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Mike,
I was able to work around the i2c issues I had with help from Elliot.
Refer to this conversation:
I2c Clock Speed Change for Navigator - Blue Robotics Software - Blue Robotics Community Forums
Mark
EXPORT CONTROL DETERMINATION: This document does not contain information defined as either technical data under the U.S. International Traffic in Arms Regulations (ITAR), 22 CFR 120-130, or information defined as technology under the U.S. Export Administration Regulations (EAR), 15 CFR 730-774.