(new Position(), new Velocity(), 1000);

        // Loop and update the dashboard
        while (opModeIsActive()) {
            telemetry.update();
        }
    }
 

import org.firstinspires.ftc.robotcore.external.navigation.Position; //导入依赖的package包/类
@Override public void runOpMode() {

        // Set up the parameters with which we will use our IMU. Note that integration
        // algorithm here just reports accelerations to the logcat log; it doesn't actually
        // provide positional information.
        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();

        // Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port
        // on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU",
        // and named "imu".
        imu = hardwareMap.get(BNO055IMU.class, "imu");
        imu.initialize(parameters);

        // Set up our telemetry dashboard
        composeTelemetry();

        // Wait until we're told to go
        waitForStart();

        // Start the logging of measured acceleration
        imu.startAccelerationIntegration(new Position(), new Velocity(), 1000);

        // Loop and update the dashboard
        while (opModeIsActive()) {
            telemetry.update();
        }
    }
 

import org.firstinspires.ftc.robotcore.external.navigation.Position; //导入依赖的package包/类
@Override public void runOpMode() throws InterruptedException {

        // Set up the parameters with which we will use our IMU. Note that integration
        // algorithm here just reports accelerations to the logcat log; it doesn't actually
        // provide positional information.
        BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
        parameters.angleUnit           = BNO055IMU.AngleUnit.DEGREES;
        parameters.accelUnit           = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
        parameters.calibrationDataFile = "AdafruitIMUCalibration.json"; // see the calibration sample opmode
        parameters.loggingEnabled      = true;
        parameters.loggingTag          = "IMU";
        parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();

        // Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port
        // on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU",
        // and named "imu".
        imu = hardwareMap.get(BNO055IMU.class, "imu");
        imu.initialize(parameters);

        // Set up our telemetry dashboard
        composeTelemetry();

        // Wait until we're told to go
        waitForStart();

        // Start the logging of measured acceleration
        imu.startAccelerationIntegration(new Position(), new Velocity(), 1000);

        // Loop and update the dashboard
        while (opModeIsActive()) {
            telemetry.update();
            idle();
        }
    }
 

import org.firstinspires.ftc.robotcore.external.navigation.Position; //导入依赖的package包/类
@Override public void runOpMode() throws InterruptedException {

        // Set up the parameters with which we will use our IMU. Note that integration
        // algorithm here just reports accelerations to the logcat log; it doesn't actually
        // provide positional information.
        BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
        parameters.angleUnit           = BNO055IMU.AngleUnit.DEGREES;
        parameters.accelUnit           = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
        parameters.calibrationDataFile = "AdafruitIMUCalibration.json"; // see the calibration sample opmode
        parameters.loggingEnabled      = true;
        parameters.loggingTag          = "IMU";
        parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();

        // Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port
        // on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU",
        // and named "imu".
        imu = hardwareMap.get(BNO055IMU.class, "imu");
        imu.initialize(parameters);

        // Set up our telemetry dashboard
        composeTelemetry();

        // Wait until we're told to go
        waitForStart();

        // Start the logging of measured acceleration
        imu.startAccelerationIntegration(new Position(), new Velocity(), 1000);

        // Loop and update the dashboard
        while (opModeIsActive()) {
            telemetry.update();
        }
    }
 

import org.firstinspires.ftc.robotcore.external.navigation.Position; //导入依赖的package包/类
public Position getCurrentPosition() {
    return currentPosition;
}