Mindstorm INO Library

A LEGO Mindstorms–style abstraction layer for Arduino

The Mindstorm INO Library makes Arduino programming feel like LEGO Mindstorms. Instead of dealing with raw pins, delays, and low-level code, you interact with motors, sensors, display, Bluetooth, and servos using simple, high-level functions.

Why Mindstorm INO?

Lego Mindstorms are expensive, so this board aims to (sort of) act as a cheap-alternative to Lego. I built Mindstorm INO because I wanted a faster and simpler way to build robots without redesigning the hardware every time. I plan on to make it more compact by designing PCB boards.

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Hardware Instructions

Building the Mindstorm INO Intelligent Brick

This section explains the hardware required and how to wire the components to build your own Mindstorm INO–style programmable brick using Arduino.

Components Required

Quantity	Component
1	Arduino UNO / Nano
1	L293D Motor Driver IC
4	Push Buttons (UP / DOWN / OK / BACK)
1	HC-05 Bluetooth Module
1	I2C LCD Display (16×2)
1+	Breadboard(s)
—	Jumper Wires

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Circuit Diagram

Below is the complete wiring diagram for the Mindstorm INO Intelligent Brick:

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Notes

• The L293D is used to control DC motors (M1 and M2).
• The I2C LCD minimizes pin usage and simplifies wiring.
• Push buttons are configured using INPUT_PULLUP (no external resistors required).
• The HC-05 Bluetooth module enables wireless control and communication.
• This circuit is designed to be modular, similar to LEGO Mindstorms.

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Important Tips

• Double-check power connections before turning on the circuit.
• Use a common GND for all modules.
• If motors behave erratically, add decoupling capacitors near the L293D.
• Keep Bluetooth RX/TX wiring correct (crossed).

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Next Step

Once the hardware is assembled:

1. Upload the Mindstorm INO firmware
2. Power on the system
3. Navigate programs using the button-based menu
4. Run Mindstorms-style robot programs

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Library Structure

mindstorm.h     // Core library (REQUIRED)
display.h       // LCD display functions
bluetooth.h    // Bluetooth communication
infrared.h     // Infrared sensor
motors.h       // DC motor control
distance.h     // Ultrasonic distance sensor
servo.h        // Servo motor control

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⚠️ IMPORTANT (Must Read)

mindstorm.h is MANDATORY

You must include mindstorm.h in every project.

setup_modules() is REQUIRED

You must call setup_modules() inside void setup().

Without this:

• Pins won’t be configured
• Modules won’t work
• Behavior is undefined

Correct usage:

#include "mindstorm.h"

void setup() {
  setup_modules();   // REQUIRED
}

void loop() {
}

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Core Constants (From mindstorm.h)

Motors

M1, M2

Sensor Ports

A, B, C

Servo Ports

SA, SB

Motor Directions

FRONT
BACK

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Display Module (display.h)

Used for LCD-based text output (like Mindstorms screen).

Functions

void start_display();
void write_text(int line, String text);

Example

#include "display.h"

start_display();
write_text(0, "Hello Robot");
write_text(1, "MindStorm OS");

line can be 0 or 1 (for 16x2 LCD).

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Bluetooth Module (bluetooth.h)

Used to receive commands wirelessly from a phone or computer.

Function

String read_bluetooth();

Example

String cmd = read_bluetooth();

if (cmd == "F") {
  move(M1, FRONT, 150);
}

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Infrared Module (infrared.h)

Used for IR obstacle detection or line sensing.

Function

int check_infrared(uint8_t port);

Example

if (check_infrared(A) == 1) {
  move(M1, BACK, 100);
}

Returns a digital value (0 or 1).

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Motor Module (motors.h)

Controls DC motors with speed and direction.

Function

void move(uint8_t motor, uint8_t direction, uint8_t speed);

Example

move(M1, FRONT, 200);
move(M2, FRONT, 200);

speed range: 0–255

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Distance Module (distance.h)

Used with ultrasonic sensors to measure distance.

Function

float find_distance(uint8_t port);

Example

float d = find_distance(B);

if (d < 10) {
  move(M1, BACK, 120);
}

Distance is returned in centimeters.

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Servo Module (servo.h)

Used for arms, grippers, camera mounts, etc.

Functions

void servo_use(uint8_t port);
void servo_rotate(uint8_t port, int angle);

Example

servo_use(SA);
servo_rotate(SA, 90);

Angle range: 0–180

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Full Example (Mini Mindstorms Program)

#include "mindstorm.h"
#include "motors.h"
#include "distance.h"

void setup() {
  setup_modules();
}

void loop() {
  float dist = find_distance(A);

  if (dist < 15) {
    move(M1, BACK, 150);
    move(M2, BACK, 150);
  } else {
    move(M1, FRONT, 200);
    move(M2, FRONT, 200);
  }
}

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