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- A python project, PCInstall-v1p5, that installs any PrimeCuber files, from the PCSolver-v1p5 and PCMTab4-v1p5 projects, that have been downladed to other slots on the SPIKE hub. The main python program, PrimeCuber-v1p5, that uses the modules and data files installed by the previos projects to control the PrimeCuber mechanism and solve the Rubik.
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Build your own LEGO® Education SPIKE™ Prime robot to solve the Rubik's Cube®...
Download instructions and software: (right click and 'Save link as...')
- Building instructions v1.0 (Education set 45678): download
- SPIKE Prime Program: see here
1. Description
PrimeCuber is a robot that can be built from a single LEGO Education SPIKE Prime set (45678) to solve the well known Rubik's Cube puzzle.
PrimeCuber software version v1p5 should work with any version of the LEGO Education SPIKE Prime software. However, it is recommended that the SPIKE Prime software is always updated to the latest version released by LEGO.
Construct the robot by carefully following the build instructions and then follow the instructions in the next section to download and install the software described below.
PrimeCuber software consists of four projects. The second is optional and may be omitted or downloaded later:
A python project, PCSolver-v1p5, that contains three python modules and a data file:
- the main robot control python program: primecuber_v1p5.py
- python classes for discriminating colors: pccolors_v1p5.py
- python classes for solving a Rubik's Cube: pcsolver_v1p5.py
- small lookup tables used by pcsolver_v1p5: pcmtab1_v1p5.bin
With these components, PrimeCuber will solve the Rubik's Cube in an average of about 42 moves.
An optional python project, PCMTab4-v1p5, that contains a large data file:
- large lookup tables for pcsolver_v1p5: pcmtab4_v1p5.bin
With this large lookup table installed, PrimeCuber will solve the Rubik's Cube more quickly in an average of about 31 moves.
NOTE: This program takes a long time (around 30 minutes) to download and install on the SPIKE hub so it may be desirable to just use the small tables initially to get PrimeCuber working.
A python project, PCInstall-v1p5, that installs any PrimeCuber files, from the PCSolver-v1p5 and PCMTab4-v1p5 projects, that have been downladed to other slots on the SPIKE hub.
The main python program, PrimeCuber-v1p5, that uses the modules and data files installed by the previos projects to control the PrimeCuber mechanism and solve the Rubik's Cube.
- On Windows - right click on the link
- On Mac - click on the link while holding the control(ctrl) key
- Save link as...
- Save Target As...
- Download Linked File As...
2.1 Download PrimeCuber Program
Download the file to your computer:
- download PrimeCuber-v1p5.zip (Education set 45678)
Extract the files from this archive.
On a computer running Windows, find the file in Windows Explorer, click with the right mouse button and select Extract all...
On a Mac computer, locate the file in the Finder and double-click on it to extract the contents.
This creates a folder, PrimeCuber-v1p5, containing:
- PCSolver-v1p5.llsp
- PCMTab4-v1p5.llsp
- PCInstall-v1p5.llsp
- PrimeCuber-v1p5.llsp
Start the LEGO Education SPIKE Prime software and select the File menu then Open File.
Find the PCSolver-v1p5.llsp project file and Open it.
Connect to the SPIKE hub using either a USB cable or via bluetooth.
Expand the Console to see progress information about the software installation during the next step.
Download and Run the PCSolver-v1p5 program in an unused slot, e.g. 19, on the SPIKE hub.
NOTE: This program may take up to a minute to download so please be patient. The LEGO Education SPIKE Prime software stops showing progress after a few seconds even though the download continues.
NOTE: Owing to limitations of the current version of the LEGO Education SPIKE Prime software, running this program will result in a python SyntaxError. This is deliberate and should be ignored.
Once downloaded, the PCSolver-v1p5 program should be left on the hub until the installation has been completed in the following steps.
- Optionally you may download the PCMTab4-v1p5 program to allow PrimeCuber to solve the cube more quickly. See Faster Solution for details.
Select the File menu then Open File as step 3. Then find the PCInstall-v1p5.llsp project file and Open it.
Expand the Console to see progress information about the software installation during the next step.
Download and Run the PCInstall-v1p5 program in an unused slot on the SPIKE hub. Do not overwrite PCSolver-v1p5 in slot 19 (or PCMTab4-v1p5 in slot 18).
