navX2-MXP breaks out all usable signal pins on the National Instruments RoboRIO™ / MyRIO MXP Connector.
DC Voltage Selection
Using the provided jumper, select the DC Voltage which will be routed to each of the connector blocks. Select from either 3.3V or 5V DC. This regulated voltage is supplied directly by the host computer (e.g., the RoboRIO).
I/O Summary
Each of the I/O pins on the MXP connector has a corresponding 3-pin connector (DC Voltage, Ground and Signal). The orientation of the Ground, Power and Signal pins for each of the Digital I/O, Analog Input and Analog Output pins is as follows:
Digital I/Os
Each of the 10 Digital I/O pins may be configured for use as either DigitalInputs or DigitalOutputs, PWM (Outputs) or Counters (Inputs).
Additionally, multiple (either 2 or 3) DigitalInputs may be used to form an QuadratureEncoder input.
DigitalInput/DigitalOutput Addressing
| navX2-MXP Port | MXP Pin Number | RoboRIO Channel Address |
|---|---|---|
| 0 | DIO0 | 10 |
| 1 | DIO1 | 11 |
| 2 | DIO2 | 12 |
| 3 | DIO3 | 13 |
| 4 | DIO8 | 18 |
| 5 | DIO9 | 19 |
| 6 | DIO10 | 20 |
| 7 | DIO11 | 21 |
| 8 | DIO12 | 22 |
| 9 | DIO13 | 23 |
PWM Output Addressing
| navX2-MXP Port | MXP Pin Number | RoboRIO Channel Address |
|---|---|---|
| 0 | PWM0 | 10 |
| 1 | PWM1 | 11 |
| 2 | PWM2 | 12 |
| 3 | PWM3 | 13 |
| 4 | PWM4 | 14 |
| 5 | PWM5 | 15 |
| 6 | PWM6 | 16 |
| 7 | PWM7 | 17 |
| 8 | PWM8 | 18 |
| 9 | PWM9 | 19 |
NOTE: The MXP connector has 2 Digital I/O pins which are dedicated to the I2C interface. MXP Digital I/O Pin DIO14 is used for I2C SCL and DIO15 is used for I2C SDA. Since the navX2-MXP I2C interface is always active, these pins must not be used for any other purpose.
Analog Inputs
Each of the 4 Analog Input pins on the MXP connector has a corresponding 3-pin connector (DC Voltage, Ground and Signal). On the RoboRIO, these signals are routed to the internal Analog-to-Digital Converters (ADCs).
Analog Input Addressing
| navX2-MXP Port | MXP-Pin Number | RoboRIO Channel Address |
|---|---|---|
| 0*** | AI0 | 4 |
| 1*** | AI1 | 5 |
| 2 | AI2 | 6 |
| 3 | AI3 | 7 |
Each of the 2 Analog Output pins on the MXP connector has a corresponding 3-pin connector (DC Voltage, Ground and Signal). On the RoboRIO, these signals are generated by the host computer’s internal Digital-to-Analog Converters (DACs).
Analog Output Addressing
| navX2-MXP Port | MXP Pin Number | RoboRIO Channel Address |
|---|---|---|
| 0 | AO0 | 0 |
| 1 | AO1 | 1 |
I2C
The navX2-MXP I2C connector can be used to connect the RoboRIO to an external I2C Device. The RoboRIO functions as an I2C Master. The connector provides DC Voltage, Ground, Clock (SCL) and Data (SDA).
Note that this I2C connector resides on the same I2C bus which may optionally be used to communicate between the RoboRIO and the navX2-MXP’s onboard processor. navX2-MXP uses I2C Address 50 (0x32), so be sure that any external I2C device does not use this address.
SPI
The navX2-MXP SPI connector can be used to connect the RoboRIO to an external SPI device. The RoboRIO functions as an SPI Master. The connector provides DC Votage, Ground, Clock (SCK), Slave Select (SS), Master-in/Slave-out (MISO) and Master-out/Slave-in (MOSI) signals.
Note that this SPI connector resides on the same SPI bus which may optionally be used to communicate between the RoboRIO and the navX2-MXP’s onboard processor. navX2-MXP will respond to the Slave Select signal if and only if the SPI Enable dip switch is set to the “ON” position. Thus, the SPI Enable dip switch should be set to the “OFF” position if you wish to communicate with an external device via the SPI connector.
TTL UART
The navX2-MXP TTL UART connector can be used to connect the RoboRIO to an external TTL-level UART device.
NOTE: The TTL UART connector cannot be used to connect to an external RS-232 signal, since RS-232 voltages are much higher than TTL-level UART voltages. Connecting a higher-voltage RS-232 device to the TTL UART connector may subject the RoboRIO to damaging voltage levels on these pins.
Note that this TTL UART connector can be used to communicate between the RoboRIO and the navX2-MXP’s onboard processor (in fact, this is the default). navX2-MXP will respond to the UART TX signal from the RoboRIO if and only if the UART Enable dip switch is set to the “ON” position. Thus, the UART Enable dip switch should be set to the “OFF” position if you wish to communicate with an external device via the TTL UART connector.