FtcRobotController VS TeamCode

Yes, APK from Github, or just connect your phone to the REV Hardware Client.

I think I just stumbled upon where the team got the IMU initialization from. Take a look at the sample code in https://github.com/FIRST-Tech-Challenge/FtcRobotController/blob/master/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorBNO055IMU.java

You can read my testing notes here https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/317 but there is a way to make it slightly faster

Although written for Blocks, this tutorial can help new Java programmers too: https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Timers-in-FTC-Blocks

are you working from the FtcRobotController project? https://github.com/FIRST-Tech-Challenge/FtcRobotController

Here's a sample program that uses deadlines

https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/Writing-an-I2C-Driver This is the core tutorial on i2c devices, although its a little out of date so YMMV. Some things like the constructor may need to be tweaked (I believe there is now a second parameter in the super?). However the core of it is still accurate.

And you can see how we detect that starter stack at: https://github.com/FTCIrrationalDoorkeepers4653/TeamCode/blob/master/Systems/Core/Robot.java

Our Implementation: https://github.com/FTCIrrationalDoorkeepers4653/TeamCode