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| https://www.cod3v.info/index.php?title=Setting_up_the_Raspi | | https://www.cod3v.info/index.php?title=Setting_up_the_Raspi |
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| | https://www.cod3v.info/index.php?title=Raspi_and_EV3-G |
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| | https://www.cod3v.info/index.php?title=Raspi_and_Ev3dev |
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| sudo python3 -m pip install pybluez | | sudo python3 -m pip install pybluez |
| </syntaxhighlight> | | </syntaxhighlight> |
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| == Raspi and Ev3-G ==
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| === Error Messages so far ===
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| raspberry pi device added succesfuly but failed to connect
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| Connection failed: _blueman.RFCOMMError: Failed to get rfcomm channel
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| Paired successfully but this device has no services which can be used with raspberry pi
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| === Pairing ev3 and Raspi ===
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| Pairing and connecting is easy using X11.
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| <code>bluetooth-agent</code> command do not exist on Jessie. Use <code>bluetoothctl</code> with the following script shown on [https://raspberrypi.stackexchange.com/questions/50496/automatically-accept-bluetooth-pairings Stackechange]:
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| <syntaxhighlight>
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| sudo bluetoothctl <<EOF
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| power on
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| discoverable on
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| pairable on
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| agent NoInputNoOutput
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| default-agent
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| EOF
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| </syntaxhighlight>
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| <syntaxhighlight>
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| bluetoothctl
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| power on
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| discoverable on
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| scan on
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| </syntaxhighlight>
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| <syntaxhighlight>
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| trust <ev3 address>
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| pair <ev3 address>
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| agent on OR default-agent
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| devices
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| quit
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| </syntaxhighlight>
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| <syntaxhighlight>
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| Device 24:71:89:BA:DA:61 ev3dev
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| Device 00:16:53:53:64:E1 EV3
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| </syntaxhighlight>
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| It helps to restart Ev3.
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| The file <code>/etc/bluetooth/rfcomm.conf</code>
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| <syntaxhighlight>
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| rfcomm0 {
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| # Automatically bind the device at startup
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| bind no;
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| # Bluetooth address of the device
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| device 00:16:53:53:64:E1 ;
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| # RFCOMM channel for the connection
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| channel 2;
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| # Description of the connection
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| comment "This is Device EV3's serial port.";
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| }
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| </syntaxhighlight>
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| [[https://raspberrypi.stackexchange.com/questions/78155/using-dev-rfcomm0-in-raspberry-pi| To establish Bluetooth]] connection, need to create the serial device that binds to the paired Ev3 robot:
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| <syntaxhighlight>
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| sudo rfcomm connect rfcomm0 00:16:53:53:64:E1
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| </syntaxhighlight>
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| or use
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| <syntaxhighlight>
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| sudo rfcomm bind /dev/rfcomm0 00:16:53:53:64:E1 1
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| </syntaxhighlight>
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| where the last number is the communication channel. It needs to be unique.
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| === Some links ===
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| *http://www.geekdroppings.com/2018/01/21/raspberry-pi-and-the-lego-ev3-connected-by-bluetooth/
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| *https://www.hackster.io/KKE/raspberry-pi-lego-mindstorms-ev3-bluetooth-communication-aa42e2
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| *https://siouxnetontrack.wordpress.com/2013/09/27/connecting-the-pc-to-our-ev3/
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| *https://gipprojects.wordpress.com/2013/11/29/using-python-and-raspberry-pi-to-communicate-with-lego-mindstorms-ev3/
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| *https://ev3lessons.com/en/ProgrammingLessons/beyond/EV3PiLight.pdf
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| *https://ev3lessons.com/en/ProgrammingLessons/beyond/EV3PiCommunicator.pdf
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| *http://www.abrowndesign.com/2018/10/25/sending-bluetooth-messages-from-raspberry-pi-to-lego-ev3-stock-firmware/
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| *https://github.com/lehoff/ev3bt/
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| <gallery>
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| MaksymShyte.png|Maksym Shyte @ http://www.geekdroppings.com/2018/01/21/raspberry-pi-and-the-lego-ev3-connected-by-bluetooth/
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| KoenKempeneers.png|Koen Kempeneers @ https://www.hackster.io/KKE/raspberry-pi-lego-mindstorms-ev3-bluetooth-communication-aa42e2
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| HansOdenthal.png|Hans Odenthal @ https://siouxnetontrack.wordpress.com/2013/09/27/connecting-the-pc-to-our-ev3/
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| </gallery>
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|
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| === Transmitting From EV3-G To Raspberry Pi ===
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| [[File:EV3BT_sendTo.png|thumb|Two simple scripts to send data to Raspberry Pi.]]
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| <syntaxhighlight lang="python">
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| #hackster.io -> Raspberry Pi Lego Mindstorms ev3 bluetooth
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| import serial
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| import time
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| EV3 = serial.Serial('/dev/rfcomm0')
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| print("Listening to")
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| try:
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| while True:
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| n = EV3.inWaiting()
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| if n != 0:
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| s = EV3.read(n)
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| print( s )
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| for n in s:
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| print( "x%02X" % (n), end=' ' )
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| #print( chr( int(n) ) )
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| print()
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| time.sleep(0.5)
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| except KeyboardInterrupt:
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| pass
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| EV3.close()
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| </syntaxhighlight>
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|
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| The received data looks like
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| <syntaxhighlight>
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| b'\x12\x00\x01\x00\x81\x9e\x07Status\x00\x04\x00Hei\x00'
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| x12 x00 x01 x00 x81 x9E x07 x53 x74 x61 x74 x75 x73 x00 x04 x00 x48 x65 x69 x00
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| </syntaxhighlight>
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|
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| === Transmitting From Raspberry Pi To EV3-G ===
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| First start the Python script on the Raspberry Pi and then run the EV3 code.
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| [[File:BT ev3g hello.png|thumb|Multiple hellos.]]
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| <syntaxhighlight lang="python">
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| #! /usr/bin/env/ python3
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| import serial
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| import time
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| import EV3BT
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| EV3 = serial.Serial('/dev/rfcomm0')
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| s = EV3BT.encodeMessage(EV3BT.MessageType.Text, 'abc', 'Have fun')
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| for i in range(10):
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| print(i)
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| s = EV3BT.encodeMessage(EV3BT.MessageType.Text, 'abc', 'Have fun'+ str(i))
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| #s = EV3BT.encodeMessage(EV3BT.MessageType.Numeric, 'abc', 123)
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| #s = EV3BT.encodeMessage(EV3BT.MessageType.Text, 'abc', 'Have fun')
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| print( EV3BT.printMessage(s) )
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| EV3.write(s)
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| time.sleep(1)
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| EV3.close()
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| </syntaxhighlight>
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| The brick says once ''Hello' and after that wants to connect to raspi. If the wrong password is given, the Python code will shutdown. The <code>update</code> in the EV3-G's Bluetooth command do not work.
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|
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| == Raspi and Ev3Dev ==
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|
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|
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| == ==
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