The navX2-Micro can be easily used with the FTC Android-Based Robot Control System. Both power to and signaling to/from the navX2-Micro occurs via the I2C interface by way of either a Expansion Hub or a Control Hub from REV Robotics.
Electrical Wiring Instructions
- Select one of the 4 I2C ports on the Hub, as shown below. Note that the ports are numbered from 0.
- Using a I2C to JST PH Cable, connect the +5V, Data (SDA), Clock (SCL) and GND pins on the selected DIM I2C port to the corresponding pins on the navX MXP External I2C Port Connector.
NOTE: Although the navX2-Micro indicates “5V” above the “power” pin on the circuit board, navX2-Micro is fully 3.3V compatible, and thus may be powered via the Expansion or Control Hub.
Electrical Wiring Verification
Physical Installation on the Robot
Kauai Labs highly recommends mounting the navX2-Micro circuit board to the robot chassis using the navX2-Micro enclosure.
Securing navX2-Micro to the robot chassis
navX-Micro should be mounted such that it is firmly attached to the robot chassis. The quality of this mounting will be directly reflected in the quality of navX2-Micro inertial measurements. To ensure quality, carefully follow these guidelines:
- navX2-Micro should be tightly mounted to the robot chassis; it should be a part of the chassis mass, and should move exactly as the chassis moves. Avoid mounting navX2-Micro in an area of the chassis that might be flexible, as this could introduce vibration to the inertial sensors that does not represent the chassis inertial properties.
- navX2-Micro should be mounted in the center of the chassis if at all possible, which ensures the origin of the yaw/pitch/roll axes truly represent the chassis center.
- Be sure to understand the orientation of the navX2-Micro circuit board, relative to the chassis, and decide whether OmniMount is needed.
- Housing the navX2-Micro circuit board in some form of protective enclosure is highly recommended, to protect it from damage. This should both protect the circuit board from damage.
FTC Robot Configuration
Within the FTC Robot Controller, the navX2-Micro must be added to the Robot Configuration. First, navigate to the page for the REV Expansion Hub or Control Hub the navX2-Micro is connected to. Then, click on the I2C Bus corresponding to the exact connector being used.
Next, click on the “Add” button, select the “navX Micro” device type, and set the Device name. The recommended device name, which matches the code examples is “navx”. Be sure to press Done to save the changes to the Robot Configuration.