It looks like we should be using the larger Navx with the MXP SPI interface instead of the USB. Not sure how significant the timing difference is but it looks like it isn't a big change. Would just change
ahrs = new AHRS(SerialPort.Port.kUSB1);
to
ahrs = new AHRS(SPI.Port.kMXP);
and then use the MXP connector on the back of the Navx instead of the USB cable. This is a quick change but we should also verify that it actually works.
asteele11
commented
9 months ago
It looks like we should be using the larger Navx with the MXP SPI interface instead of the USB. Not sure how significant the timing difference is but it looks like it isn't a big change. Would just change ahrs = new AHRS(SerialPort.Port.kUSB1); to ahrs = new AHRS(SPI.Port.kMXP);
and then use the MXP connector on the back of the Navx instead of the USB cable. This is a quick change but we should also verify that it actually works.
https://yagsl.gitbook.io/yagsl/devices/gyroscope/navx#spi-navx-navx_spi https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/