Lidar-Lite Help Please

[slibert]

Originally Posted by Bpk9p4

anyone have any luck with this yet?

My first round of testing with this is indicating that the RoboRIO MXP I2C port is behaving a bit differently from how it did last year, which impacts the LidarLITE communication.

Summary of Last year: We were able to get LidarLite (V1) working using the MXP I2C port (plugged into the navX-MXP I2C Expansion connector), but NOT able to get LidarLite to work w/the same code via the RoboRIO's onboard I2C connector.

This year the behavior has reversed!

Now this year: We are able to get LidarLite (V1) working using the RoboRIO onboard I2C port, but not using the MXP I2C port (plugged into the navX-MXP I2C Expansion port). The same code was used, the only difference was the Port enum value passed into the LidarLITE constructor specified a different port.

When it doesn't work, all 0s are returned, and the WPI library indicates that the transaction was aborted.

Attached are the two small java code files used in the test. As noted in the comment in robotInit() method of Robot.java, it works w/the RoboRio onboard I2C port, but not w/the MXP I2C port.

I do plan to break out a logic analyzer and see if I can figure out what's different on the two ports, but don't know when I'll get a chance to do that, maybe this weekend.

But I would recommend trying the RoboRIO onboard I2C connector, which works for me using the 2016 firmware.