Port nav6 IMU to RoboRio

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The new RoboRio robot control system will debut in the 2015 season.  The Nav6 
IMU is electrically compatible with the RoboRio via the RS-232 interface, as 
well as the new USB interface.  The task here is to test the Nav6 IMU with the 
new RoboRio, and verify that the C++, Java and LabView libraries developed for 
the CRio work correctly on the RoboRio.

Original issue reported on code.google.com by scottlib...@gmail.com on 5 May 2014 at 4:12

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I wonder if the DB9 Male to USB Adapter Cable is their solution instead of 
wiring straight to the RS-232 port.

Original comment by Jojogu...@gmail.com on 13 Dec 2014 at 10:33

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One person on one of the Beta teams has got this working by wiring it straight 
to the RS-232 port.  So we know that this works.  You have to make sure the 
TX/RX signals are correctly aligned, it's rather easy to get them swapped 
accidentally.

Do note that the RoboRio has a TTL-level UART port on the MXP connector - 
because this is TTL level and not the higher voltage levels that are on the 
RS-232 port, you cannot use the TTL-level UART interface on the MXP connector 
to interface to the nav6.

We have just got word that this week, the RoboRio will also be enabling the USB 
port to be visible (to the roborio) as a TTY serial port.  They had to add a 
udev script to enabled it, and this is now enabled.  This means that you should 
be able to use a USB-to-RS232 adapter cable, as well.

Original comment by scottlib...@gmail.com on 13 Dec 2014 at 11:26

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I am starting to work with the Nav6 and Roboio. We are a beta test team, but 
kickoff is right around the corner. :) Can you post what was found to work with 
the roborio from the other beta team. I have been working in labview and have 
not got it to communicate yet serially. 

I have been working with the example, and wondering if the Nav6 run.vi needs to 
be in a loop in periodic tasks, but even from the example, I am not getting the 
"Open Successful" Boolean. That is to happen before "Run" anyways, so it is not 
the issue. 

I have also tried to swap the 2 and 3 pins in wiring and still no comms. 

Original comment by TR6sc...@gmail.com on 30 Dec 2014 at 1:31

Attachments:

• [Nav6 Example.vi](https://storage.googleapis.com/google-code-attachments/nav6/issue-7/comment-3/Nav6 Example.vi)

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The RoboRIO version of the Labview libraries has been checked in and can either 
be checked out, or can be downloaded by clicking on the "Latest Build" page on 
the project home page.

The RoboRIO version of the Labview libraries is located in the 
"roborio\labview" directory of the latest build .zip file.

The RoboRIO Labview library has been tested and verified working with the nav6 
by a RoboRIO beta team.

Original comment by scottlib...@gmail.com on 30 Dec 2014 at 6:24

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Ok,

I have done that, and still not working...
Yesterday when I posted I had a green activity led when I did the reset and the 
TX led would be solid green.
Now, the green activity light never lights up, and neither does the TX.

What does that mean?
I'm assuming nothing good...

I can read continuity from the Pin2 and Pin3 posts on the connector all the way 
to the pwm. Right now pin 2 is terminated to the rxd of the roborio, and the 
pin3 is terminated to the txd of the roborio,
and ground is to the shield of the 9pin housing.

Scott McBride
2137 TORC

Original comment by the.t...@team2137.org on 31 Dec 2014 at 5:42

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The TX led on the nav6 should be solid green, indicating it is sending data.  
The light should be solid on whenever the nav6 is running.  The fact that this 
is not solid would seem to indicate that the nav6 TX LED is not correctly 
connected to the RoboRIO RS-232 RX signal.  So this is an electrical issue most 
likely, and the issue to focus on.  But it's also possible that the nav6 board 
itself is not working.  The TX LED is driven by an output from the RS-232 
chipset on the nav6, so it's theoretically possible that this part is not 
working correctly anymore.

I'd recommend completely disconnecting the nav6 from the roborio's RS-232 
signals, to make sure the TX LED is solid on, then connect it up again.  And 
perhaps it'd be a good idea first to connect up only the nav6 TX signal to the 
RoboRio RX signal.

Pin 2 on the nav6 DB9 RS-232 connector is connected to the nav6's TX signal 
(and the TX LED).  And thus, pin 2 on the DB9 RS-232 connector's other end 
should be connected to the RoboRIO RX signal.  So that part sounds correct.

If you'd like further help on this issue, please contact support@kauailabs.com.

Original comment by scottlib...@gmail.com on 31 Dec 2014 at 7:49

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Fixed with revision 584, which adds the LabView, C++ and Java libraries and 
samples codes for the RoboRIO.  LabView libraries tested by a beta tester, C++ 
and Java Libraries tested by Kauai Labs.

Original comment by scottlib...@gmail.com on 4 Jan 2015 at 8:11

• Changed state: Fixed