[Alpha Beta]

Originally Posted by Richard100

Keep going, you're almost there ... this sensor is unlike many others you come across in FRC - it is highly advanced but takes some initial effort to set it up. The performance is staggering, especially since it's effectively free via the virtual KoP. It's a sweet piece of tech and worth the effort.

I want to reiterate publicly what I said earlier to Richard in a PM.

Thank You!

Team Titanium got this sensor running today thanks to Richard answering a few questions. It does still seem a little mysterious how much tilting and shaking the robot needs before the calibration cycle goes all green, but we love the results once it does. Here is what we did.

1. Wired the sensor to the I2C portion of the MXP expansion slot on the roboRIO. (We had some poorer results with the onboard I2C slot.) Secured the sensor to the robot (with tape).
2. Put a flash drive in the top-most USB port. (We failed to read the calibration settings when we used the other port.)
3. Downloaded the AdaIMUOrient v2.zip from post 4 of this thread.
4. Extracted the files and opened up the IMU Orient Demo 2016.lvproj
5. In the project explorer changed the "836" in the target to our team number.
6. Opened the IMU Orient Demo 2016.vi and changed the Earth Field to 52.5 to match our local zip-codes information on the front panel.
7. Also on the front panel we turned on the Calibrate? button. We left the I2C Bus and Op Mode in their initial settings. (I2C MXP and NDOF_FMC_OFF)
8. Hit the run arrow while connected to the robot wirelessly to deploy in de-bug mode.
9. Calibration instruction came up and we hit the "OK" button to proceed.
10. Turned the robot, laid it on it's side and back, and towards the end of the calibration cycle we pushed it really fast across the floor.
11. While watching the front panel of the IMUOrientOpen.vi we saw the Gyro light (G) go green immediately, followed by the accelerometer (A). The M and S lights took a bit longer to get to lit-up.
12. Once all the lights went green a pop-up message appeared with the file-name of the calibration constants which were then saved to the USB drive. (We did check the USB drive to make sure the files were there. They were.)
13. We stopped the code, turned the Calibrate? button off on the front panel, and typed in the name of the file into the "Stored Cal File" text box. (We actually mistyped it the first time. Of course it cares.)
14. We re-ran the code in debug mode. All lights on the Current Cal Status went green. The Cal Status @ Open was Red, Green, Green, Green.
15. We did get readings on yaw, pitch and roll that seemed accurate (and steady for a stationary robot!). For Yaw 0/360 seemed to be due east. Not sure if this is always true, or a function of where the robot was when we calibrated it. It also does not include angles outside of 0 to 360. No negative angles. Code will have to interpret that jump between 0 and 360.

So far we are very encouraged by the results. Yaw seems to be very robust against robot jarring. We look forward to more robust testing of this sensor.