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Try upgrading both the firmware and IOIOLib to version 5.
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Following Phirons method, I also managed to connect on Android 4.3.1 via USB (firmware 4v).
MTP PTP ADB USB_STORAGE NONE are possible values of persist.sys.usb.config (media device, photo device, adb, usb drive) settings somwhere deep in the system. You can read the value by getprop persist.sys.usb.config command in the local terminal.
According to documentation, three should be a ACCESSORY value as well, but I never managed to switch it on (setprop persist.sys.usb.config ACCESSORY) .
You must be root to use the setprop command.
Tyimofej
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You do need a USB connection typically. You can view it after the IOIO is unplugged, the log gets retained on the Android.
I wouldn't assume that moving the PIC between the boards should work. What firmware is it running? There have been some pin changes between the revisions.