IMU added

Author: 28shettr

.idea/workspace.xml

@@ -0,0 +1,82 @@
+---
+title: IMU
+description: Reading orientation with NextIMU
+sidebar:
+    order: 5
+---
+
+import { Tabs, TabItem } from '@astrojs/starlight/components';
+
+`NextIMU` is a wrapper for the Control Hub or an `IMU` that uses lazy initialization.
+
+## Creating a NextIMU
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+```kotlin
+val imu = NextIMU() // Defaults to the configuration name "imu"
+
+val imu = NextIMU("imu") // Using a custom configuration name
+```
+</TabItem>
+<TabItem label="Java">
+```java
+NextIMU imu = new NextIMU(); // Defaults to the configuration name "imu"
+
+NextIMU imu = new NextIMU("imu"); // Using a custom configuration name
+```
+</TabItem>
+</Tabs>
+
+## Usage
+
+### `initialize(parameters)`
+
+Initializes the IMU with the given `IMU.Parameters`, such as the hub's mounting orientation.
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+```kotlin
+imu.initialize(IMU.Parameters(RevHubOrientationOnRobot(LogoFacingDirection.UP, UsbFacingDirection.FORWARD)))
+```
+</TabItem>
+<TabItem label="Java">
+```java
+imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(LogoFacingDirection.UP, UsbFacingDirection.FORWARD)));
+```
+</TabItem>
+</Tabs>
+
+### `resetYaw()`
+
+Resets the yaw angle to zero.
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+```kotlin
+imu.resetYaw()
+```
+</TabItem>
+<TabItem label="Java">
+```java
+imu.resetYaw();
+```
+</TabItem>
+</Tabs>
+
+### `angularVelocity`
+
+`AngularVelocity` the robot's current angular velocity, in radians per second.
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+```kotlin
+val turnRate = imu.angularVelocity
+```
+</TabItem>
+<TabItem label="Java">
+```java
+AngularVelocity turnRate = imu.getAngularVelocity();
+```
+</TabItem>
+</Tabs>

src/content/docs/hardware/sensors/imu.mdx

@@ -1,5 +1,5 @@
 ---
-title: Pinpoint
+title: Pinpoints
 description: Reading odometry with NextPinpoint
 sidebar:
     order: 4