It’s legal to use an arduino and a MPU9250 (gyro/ Accel/mag) for some control functions??
It depends on what control functions. It’s not legal for the driver to hold a controller with an MPU9250 and an arduino, and have a direct wireless connection to the robot to control items. It’s also not legal for the arduino to directly output a PWM signal to a motor controller. However, there are many legal ways to use it.
Many popular FRC IMUs such as the NavX and the Pigeon use the MPU9250.
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Thanks, we pretend to attach some arduino outputs as digital inputs to RoboRIO for assist to align the robot in the field.
If there is a better way to do it, or directly to RoboRIO I’ll be grateful to receive some advice.
In general, attaching straight to the roboRIO will be the better option (less lag between sensor reading, and values becoming available in roboRIO control software). However, quickly googling around, I don’t see anyone with driver software to control the I2C port properly to get data on and off the device.
Though it could be educational to write your own driver for the sensor, it’s also a good chunk of work. If you choose to do so, definitely leave enough time to bite it off…
Definitely familiarize yourself with the rules of Section 9 - these dictate what is and is not legal to put on the robot. Most sensors are OK, as long as you keep the cost low and don’t use weird high voltages or big lasers. However, the usual caveat all rules-based questions get here: I’m not the one inspecting your robot, and my opinion doesn’t mean a hill of beans.
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