The hub LED display shows progress:
And the console shows download information:
This installs primecuber_v1p5.py, pcsolver_v1p5.py, pcsolver_v1p5 and pccolors_v1p5.py on the hub for use by the main program.
The hub will restart when the installation has finished. If the hub was not connected via a USB cable, it may turn off and be necesary to turn it back on manually. If the hub was connected via Bluetooth it may be necessary to re-connect.
NOTE: The LEGO Education SPIKE Prime software may indicate that 'The hub OS needs to be updated' when it is not necessary. If this happens, do not press the UPDATE button as this will delete the programs that have just been installed. Instead, power off the hub and if the hub is connected via a USB cable, disconnect the cable.
Wait for the 'Update hub' dialog to disappear. Then turn the hub back on and re-connect the USB cable if one was being used.
PCSolver-v1p5 (optionally PCMTab4-v1p4) and PCInstall-v1p5 may now be removed from the hub to free the space and slots for other programs.
Open the connection to the SPIKE hub.
Then open MANAGE PROGRAMS the view all the programs on the hub.
If necessary, scroll down to see all slots. Then delete the programs used in previous steps.
Select the File menu then Open File as step 3. Then find the PrimeCuber-v1p5.llsp project file and Open it.
Download and Run the PrimeCuber-v1p5 program in an unused slot on the SPIKE hub.
PrimeCuber is now ready to solve a Rubik's Cube!
3. Operation
Run the PrimeCuber program, if it is not already running, using the buttons on the SPIKE Prime hub. Press the right button to select the slot number to which the program was downloaded. Then press the center button to run the program.
Gently use your finger to rotate the turntable in each direction to determine if it is aligned. It moves slightly because of 'play' in the gears connecting it to the motor. There should be an equal amount of movement in each direction. If necessary, use the left and right buttons on the hub to adjust the position of the motor position. Each press nudges the motor by a small angle.
Insert a scrambled Rubik's Cube into the turntable tray and PrimeCuber will start to scan and solve the cube.
PrimeCuber may scan the cube up to three times if it is unable to determine the colors at first. If the scanned colors do not result in a valid pattern, PrimeCuber will stop after the third attempt with the middle buttont colored orange. If this happens, there may be a number of possible causes. See the troubleshooting section.
4. Faster Solution
The method used to calculate a solution for the cube is based on some pre-calculated lookup tables containintg sequences of moves that solve groups of pieces in stages. The default, small tables included in the PCSolver-vp5 download result in solutions averaging about 42 moves. By using a larger set of lookup tables with more entries, shorter solutions can be caltulated with an average only about 31 moves. With fewer moves, the overall time to solve the cube is reduced. These large tables are contained in the PCMTab4-v1p5.llsp project and can be downloaded in the same way as those in PCSolver-v1p5.
Select the File menu then Open File as before. Then find the PCMTab4-v1p5.llsp project file and Open it.
Expand the Console to see progress information about the software installation during the next step.
Download and Run the PCMTab4-v1p5 program in an unused slot, e.g. 18, on the SPIKE hub.
NOTE: This large program will take a long time (around 30 minutes) to download so please be patient. The LEGO Education SPIKE Prime software stops showing progress after a few seconds even though the download continues.
If the connection to the hub is via Bluetooth then please attach the hub to a USB charger to ensure it does not time out and shutdown during the download.
A message will appear in the Console when the download is complete.
NOTE: Owing to limitations of the current version of the LEGO Education SPIKE Prime software, running this program will result in a python SyntaxError. This is deliberate and should be ignored.
Once downloaded, the PCMTab4-v1p5 program should be left on the hub until the installation has been completed.
Continue, or repeat from 2.1 Download PrimeCuber Program, step 9 to complete the installation.
5. Troubleshooting Tips
5.1 General
Under development...
Please post a comment or message on the MindCuber Facebook page for help.
5.2 Tilting
Under development...
5.3 Scanning
Under development...
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Like MindCuber on Facebook to share your experiences and help each other with troubleshooting.
See more LEGO robot Rubik's Cube solvers at youtube.com/IAssemble
Copyright © 2013-2020 David Gilday
LEGO and SPIKE are trademarks of the LEGO Group
Rubik's Cube is a trademark of Rubiks Brand Limited
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Disclaimer: thoughts and opinions expressed here are my own