[seg9585]

Originally Posted by DavisC

Thanks, so I just use kMXP instead of kOnBoard and connect to the expansion port bottom left 2 pins for sda and scl?

Correct. I still had my sensor power pins plugged into the I2C power and ground ports, which seem to work (for what it's worth).

Also, if you execute myLidar.start(); in your init area or constructor, you can access myLidar.getDistance() in both autonomous and teleOp methods and allow it to run its own thread, which will help avoid bogging down the rest of your code (because the update() method includes delay timers up to ~10ms to write and read).