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EV3Dev-lang-Java is project to learn Java and create software for Mindstorms Robots using hardware supported by EV3Dev & the LeJOS way.

License: MIT Travis CI


How to test?

For non Linux computers use:

./gradlew dockerTest

For Linux computers use:

./gradlew test


In Lego Mindstorms ecosystem, the default solution to develop Java software for Lego Mindstorms was LeJOS but now exists one alternative, EV3Dev-lang-java a Java project running on the top of EV3Dev.

Lego Mindstorms ecosystem is a nice educational way to learn Java programming in general and Robotics in particular. Now, it is possible to install a complete Linux distro in the third generation of the product and others companies like Mindsensors & Dexter Industries has released products which interact with Sensors & Actuators from Lego ecosystem and that boards can use the Power of the popular board Raspberry Pi 3

But, with the help of EV3Dev, it is possible to have the same Linux experience for multiple boards. So... why not develop a Java library for that Linux Distro? The answer is EV3Dev-lang-java. The project, takes the good things of both worlds: EV3Dev with the complete linux experience and LeJOS with the rich local navigation stack and the remote support in the future.

What Debian versions are supported with this library?

The library has support for Debian Jessie & Debian Stretch. In this release, we have finished the support for Debian Stretch for EV3 and you could use OpenJDK 11, or OpenJDK 15 and it is amazing!

If you need to use any Raspberry Pi Boards, I recommend to use the stable EV3Dev Debian Jessie release.

What is the hardware platforms supported in this project?

Using the same Java objects, it is possible to deploy the software for Robots on EV3 Brick, Raspberry Pi 3 with BrickPi 3 & PiStorms.

# Element EV3 P-Brick Raspberry Pi 3 Model B+
1 Hardware EV3 Brick BrickPi+, BrickPi3, PiStorms
2 SoC TI Sitara AM1808 Broadcom BCM2837B0
3 CPU 1× ARM926EJ-S @ 300MHz (max 456MHz) 4× ARM Cortex-A53 @ 1400MHz
4 RAM 64 MB LPDDR 1024 MB LPDDR2 (900 MHz)
5 USB Host 1× USB 1.1 (without onboard hub) 4× USB 2.0 (from onboard hub)
6 Year 2010 2018

Project architecture

The project has been designed with the following solution in mind:

# Layer Option 1 Option 2
1 Platforms BrickPi BrickPi3 PiStorms EV3
2 OS Debian Jessie Debian Jessie/Stretch
3 JVM OpenJDK 15 OpenJDK JRI 11 / 12 / 13 / 14 / 15
4 EV3Dev Kernel 4.4.47-19-ev3dev-rpi2 4.14.71-ev3dev-2.3.0-ev3
5 ev3dev-lang-java 0.7.0 2.4.12

Note: At the moment, we will maintain the whole solution until the next LEGO Mindstorms product estimated for next January of 2022.

Features included in the whole project

Java features

  • OpenJDK Java 11/12/13/14/15 support for EV3 Brick, Brickpi+/PiStorms + Raspberry Pi 3
  • Java profiling tools Support (Oracle mission control & JConsole)
  • Logging support based on SLF4J
  • Centralized logs with Kibana

Platform features

  • Support for EV3 Brick, PiStorms v1/v2, BrickPi+ & BrickPi 3

Lego Mindstorms features

  • Regulated Motor Support
  • Unregulated Motor Support
  • Sensor Support (EV3 sensors)
  • Sounds Support
  • EV3 LCD Support



Stable projects:

Incubator projects:

  • lejos-navigation: LeJOS navigation stack
  • Usb Devices: A library to use Arduino, Grove Sensors, GPS, IMU, LIDAR, and more devices...
  • ROS: A library to publish Sensor data to ROS for SLAM purposes


Review the backlog to follow the features in course:

Getting Started

Take a look the documentation to use the project:

and use this easy template project with examples to use the project in a quick way:


Take a look the following repository to learn how to use this project:


UML Design


Architecture decision record (ADR)