![]() We are hoping that it is possible to go directly from this MPU to the digital sidecar through this I2C port. The I2C interface is on the MPU itself and is visible in the picture on the hobbyking website I linked on the top of the green chip. There are several other gotchas to using I2C on the cRIO, so you should spend some time reading related threads on chiefdelphi. The FPGA only supports being an I2C master, which isn’t a problem if you are interfacing to the MPU6050 directly, but may be a problem if you are connecting to another controller that also is designed to be the master. ![]() On the robot side, you’d use the I2C class in WPILibJ. Does this mean that you want to connect the Arduino to a Raspberry PI and then the Raspberry PI to the I2C bus on the Digital Sidecar? Then you talk about pi4j, which implies you want to run java on a Raspberry PI. I assume that there is some processing the Arduino is doing which is why you picked it, rather then using the MPU6050 directly? You may need to modify the Arduino firmware to get access to the data you want. You’ll need to find out what the I2c device address is, as well as the map of registers it supports. I’ve been looking at the MultiWii website and have not been able to find a description of the I2C interface. The board you linked seems to be an a flight control board that contains an MPU6050 and an Arduino microcontroller.
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