Navx MXP (classic) yaw reset problem

Technical Programming
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#1

Hi,
we are using Navx MXP plugged into Roborio’s MXP port. During practice, whenever a new version of the Robot code is deployed from VScode, we want the current orientation to be considered as 0 yaw. To accomplish this, we put “ahrs.reset();” statement in the DriveTrain() constructor method. However, the yaw value being displayed on the SmartDashboard continues to display the old value.

The following statement displays the yaw value:
DriveTrain::periodic() {
SmartDashboard.putNumber(“yaw”, ahrs.getYaw());
}

Restarting the Robot code or Roborio from the Driver Station did not cause yaw reset either; only unplugging the battery caused yaw reset.

Are we doing something wrong in resetting the yaw? If so, what is the right way to do it?

#2

Calling that function should work. I looked for your code, but it doesn’t seem to be on the github user I thought it would be. Can you send a link so we can know how to help?

#3

We discovered that the navX doesn’t want to reset during calibration, so we added a loop to wait until calibration was complete, the reset it. If you enable print statements in the DS console you’ll likely see a message about resetting during calibration

#4

Thank you. The code is on a Student’s laptop. I will post the link once it is pushed to github. fyi, that will not happen until tomorrow afternoon (Eastern time) though.

#5

We tried that step too, but it did not help. So the full Navx related code in DriveTrain constructor looks like this (I am typing from my memory):

...
ahrs = new AHRS(SPI.Port.kMXP);
if (ahrs.isConnected())
    while (ahrs.isCalibrating())
         ;
ahrs.reset();
...

I will check the print statements in DS console tomorrow when I go to the school. Thank you for the suggestion.

#6

I would remove the ahrs.isConnected() condition, we tried that and for some reason it wouldn’t report as connected until it was done calibrating

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