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 ## Introduction
 
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+converted to RTD, published 11/21/22
+http://ftc-docs.firstinspires.org/programming_resources/imu/imu.html
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 In September 2022, REV Robotics began shipping [**Control Hubs**](https://www.revrobotics.com/rev-31-1595/) with a different internal Inertial Measurement Unit (IMU). An IMU can measure many aspects of device motion; here we focus on **rotation**.
 
 The new IMU chip is designated [BHI260AP](https://www.bosch-sensortec.com/products/smart-sensors/bhi260ap/), replacing the old Hub's IMU chip [BNO055](https://www.bosch-sensortec.com/products/smart-sensors/bno055/).  Both are from Bosch Sensortec.