noamraph / mindstorms

Operate LEGO MINDSTORMS Inventor Hub from your computer

Operate LEGO MINDSTORMS Inventor Hub from your computer

This module allows you to operate the LEGO mindstorms hub from your computer. This means that instead of sending entire python files to the hub and letting it run them, you can run the command one after another from your computer. This allows easy experimenting from a python shell on your computer, showing you completions and API documentation on the way. This also allows you to use the regular debugging facilities you're used to.

The API mirrors that of the actual micropython API, so programs that run on the hub (and don't use callbacks) should run on your computer using this module and vice versa.

The API documentation was copied from the official LEGO MINDSTORMS Inventor Hub documentation.

Managing the actual connection to the hub is using the excellent rshell project.

Getting Started

Run:

pip install mindstorms

Connect the hub to your computer using the USB cable, and then run this from Python:

from mindstorms import Hub
hub = Hub()
while True:
    while hub.motion.gesture() != hub.motion.TAPPED:
        pass
    hub.sound.play('/extra_files/Hello')

Tap the hub, and hear it say "hello".

Easier usage of sensors using spikedev

You can use Daniel Walton's spikedev for easier usage of the sensors, like this:

pip install git+https://github.com/noamraph/spikedev.git@sensor-support-cpython

>>> from mindstorms import *
>>> from spikedev.sensor import *
>>> hub = Hub()
>>> color = ColorSensor(hub.port.D)
>>> color.value()
[0]
>>> dist = DistanceSensor(hub.port.E)
>>> dist.set_mode(DistanceSensorMode.DISTL)
>>> dist.value()
[58]

This currently relies on my pull-request. I hope it will be merged, and then you'll be able to use it directly from his repository.

Notes

The only missing classes from the official API are hub.BT_VCP and hub.USB_VCP. Adding them shouldn't be too difficult, I just didn't know how to test them.

I added all the methods from the official API, except for those that contains a callback.

License

MIT license.

Copyright (c) 2022 - Noam Raphael.

Based on the official API docs:

The MIT License (MIT)

Copyright (c) 2017-2021 - LEGO System A/S - Aastvej 1, 7190 Billund, DK

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