Serial Open Modifications for Nav6

[Michael U]

Our team is using the nav6 and yesterday we tried to connect to and use the data from the nav6. Naturally, things did not go smoothly. In the end, we realized their was no option on the "Serial Open" vi that allowed connection via USB to serial adapter. We ended up changing "Serial Open" to allow the new serial port and wanted to share it with the rest of the first community. I have attached both a "drop in" replacement for USB serial capabilities, and a PDF chronicling what was changed.

nav6serial.pdf

WPI_SerialPortOpen.vi

[wt200999]

Any reason you did not want to use the RS-232 connector on the roboRIO?

[Michael U]

Yes, we used a USB to serial connector because:

1. Kauaui Labs (maker of nav6) recommends it
2. We would need to make a custom connector for the roboRIO (we have never had success with custom connectors)

[dougwilliams]

Originally Posted by Michael U

Yes, we used a USB to serial connector because:

1. Kauaui Labs (maker of nav6) recommends it
2. We would need to make a custom connector for the roboRIO (we have never had success with custom connectors)

Our team uses the Nav6 (but with C++).

We do not use a USB adapter - less electronics and cables flopping around inside the robot. And less protocol overhead of dealing with USB vs usually a simple bit engine inside a processor for RS232 (amount of overhead for USB could be irrelevant - I did not do any involved analysis).

I didn't want a massive DB9 cable either, so we chopped a PWM cable down to 3 inches and soldered directly to the backside of the DB9 connector on the Nav6. (Note to reader - that would usually void a warranty). I considered removing the DB9 entirely, but figured it wasn't hurting anything or getting in the way, and could be useful later).

One of the students also designed and then 3D printed a RoboRio to Nav6 adapter plate. The Nav6 is now bolted in the middle of the RoboRio with just a tiny 3wire, 3 inch cable to the RS232 port.

It works and is very sleek. We can share details or files if anyone is interested.