This is a software alternative for the Mindcuber-style robots using the ev3dev OS.
It uses statistical classification and mathematical optimization in order to achieve a better rate of success at scanning the cube.
IMPORTANT: The program currently has hardcoded values for port positions.
Therefore, the required setup is: Sensor arm motor on port B, base motor on port C and flipper motor on port D.
Color sensor can be put on any input port.
Download an executable from the latest release and run it directly on your ev3dev shell.
Alternatively, you can compile Mindsolver yourself
This guide assumes you want to cross-compile from an x86 computer.
Compiling directly on the robot is possible but slow and unsupported
You first need the rust toolchain. This project has been tested for the 1.78.0 stable toolkit
To build mindsolver for a device running ev3dev, simply run:
cargo build --release
The --release
flag is optionnal but is recommended for slower compile time but faster execution time
Then copy your file on the robot with scp:
scp target/armv5te-unknown-linux-musleabi/release/mindsolver robot@YOUR_ROBOT_IP:/home/robot/mindsolver
Then, using ssh, simply run the executable using brickrun
:
brickrun -r ./mindsolver
Note that on the first run, a cache file will be generated.
Scans will be saved in the scans directory if the --save
option is used.
This software supports some command-line arguments to fine-tune your experience.
Usage: mindsolver [OPTIONS]
Options:
-f, --file <FILE> File source if using a previous scan file. Will skip scan
--iteration <ITERATION> Number of color sensor scans per facelet [default: 5]
--movement <MOVEMENT> Movement between each color sensor scan [default: 8]
--sleep <SLEEP> Sleep duration between each color sensor scan (in ms) [default: 20]
-n, --nosolve Disables the solution application
-s, --save Enables saving scan to file
-h, --help Print help
-V, --version Print version
You might want to run the program on your own desktop computer without hardware.
In which case, if you use both -f
and -n
,
this program will skip hardware initialization.
For example, cargo run --target x86_64-unknown-linux-gnu -- --file scan_test_files/solvable.txt --nosolve