Kauai Labs navX-MXP User Manual
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Contents
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GuidanceBest PracticesIf a short occurs between any of the MXP Expansion I/O pins, the POWER led on the RoboRIOwill turn red, and the navX-MXP circuit board will not receive power.To protect against accidental shorts, Kauai Labs recommends a protective enclosure that atleast partially encases the MXP I/O pins, such as the “lid”-style enclosure created for the navx-MXP.9) If possible, mount the navX-MXP circuit board near thecenter of rotationSince navX-MXP measures rotation, errors in the measured angles can occur if the navX-MXPcircuit board is mounted at a point not near the robot center of rotation. For optimal results, thenavX-MXP circuit board should be mounted at the robot’s center of rotation. If the navX-MXPcircuit board cannot be mounted near the robot’s center of rotation, the offset from the center ofrotation can be used to correct the yaw angle.10) Use OmniMount if navX-MXP is not mounted horizontallyBy default, the navX-MXP’s motion processing requires the unit be mounted horizontally,parallel to the earth’s surface; the yaw (Z) axis should be perpendicular to the earths surface.If your RoboRIO is mounted vertically, you will need to enable the “OmniMount” feature in orderto get reliable, accurate yaw (Z) axis readings.11) Learn how the sensor behaves by using the navXUIThe navXUI provides insight into the key navX-MXP features, and can help debug issues youmay encounter when integrating navX-MXP onto your robot. Running this user interface ishighly recommended for anyone using navX-MXP. You can even run the navXUI while yourrobot is simultaneously communicating with the navX-MXP circuit board via the TTL UART, I2Cor SPI interfaces.TerminologySeveral terms used throughout the navX-MXP libraries and documentation may not becommonly understood and are defined herein.Basic TerminologyA working knowledge of the following Basic Terminology is highly recommended when workingwith navX-MXP or any other Inertial Measurement Unit (IMU).61 |
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