Using Arduino Uno to read Sparkfun Razor IMU (9DOF) output via Serial.

I had a lot of trouble with interpreting the output of the Sparkfun Razor IMU (9DOF) using Arduino Uno. Scouring the internet for previous solutions, I came to believe that the proper way to handle the output from the IMU required massaging the bytes obtained via Serial.read(). However, it turns out that the solution is as simple as interpreting each byte as an ASCII character (type: char). Here's what worked for me:

Hardware:
Connect the following pins.
Arduino --- IMU
RX --- TX
TX --- RX
3.3V --- 3.3V
GND --- GND

On the IMU board, CTS (Clear To Send) and DTR (Data Terminal Ready) do not require a connection for Serial. They are used for the FTDI Serial to USB connection.


Software:

On the Arduino Uno - Below is the simplest, baseline code you need to read the output from the IMU using another Arduino (I say another because the IMU contains its own ATMega chip):

char incomingData; void setup() { Serial.begin(57600); } void loop() { if(Serial.available() > 0) { incomingData = Serial.read(); Serial.print(incomingData); } }
When writing new sketches to the Arduino, you'll need to unplug the RX/TX 

On the Sparkfun Razor IMU - load the code found on here: https://github.com/ptrbrtz/razor-9dof-ahrs/wiki/Tutorial If you want to change the Serial output of the IMU, modify Output.ino within the Razor_AHRS folder in this conditional:
else if (output_format == OUTPUT__FORMAT_TEXT) { Serial.print("#YPR="); Serial.print(TO_DEG(yaw)); Serial.println(", "); Serial.print(TO_DEG(pitch)); Serial.print(", "); Serial.print(TO_DEG(roll)); Serial.println(""); }