[GGorman]

We just did a state machine in periodic tasks that switched between Write and Read inside a 50ms loop. That way we were sure we stayed outside the delays - and yes we could not figure out how to sense ACK/NAK either.

So far on the v2 it's not reacting the same at all. Tech support thinks the WpiLib is sending a "double start" that confuses the unit. I don't have a decent oscilliscope to see what is going on at the digital level but wondering if that is what's doing it.

Even when I just open the channel and try to read register x1 it doesn't seem to work.

As far as the Labview code - I'd love to share once I get it to work! This is just a test VI to see if I can get anything from the lidar. So far it only returns 0 on every read - the status register and the distance register.

The other strange thing - if I connect it to the I2C pins on a NavX-MXP it locks the NavX up! Something really odd going on ... .. .



/greg