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The ARM cross-compiler can be downloaded from:

After installing the program, you need to add the compiler path, this can be done using:
echo export PATH=/usr/local/carlson-minot/crosscompilers/bin/:$PATH >> ~/.bash_profile && . ~/.bash_profile

Mac users can refer to the Linux tutorials for further information.


Download the ARM cross compiler from:

Install the program in the local hard drive (e.g. c:\CodeSourcery) and add the compiler path to the system.

Download  the Windows version of the make and rm programs in the computer. A copy of these programs can be found here. Uncompress them in a local directory (e.g. c:\tools ).

In order to communicate and being able to transfer data and programs to the brick, we need to  install a telnet, a ssh and a scp client programs. I have tested PuTTy, (telnet and ssh clients) and PSCP (scp client). After downloading these programs, place the executable files in the local hard drive (e.g. c:\tools).

Add the path of the recently installed programs (c:\tools) to the system.

Finally install a text editor of your choice to modify and create programs (e.g. notepad++, vim, sublime).

After installing these tools, users should be able to use most of the command line instructions provided to Linux users.


The ARM cross compiler program can be downloaded from this link or using the command in a terminal:

wget -c

Create a directory that will contain the program:
mkdir CodeSourcery

Uncompress the compiler installation file using:
tar -jxvf ~/arm-2009q1-203-arm-none-linux-gnueabi-i686-pc-linux-gnu.tar.bz2 -C ~/CodeSourcery/

Add the compiler path using:
echo export PATH=$PATH:~/CodeSourcery/arm-2009q1/bin/ >> ~/.bashrc && . ~/.bashrc

Verify that the cross-compiler is properly installed using:
arm-none-linux-gnueabi-g++ -v

This should show a long message:
Using built-in specs.
Target: arm-none-linux-gnueabi
Configured with: /scratch/mitchell/....
Thread model: posix
gcc version 4.3.3 (Sourcery G++ Lite 2009q1-203)

I have found some cases where the system reports an error message similar to this:
bash: XXXXX/CodeSourcery/arm-2009q1/bin/arm-none-linux-gnueabi-c++: No such file or directory

This is caused because the compiler is a 32-bit application and requires 32-bi libraries to run. The issues is resolved by installing the missing libraries using:
sudo apt-get install gcc-multilib

TechTwilight 2014 photos

We had a great time at TechTwilight 2014 . We are very thankful to the organizers from the Ann Arbor Hands on Museum that invited us to this event. Our exhibit received the Vincent Van Google award “for demonstrating how creative robots can be when their programmer is artistic.” We appreciate it very much. Below are a few pictures:

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Using Accelerometers in Robotic Applications (updated)

I have started creating some new material for a section that will discuss basic use of inertial sensors in robotic applications. I added a new section that talks about accelerometers and Euler angles. I hope it clarifies a few misconceptions about these sensors and their use. It now includes test programs.

In the News

The Lego Drawing Robot received some attention at CES 2014. I had the opportunity to meet many Lego fans, and people from a variety of different industries. I want to thank Microinfinity for the opportunity to show the Drawing Robots in this event. I have found the Lego Drawing robot featured in a few newspapers and on-line magazines.

The Wall Street Journal

Welingelichte Kringen – Netherlands
lego_ev3_drawing_robot_ces_2014_Welingelichte_ Kringen_Dutch

BFMTV – France (53″)

Chinese Daily

Danish Broadcasting Corporation – Denmark

Spanish Language Media
Miami Herald

El Día – Spain

La Nación – Costa Rica

El Comercio – Ecuador

La Prensa Libre – Guatemala

Radio Programas del Perú

Pulso – Mexico

News from CES 2014

I am at CES now, joining the Microinfinity booth. I’ve had the opportunity to talk with many people belonging to the Lego community. If you happen to be in this event stop by booth 22059 located in the Robotics section in the lower level of the South Hall.

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