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Mindsensors NXTMMX-v2 User Manual

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What is NXTMMX-v2
Connections and Placement
Supplying power to your NXTMMX
Copyright © 2016 mindsensors.com
NXTMMX is a multiplexer to
control additional NXT (or
EV3) Motors from your NXT
or EV3.
NXTMMX can be connected to any of the four sensor ports of NXT
or EV3 by using standard cables from NXT set, or FlexiCable from
mindsensors.com.
Connect your motors to ports specified as M1 and M2.
Connect NXT or EV3 to port specified as 'NXT'.
Additional Digital Sensors (or another NXTMMX) can be connected
to port specified as 'Sensor'.
NOTE
Port specified as 'Sensor' on NXTMMX only supports I2C or Digital
sensors or multiplexers.
If you intend to daisy chain several NXTMMX's or other digital
sensors, please read the relevant section from the Advanced
Information Appendix of this doc.
Mounting NXTMMX on your contraption
The holes on the NXTMMX enclosure are designed for
tight fit of Technic pins (or axles) with '' cross section.
The holes however are not designed for repeated
insertions/removals of these pins.
To mount NXTMMX on your contraption we suggest that you use two
dark gray 'Technic Axle 3 with Stud' as shown.
Insert axles from the top of the device and secure with a bushing on
the back or mount it on your contraption directly.
Alternately, you may use blue 'Technic Axle Pin with
Friction', as shown.
While disassembling contraption, leave the pins on the device.
The NXTMMX has Green terminals to connect external battery.
NXTMMX-v2
User Guide
1/14

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Summary of Contents for Mindsensors NXTMMX-v2

  • Page 1 NXTMMX-v2 User Guide What is NXTMMX-v2 NXTMMX is a multiplexer to control additional NXT (or EV3) Motors from your NXT or EV3. Connections and Placement NXTMMX can be connected to any of the four sensor ports of NXT or EV3 by using standard cables from NXT set, or FlexiCable from mindsensors.com.
  • Page 2 You can purchase these batteries in electronic hobby stores, or on- line RC toys stores. An example url is here: To connect these batteries to your NXTMMX, you can purchase connector pins from the following location: http://www.mindsensors.com/ev3-and-nxt/120-lipo-battery-adapter- pins?search_query=lipo&results=1 Copyright © 2016 mindsensors.com 2/14...

  • Page 3: Feature Highlights

    ‘Unlimited Duration’ if your program exits without stopping the motors, they will continue to run. Stopping motors abruptly. Reading Motor Encoders You can read the value of each encoder from the NXTMMX. Copyright © 2016 mindsensors.com 3/14...
  • Page 4 Ensure to use latest LEGO firmware on NXT (1.29 or higher). RobotC Method: Download the library file from following URL, and at the top of your RobotC program file, include it with following directive: #include "NXTMMX-lib.h" Copyright © 2016 mindsensors.com 4/14...

  • Page 5: Current Characteristics

    Note: Send these commands with no break/read operation in between. This new address is effective immediately. Please note down your address carefully for future reference. Instructions for changing the I2C address can be found at: NXT and EV3 Copyright © 2016 mindsensors.com 5/14...
  • Page 6 PiStorms http://www.mindsensors.com/blog/how-to/change-i2c-device- address-with-pistorms Copyright © 2016 mindsensors.com 6/14...
  • Page 7 Motor 2 Write Parameters 0x4A Encoder target for Motor 2 Encoder Value of Motor 2 (long) (long) 0x4A: Least Significant Byte 0x4B: Byte 2 0x4C: Byte 3 0x4D: Most Significant Byte Copyright © 2016 mindsensors.com 7/14...
  • Page 8 Kp for Encoder Position Control (int) Control (int) 0x7A: Least Significant Byte 0x7B: Most Significant Byte 0x7C Ki for Encoder Position Ki for Encoder Position Control (int) Control (int) 0x7C: Least Significant Byte 0x7D: Most Significant Byte Copyright © 2016 mindsensors.com 8/14...
  • Page 9 Issue commands to both motors at the same time, for Synchronized starting of both motors. Motor Stopping Commands 0x61 Motor 1: Float while stopping. 0x62 Motor 2: Float while stopping. 0x63 Motor 1 and 2: Float while stopping. 0x41 Motor 1: Brake while stopping. Copyright © 2016 mindsensors.com 9/14...
  • Page 10 Encoder active feedback. This bit is used when Encoder control is used. If this bit is set to 1 at the completion of motor movement, the NXTMMX will continue to hold the Encoder position (i.e. if motor is Copyright © 2016 mindsensors.com 10/14...
  • Page 11 Motor is in timed mode. This bit is 1 while the motor is programmed to move for given duration. Most Motor is stalled. The external load caused the motor significant to stop moving. bit (bit 7) Running Motors for Unlimited Duration Copyright © 2016 mindsensors.com 11/14...
  • Page 12 You can connect only I2C digital sensors (or controllers) to the daisy chain port of NXTMMX. In other words, you can not connect Touch sensors (which are Analog) or most of the LEGO EV3 sensors (which are UART). Copyright © 2016 mindsensors.com 12/14...
  • Page 13 Upon upgrade, the NXTMMX must always be used with a device with Pull up resistor in it. (e.g. Ultrasonic Sensor) Upon upgrade, write on the NXTMMX with a pencil that pull ups in it are disabled. Theory behind this: Copyright © 2016 mindsensors.com 13/14...
  • Page 14 URL below. http://www.mindsensors.com/content/62-firmware-upgrader-for- compatible-devices If the Firmware Upgrader doesn’t detect your NXTMMX, try this: When the firmware Upgrader is looking for device, attach the device, remove it momentarily and attach it again. Copyright © 2016 mindsensors.com 14/14...