arduino_lpf2

This is a proof of concept for integrating LPF2 sensor emulation in the BluePad32 code.

Arduino LPF2 library

Based on the sensor emulation library https://github.com/lawrie/EV3_Dexter_Industries_Sensors/tree/master/EV3_arduino I extended this library to be compatible with both ESP32 and the new Lego Mindstorms Robot inventor and Lego SPIKE Prime. The library can be found in LPF2.

A precompiled firmware is avalailable in prebuild firmware.

An example of Mindstorms word block code is provided: test_multi_sensor

In this testcode a strip of neopixels should be connected to Pin 12, and a servo motor to pin 23. Furthermore, you shoudl connect a PS4 or Nintendo bluetooth remote control.

Debug commands in Mindstorms App

Maarten Pennings explains how to enable debug mode in the Lego Mindstorms Robot inventor app: This debug mode allows you to enable the debug blocks in the word block language.

Using these blocks allows to use proprietary sensors (build e.g. using arduino sensor emulation code) from Mindstorms word blokcs. The blocks provide the following features:

• read data from port A using sendor mode M0 reading data Ds0 (when mutple values are provided, this paramater allows you to choose a specific value, and the type of reading RAW.
• This command allows to send data to the sensor using mode M0. The data can be multple values when provided as a string separated by spaces.
• this block switchs the sensot to another mode
• The PWM is not used in this POC.

POF lms code

Gamepad reading

The folloowing myblock allows to read the x and y of the gamepad joystick and the buttons and D-pad:

The sensor that is emulated uses the following sensor mode setup:

 sensor.create_mode("TEST0", true, DATA16, 4, 5, 0,0.0f,500.0f,0.0f,100.0f,0.0f,1024.0f,0,ABSOLUTE); //map in and map out

For driving neopizels, we need to send values to the sensor. In the arduino code, a callback function can be attached to de speicific mode of the sensor. When a value (or values) are received from the robot, this callback function is called.

 sensor.get_mode(0)->setCallback(parse_cmd_short);  // attach call back function to mode 0

The parse_cmd_short parses the 4 word values and depending on the value fo the first word, it determines whether neopixels are driven, or sensor motors (&4096) are oprerated.

An example myblock for driving neopixels is shown below:

When sending a word to the sensor, we need to tranmit 2 single bytes to the specific mode. Somehow, when sending byte values larger than 127, things get confused. Therefore, I use base 127 to convert from bytes to word: byte_0 + 127*byte_1 = word.