Mindstorms NXT Bluetooth

[sjim]

I am trying to make my Mindstorms NXT communicate with an Arduino board.

The final project will be a warehouse robot that checks the colour of the contents on a pallet and stores it on a shelf. You can then order a number of pallets in different colours and the robot will get the order on a first-in-first-out basis.

The inventory will be kept on the Arduino board along with the ordering interface and the Mindstorms will do the colour checking.

New pallet operation:

1. (NXT) Senses the pallet
   
2. (NXT) Checks colour
   
3. (NXT -> Arduino) Notifies the Arduino of a new arrival and its colour
   
4. (Arduino) Finds a suitable location
   
5. (Arduino -> NXT) Notifies the NXT of column and row
   
6. (NXT) Puts the pallet in place
   
7. (NXT -> Arduino) Sends an ok message
   
8. (Arduino) Updates inventory
   

Order operation:

1. (Arduino) User creates order
   
2. (Arduino) Checks which pallets to use
   
3. (Arduino -> NXT) Requests NXT to get pallet
   
4. (NXT) Delivers pallet
   
5. (NXT -> Arduino) Sends ok message
   
6. Step 3-5 is repeated for every pallet in the order
   
7. (Arduino) Updates inventory
   

What I can do at the moment:

• Connect the two manually
  
• Send single characters from the NXT to the Arduino
  

What I would need input on:

• Sending information from the Arduino to the NXT
  
• At the moment the two units seems out of sync in some ways. The information sent from the NXT to the Arduino is sometimes picked up and sometimes not. I an guessing this has something to do with the Wait block and the delay() function.
  

I am using the blocks for sending and receiving messages on the NXT and I am using Serial.write() and Serial.read() on the Arduino.

The bluetooth module is an HC-06 ( http://www.kjell.com/sortiment/el/elektronik/mikrokontroller/arduino/bluetooth-transceiver-p87942 ) and I am using an Arduino Uno.

I have found some information when searching, but many are specific to an alternative NXT language.