Matbotics Documentation

Matbotics is a Arduino library to control Matrix Robotics System controller. Matbotics uses Arduino I2C master library to support repeat start, because Wire library (issued with the Arduino IDE) does not.

Features

• Get battery level, controller status, version, etc.
• Control all servos
• Set speed of all motors
• Set motor target
• Read motors encoders value
• Timeout function

Installation (Unix like systems)

Open a terminal and run :

$ cd <UserDirectory>/Arduino/libraries
$ git clone https://github.com/blasterbug/Matbotics.git

Now after (re)starting the Arduino IDE you shloud see Matbotics in Arduino libraries menu.

Exemple

This exemple shows how to control a servo plugged to the port one

// import libraries
#include <I2C.h>
#include <Matbotics.h>

// use the controller
MTController ctlr;

void setup()
{
    // enable servos
    ctlr.enableServos();
    // switchoff timeout
    ctlr.timeout( 0 );
    // set a custom speed for the servo one
    ctlr.servoOneSpeed( 5 );
}

// some variables
int angle = 0;

void loop()
{
    // increase angle and stay in boundaries
    angle = (angle + 10)%250;
    // set the angle to the first servo
    ctlr.servoOneAngle( angle );
    delay( 600 ); 
}

TODO

• More exemples
• Optimization?

Connect Lego Mindstorms devices to Arduino boards

NXT uses RJ12 wires made like this :

• white : analog
• black : ground
• red : ground
• green : 4.3V
• yellow : I2C clock line (SCL)
• blue : I2C data line (SDA)

Connect the red and the black wire to Arduino ground pin, the yellow to a SCL pin and the blue one to a SDA pin. On Arduino boards this pins are clearly identified.