V1.2.2

Important Notice

This version requires Firmware v6.0 or above to function properly.

New Features

New Sensors and method Support!

• Adding support of MATRIX Line Tracer 10CH
• Adding support of WiFi and BLE (depends: ArduinoBLE)
• Adding support of MQTT (depends: PubSubClient)

I2C Options

• Now All I2C Sensors suppot using Port A3 (I2C0) to bypass multiplexer, connect to native Arduino I2C.

DriveDC Class New Function

• Get/Reset the degrees from DriveDC drivebase.
• Two wheel Trun Gyro is now support.

Example Programs

Added new example sketches for:

• MXLineTracer usage
• WiFi and MQTT (using hviemq mqtt service to control LED)
• BLE (using Nordic UART Service)

Compatibility

• Required Firmware: v6.0 or higher
• Supported Boards: Matrix Mini R4
• Motor Requirements: Some features require encoder motors

Breaking Changes

None - this release is backward compatible with existing sketches.

Documentation

Please refer to the updated examples in the examples/ folder for detailed usage instructions.

Bug Fixes

• Improved overall system stability
• Enhanced motor control reliability

V1.1.9

Important Notice

This version requires Firmware v6.0 or above to function properly.

New Features

Color Sensor Improvements

• MXColor & MXColor V3: Added unified HSV and Color ID modes
• Color templates now follow LEGO color standards
• Added support for HiTechnic Color Sensor V2

IMU Enhancements

• Completely redesigned STM32-based IMU algorithm
• Significantly improved main controller IMU accuracy
• Added optional accelerometer calibration feature

DC Motor Advanced Control

• PPR (Pulses Per Revolution) & RPM Configuration: Enables use of third-party motors
• PID Speed Control (similar to LEGO Speed mode):
  • Solves uneven weight distribution issues
  • Enables straight-line driving even with imbalanced loads
• Requires Encoder motors

DriveDC Chassis Control Class

• New unified chassis control system (similar to LEGO "Movement" blocks)
• Multiple configuration options available
• Requires Encoder motors

Example Programs

Added new example sketches for:

• MXColor usage
• DriveDC chassis control
• IMU calibration and usage
• MXColor Example fix, Thanks to jithintj #1

Motor Brake Modes

Current version supports two brake modes:

• Brake: Short-circuit braking (controlled by motor driver chip)
• Coast: Free-wheeling stop (controlled by motor driver chip)

Note: Hold mode (PID-based braking) will be added in future releases.

Compatibility

• Required Firmware: v6.0 or higher
• Supported Boards: Matrix Mini R4
• Motor Requirements: Some features require encoder motors

Breaking Changes

None - this release is backward compatible with existing sketches.

Documentation

Please refer to the updated examples in the examples/ folder for detailed usage instructions.

Bug Fixes

• Improved overall system stability
• Enhanced motor control reliability

V1.1.5

• Adding some examples with new sensors.
• Adding Firmware version check while boot up.
• Remove some unuse files.

V1.1.4

• Adding some examples.
• Adding Library Documentation.
• Update src code comment for Arduino IDE intellisense support.

2024.11.11 release重建: 移除docs，將docs挪到其他repo去放，以降低lib repo大小

V1.1.3

• 加入 DHT11 溫溼度感應器支持 (DI, SIG at DI-R)
• 加入 DS18B20 溫度計感應器支持 (DI, SIG at DI-R)
• 加入 Grove Ultrasonic Ranger 支持 (DI, SIG at DI-R)
• 加入 Grove BME280 大氣壓力感應器支持 (I2C)

V1.1.2

• 加入 ChkRotateEnd 方法，檢查旋轉角度是否完成。

V1.1.1

1. 加入對MXCtrl的支持(MATRIX Motor & Servo Controller for LEGO NXT，藍盒子)
2. 預設OLED字體顏色為白色、字體大小為1，以利用戶忘記設置時，仍可顯示資訊於螢幕上

V1.1.0

1. 加入serBrake()功能
2. 修正版本號

V1.0.9

1. MiniR4DC 增加 setBreak 方法
2. PS2X ButtonDataByte 限制 16Bit

V1.0.8

1. Add getDegress method