Kauai Labs navX-MXP User Manual page 63

Guidance
Best Practices
Using the navX-MXP yaw angle before calibration completes may result in errors in robot
control. To avoid this situation, your robot software should verify that calibration has completed
(e.g., by calling the isCalibrating() function) before using navX-MXP data.
4) If using the MXP connector, secure the navX-MXP circuit
board to the RoboRio
During operation of the robot, certain actions (for instance, driving over a bump at high speed)
may cause the navX-MXP circuit board to become dislodged from the MXP connector.
To avoid this case, when
circuit board to the RoboRio via two correctly-sized screws.
5) Protect the Sensor
navX-MXP contains sensitive circuitry. The navX-MXP circuit board should be handled carefully.
An enclosure is recommended to protect the navX-MXP circuit board from excessive handling,
"swarf", electro-static discharge (ESD) and other elements that could potentially damage navX-
MXP circuitry. The enclosure can also help prevent accidental shorts to ground which may
occur on the MXP Expansion I/O pins.
6) Plan for Catastrophic Sensor Failure
Any electronic component can fail. To ensure that your robot can still function during a FRC
match even if such a failure does occur, your robot software should handle cases when
communication with sensors such as the navX-MXP is disrupted.
An easy way to accomplish this is to use the "isConnected()" indication, and only use navX-
MXP sensor data to control your robot when this is true.
Additionally, displaying whether the robot software is connected to the navX-MXP circuit board
on the driver "dashboard" can help the drivers quickly detect a connection problem.
7) Provide a "Zero Yaw" feature (for Field-Oriented Drive)
The navX-MXP gyro "yaw" angle will
does not normally impact the robot during a FRC match, if using field-oriented drive during
extended practice sessions it may be necessary to periodically "zero" the yaw. Drivers should
be provided a simple way (e.g., a joystick button) with which to zero the yaw.
8) Avoid shorts on Expansion I/O pins
mounting the navx-MXP circuit board be sure to secure the navX-MXP
drift over time (approximately 1 degree/minute). While this
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