Lego

Setup new hub

• Downgrade Hub - https://spikelegacy.legoeducation.com/hubdowngrade/#step-1
  • If the Lego Spike Prime Hub is blinking green, it needs to be downgraded to Spike Prime Legacy
  • If the Hub is blinking white, skip this step
• Connect to https://spikelegacy.legoeducation.com/
• Let Legacy App upgrade Hub
  • Sometimes the Spike Prime Legacy app thinks it needs to upgrade the Hub
  • If it does, let it upgrade the Hub
  • In this case, you will need to reinstall the UartRemote library on the Hub
• Run "Install UartRemote" program - install_uart_remote.py
• Download "Run Robot" program onto hub at on program 0 - run_robot.py
• Download "Run Robot Soccer" program onto hub at on program 1 - robot_soccer.py
• Download "Third Motor Soccer" program onto hub at on program 2 - third_motor_soccer.py
• Download "Run Robot Third Motor" program onto hub at on program 3 - third_motor_run_robot.py

Assembling the Robot

• Connect the wheel motors to the Lego Spike Hub
  • Make sure motors are connected to Ports A and B
• Connect the LSM ESP32 board to Port D of Lego Spike Hub
• If running programs 2 or 3, also connect a third motor to Port C

Pairing Robot with Xbox Controller

• Turn on Spike Hub
• Select the correct program number (0 to 3) depending on activity
• The Hub displays an orange light and sleepy face emoji
• Turn on Xbox controller and wait for blinking light on controller to become solid white
• The Hub should now display a blue light and a smiley face
• The robot is now ready to be used

Updating the firmware for LSM ESP32 board

• Follow these steps to update the firmware of an LSM ESP32 board:
  • Plugin ESP32 board to a computer using a micro USB cable
  • In a browser window open https://firmware.antonsmindstorms.com
    • Choose "BluePad32 UartRemote for Micropython Mindstorms"
    • As of last update the version is "20250104". It could be newer when you run it
  • Connect to the serial port detected by the firmware
  • Click "Install BluePad32 UartRemote for Micropython Mindstorms"
  • Confirm the choice
  • The install takes a few minutes and shows a progress indicator until completed
  • Once the install is complete you can close the window

Pairing LSM ESP32 Board with Specific XBox Controller

• To pair an XBox Controller to a specific LSM ESP32 board
  • Plugin ESP32 board to a computer using a micro USB cable
  • In a browser window open https://bluepad.antonsmindstorms.com
  • If the XBox controller is not paired, turn on the XBox controller and set it to pairing mode and let it connect to the ESP32 board
  • Once it's connected, the easiest way to get its address is to run one of the programs on the Spike Prime Hub from the https://spikelegacy.legoeducation.com/ editor. e.g, program 0 - run_robot.py
    • When the program starts it will print the address of controller in the console section of the Spike Prime Legacy editor. e.g, "9A:AB:1A:7F:4E:BA is connected"
  • Copy this address and paste it into the "Allowed BT MAC address" field
  • Also be sure to check the "BT Filtered" checkbox
  • Then click the "Send & save to flash" button
  • The ESP32 board will now always connect to this XBox controller
  • If you need to change this either assign a new address using these steps OR click the "Reset to default" button

Operating the Robot

• Driving the robot
  • Program 0 - Left joystick up/down for forward/reverse. Right joystick to turn left/right
  • Program 1 - Left joystick up/down to control left wheel. Right joystick for right wheel
  • Program 2 - Same as program 1 plus 3rd motor control
  • Program 3 - Same as program 0 plus 3rd motor control
• Controlling the third motor
• Turning off the robot
  • Turn off Xbox controller
    • Hold power button for 6 seconds OR remove and reinsert batteries on controller
  • Turn off Lego Hub by holding power button down until hub powers off

Troubleshooting

Advanced Troubleshooting

• Xbox controller does not connect to LSM ESP32 board
  • Plugin ESP32 board to a computer using a micro USB cable
  • In a browser window open https://firmware.antonsmindstorms.com
  • Connect to the serial port detected by the firmware
  • Open logs
  • Click Reset button to restart the ESP32 board and watch the logs
  • Restart the Xbox Controller if needed
  • Put the Xbox Controller in pairing mode
  • Watch the logs in the browser window
  • The logs should show the ESP32 receiving messages/packets from the Xbox controller
  • If the Xbox controller connects successfully, you can unplug the ESP32 from the computer and start using it
  • If it does not connect after a few tries,
    • turn both ESP32 and controller for a few seconds and try those steps again
    • OR try a different Xbox controller with the ESP32 board