Lego NXT RGB Color Sensor v2

The Lego Mindstorms NXT RGB Color Sensor v2 can be used to determine the colour of objects and may be connected to a PICAXE using an I2C bus and controlled by appropriate PICAXE I2C commands.

LEGO and MINDSTORMS are registered trademarks of the LEGO Group. I2C is a registered trademark of Philips Semiconductors Corporation.

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This is a sample program for the Hitechnic NXT Color Sensor V2 (part MS1038) using the AXE216 i2c Explorer Kit with a PICAXE-20X2. Please note that this program will not work with Lego NXT Light Sensor or Lego NXT RGB Sensor!

Code Example:
#picaxe 20x2
#no_table

symbol color_number = b0	; adjusted colour 0 to 17
symbol red_value    = b1		
symbol green_value  = b2
symbol blue_value   = b3
symbol white_value  = b4
symbol color_index  = b5	; bitwise colour xxRRGGBB

; Wires on NXT jack plug.
; Wire colours may vary. Pin 1 is always end nearest latch.
; 1 White	No connect
; 2 Black	0V
; 3 Red	0V
; 4 Green	V+ (4.5V or 5V)
; 5 Yellow	SCL
; 6 Blue	SDA
; Do not use i2c pullup resistor - already provided within sensor.

init:	; Slave address is $02

	hi2csetup i2cmaster, $02, i2cslow, i2cbyte

; Configure sensor if required.
; All saved in EEPROM within sensor. Therefore only use once if required.

;	hi2cout $41, ($00)	; set to normal measurement mode (white LED flashed)
;	hi2cout $41, ($01)	; set to passive mode (white LED not flashed, raw data only)
;	hi2cout $41, ($03)	; set to raw mode (LED is used, raw data only in bytes $42-49)
	
;	hi2cout $41, ($42)	; Do Black level calibration
;	hi2cout $41, ($43)	; Do White balance calibration
	
;	hi2cout $41, ($4E)	; set to Near mode (do white/black calibration after changing)
;	hi2cout $41, ($48)	; set to Far mode (do white/black calibration after changing)
	
;	hi2cout $41, ($4C)	; set to LED low power
;	hi2cout $41, ($48)	; set to LED high power
	
;	hi2cout $41, ($35)	; set to 50Hz mode (UK, Europe, Australia)
;	hi2cout $41, ($36)	; set to 60Hz mode (USA)
	
	pause 1000		; do a delay

main:	; read values

	hi2cin $42,(color_number, red_value, green_value, blue_value, white_value, color_index)	

	debug			; debug display
	pause 1000		; wait 1 second then loop

	goto main
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Lego Mindstorm NXT sensors can be connected using two generic terminal block create modules to carry the SDA and SCL signals of the I2C bus.

Bill of Materials

DescriptionCodeQty
Lego NXT Compatible socket CON070 1 Buy Now

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