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In the demonstration, we use an Arduino Uno, but the example we’ve written can be used for just about any of the versions of Arduino. And I think this is correct.Find many great new & used options and get the best deals for 5V IR Obstacle Avoidance Tracking Sensor Infrared PCB Module Arduino Robot C P1 at the best.In this HowTo, we’ll show you how to get your LEGO MINDSTORMS NXT and your Arduino to talk. Others use the endTimeSlice() and allow the arbiter to really choose. For instance some people use a global 'flag' variable to have a task take control. Ive been doing a lot of reading lately about Subsumption Architecture and there are a few different ways people seem to advocate.
I2C is called a “two wire interface”, because it uses two wires to communicate. Both are very similar, but different.A little background on I2C and the NXT. Although it’s beyond this tutorial, with clever coding and polling, the Arduino can be setup to control the NXT.In this example, we show you how to send commands to the Arduino from the NXT and how to write a program that requests data from the Arduino. The NXT must always be a master and can never be a slave. In this tutorial, we setup the Arduino as an I2C slave, and the NXT as an I2C master. Ardublockly, and Arduino hardware and software.The NXT and the Arduino can be made to talk over I2C.
Notice the pullup resistors connected from SDA and SCL to the 4.3V line. We will need ground to be connected, and if you’re going to power your Arduino off the LEGO Mindstorms system, you will need the 4.3V connected to the VIN pin on the Arduino. The schematic shows the NXT plug on the left hand side of the drawing, and the Arduino on the right hand side. Setting up the Hardware.First, a schematic of what we’re aiming for. Resistor values are important to ensuring you can communicate at a fast speed with the NXT.If you use the Dexter Industries Breadboard Adapter for the LEGO MINDSTORMS NXT the pullup resistors are already built into the board. If the device you are communicating with is operating at 3.3V (rather than 4.7V) you can use 43k resistors.
This should provide the necessary power to power the Arduino, but be sure not to overload the NXT (recomended 50 mA current consumption as a maximum by LEGO). In this example, we power the Arduino with the USB line (which we keep hooked up to our computer) however, you could easily power your Arduino with the NXT: simply connect the 4.7V line (VCC) to the “VIN” connection on the Arduino. You can see an overarching view of everything below.In this example, we’re going to connect only the SDA, SCL lines (for communications) and the ground (GND) line to equalize the communication voltages.
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Setting the Arduino up for I2C: Assigning an AddressIn both of our Arduino examples, we have to setup a few things to get going. We will show the NXT software in Labview for LEGO MINDSTORMS, and RobotC.All of the code can be downloaded from this package. The software for the Arduino does not change: it is the same software for each programming language.
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On the left side you can choose to display your numbers in hex, decimal, and binary. Notice how everything shifted to the left, and we added a zero on the right? Helpful hint: Microsoft Windows 7 comes packaged with a calculator, and that calculator can be run in “Programmer” (hit “Alt-3”). So with our Arduino set to address 0x0A (binary: 00001010), we will call address 0x14 (00010100). The LEGO MINDSTORMS system does something called bit shifting: you need to add a 0 at the end of the address when you call on it. In binary, this is 00001010. In this example, we set the slave address to 0x0A, which is hexadecimal.
This example can be really useful if you’re setting your Arduino up as a motor controller or for LED output.In this example, we’ve initiated the Serial line on the Arduino. This is a very simple setup and most sensors operate as a Slave Receiver and Sender. The NXT simply says “here’s some data” and the Arduino says “thanks for the data”. Arduino As Slave Receiver:In this example, the Arduino will receive data from the master.
Click for a larger view.In the more advanced code, where we send and receive data to and from the Arduino, our code is a little more complex. Be careful: if that constant is represented in decimal format, be sure to convert the number over to decimal (20).Here’s what the simple “Slave Sender” code looks like. The address representation here is 0x14. You’re going to assemble an array of bytes and feed that into the I2C Communication module. You could rewrite it though so that the data being sent is the power of an LED, or the speed of a motor.// How to send data from the LEGO Mindstorms NXT to the Arduino.// Demonstrates how to connect a LEGO MINDSTORMS to an Arduino and Send commands.// See our website, for more information on the physical setup.Wire.begin(0x0A) // Start I2C on Address 0x0AWire.onReceive(receiveI2C) // Receive Event from MasterSerial.begin(9600) // We will spit it back out on the serial line.// When data is received, this function is called.
We convert that to a string with the Byte Array to String Function.That’s about it! Hope this was helpful if there’s anything missing or you need something clarified, just mention it in the comments!Matt Richardson has a really extensive library put together for connecting the LEGO Mindstorms and the Arduino on his blog here:He has worked out some extensive functions for NXC that make it really easy to go back and forth. This means “we’re expecting 10 bytes back”.The data returned is an array of bytes that contains the sentence “Dexter ” or “Industries”. However, notice we’ve attached a “10” to the I2C module.
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