From 932a6befc60a1d9d8fff18395060783a3937cc2e Mon Sep 17 00:00:00 2001
From: GZod01 <gzod01@gzod01.fr>
Date: Sun, 7 Jan 2024 16:01:20 +0100
Subject: [PATCH] helhoaihf

---
 ftc2024-carlike.java | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/ftc2024-carlike.java b/ftc2024-carlike.java
index dd660e2..de92d0f 100644
--- a/ftc2024-carlike.java
+++ b/ftc2024-carlike.java
@@ -52,6 +52,19 @@ public class Werobot_FTC2024_carlike extends LinearOpMode {
 		imu = hardwareMap.get(BNO055IMU.class, "imu");
 		imu.initialize(parameters);
 		rm.setDirection(DcMotorSimple.Direction.REVERSE);
+		telemetry.addData("Mode", "calibrating...");
+		telemetry.update();
+
+		// make sure the imu gyro is calibrated before continuing.
+		while (!isStopRequested() && !imu.isGyroCalibrated())
+		{
+			sleep(50);
+			idle();
+		}
+
+		telemetry.addData("Mode", "waiting for start");
+		telemetry.addData("imu calib status", imu.getCalibrationStatus().toString());
+		telemetry.update();
 		waitForStart();