NavX MXP - Ideal orientation on robot

Technical Java
1

This is a question about the ideal orientation not about all possible orientations. There was some discussion by my team about what the instructions from the kauai labs site actually meant. This is the text:
http://www.pdocs.kauailabs.com/navx-mxp/installation/orientation-2/
"The default navX-MXP circuit board orientation is with the navX-MXP logo on the Rear Left, with the top of the circuit board pointing up (with respect to the earth).

Since Body Frame and Board Frame coordinates should be aligned, and because the Yaw axis must be aligned with gravity, by default you must orient the navX-MXP with the top of the board facing up, and with the Y axis (on the circuit board) pointing to the front of the robot."

I think trouble my team was having was how they visualize the rio with respect to the robot. From how we interpret this instruction in an ideal configuration the rio should be parallel with the ground and the Y axis graphic on the navX MXP board should be pointing to the front of the robot. I hope someone from Kauai Labs would be gracious enough to post and actual picture of how they are orienting their NavX Devices on one of their test robots. It would be helpful to clear up ambiguities or misunderstandings. Thank you.

2

Please review the photo on the navX-MXP RoboRIO Installation page. The Y “Roll” axis arrow that is drawn in the photo should point to the front (head) of the robot (the direction that the robot would move if the joystick was pushed forward by a driver).

If you look at the photo of navX-MXP from the “Behind the Design” book on team 624’s robot, the picture is looking towards the front of the robot.

Our Team 2465 (Kauaibots) robot has the Y axis pointing up into space, using Omnimount, so I don’t think a photo of that will help you.

3

Thank you for the quick reply. I was able to complete a successful test of the rotate to angle code with last year’s mecanum robot. The rio and NavX were perpendicular to the earth surface. The omnimount worked as described. All the turns were crisp and the out of the box PID worked great. There was a little overshoot but corrected nicely. I am going to have the electrical team mount the rio to default orientation, but I am not concerned now.

4

You’re surely aware of this, but just in case you’ll need to be sure to re-run the omnimount calibration after it’s remounted to the default orientation.

5

Thank you. Yes we’ve had it on this year’s prototype, and last years, and we will perform the OmniMount step.