Build HAT

Introducing the Build HAT

The Raspberry Pi Build HAT is an add-on board that connects to the 40-pin GPIO header of your Raspberry Pi, which was designed in collaboration with LEGO® Education to make it easy to control LEGO® Technic™ motors and sensors with Raspberry Pi computers.

Note	A full list of supported devices can be found in the Device Compatibility section.

It provides four connectors for LEGO® Technic™ motors and sensors from the SPIKE™ Portfolio. The available sensors include a distance sensor, a colour sensor, and a versatile force sensor. The angular motors come in a range of sizes and include integrated encoders that can be queried to find their position.

The Build HAT fits all Raspberry Pi computers with a 40-pin GPIO header, including — with the addition of a ribbon cable or other extension device — Raspberry Pi 400. Connected LEGO® Technic™ devices can easily be controlled in Python, alongside standard Raspberry Pi accessories such as a camera module.

The Raspberry Pi Build HAT power supply (PSU), which is available separately, is designed to power both the Build HAT and Raspberry Pi computer along with all connected LEGO® Technic™ devices.

The LEGO® Education SPIKE™ Prime Set 45678 and SPIKE™ Prime Expansion Set 45681, available separately from LEGO® Education resellers, include a collection of useful elements supported by the Build HAT.

Note	The HAT works with all 40-pin GPIO Raspberry Pi boards, including Raspberry Pi 4 and Raspberry Pi Zero. With the addition of a ribbon cable or other extension device, it can also be used with Raspberry Pi 400.

Controls up to 4 LEGO® Technic™ motors and sensors included in the SPIKE™ Portfolio
Easy-to-use Python library to control your LEGO® Technic™ devices
Fits onto any Raspberry Pi computer with a 40-pin GPIO header
Onboard RP2040 microcontroller manages low-level control of LEGO® Technic™ devices
External 8V PSU available separately to power both Build HAT and Raspberry Pi

Note	The Build HAT can not power the Raspberry Pi 400 as it does not support being powered via the GPIO headers.

Preparing your Build HAT

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Note	Before starting to work with your Raspberry Pi Build HAT you should set up your Raspberry Pi, install the latest version of the operating system using Raspberry Pi Imager.

Attach 9mm spacers to the bottom of the board. Seat the Raspberry Pi Build HAT onto your Raspberry Pi. Make sure you put it on the right way up. Unlike other HATs, all the components are on the bottom, leaving room for a breadboard or LEGO® elements on top.

Access the GPIO Pins

If you want to access the GPIO pins of the Raspberry Pi, you can add an optional tall header and use 15 mm spacers.

The following pins are used by the Build HAT itself and you should not connect anything to them.

GPIO	Use	Status
GPIO0/1	ID prom
GPIO4	Reset
GPIO14	Tx
GPIO15	Rx
GPIO16	RTS	unused
GPIO17	CTS	unused

GPIO

Use

Status

GPIO0/1

ID prom

GPIO4

Reset

GPIO14

GPIO15

GPIO16

RTS

unused

GPIO17

CTS

unused

Setting up your Raspberry Pi

Once the Raspberry Pi has booted, open the Raspberry Pi Configuration tool by clicking on the Raspberry Menu button and then selecting “Preferences” and then “Raspberry Pi Configuration”.

Click on the “interfaces” tab and adjust the Serial settings as shown below:

Using your Raspberry Pi Headless

If you are running your Raspberry Pi headless and using raspi-config, select “Interface Options” from the first menu.

Then “P6 Serial Port”.

Disable the serial console:

And enable the serial port hardware.

The final settings should look like this.

You will need to reboot at this point if you have made any changes.

Powering the Build HAT

Connect an external power supply — the official Raspberry Pi Build HAT power supply is recommended — however any reliable +8V±10% power supply capable of supplying 48W via a DC 5521 centre positive barrel connector (5.5mm × 2.1mm × 11mm) will power the Build HAT. You don’t need to connect an additional USB power supply to the Raspberry Pi as well, unless you are using a Raspberry Pi 400.

Note	The Build HAT can not power the Raspberry Pi 400 as it does not support being powered via the GPIO headers.

Note

The LEGO® Technic™ motors are very powerful; so to drive them you’ll need an external 8V power supply. If you want to read from motor encoders and the SPIKE™ force sensor, you can power your Raspberry Pi and Build HAT the usual way, via your Raspberry Pi’s USB power socket. The SPIKE™ colour and distance sensors, like the motors, require an external power supply.

You have the choice to use Build HAT with Python or .NET.

Using the Build HAT from Python

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Installing the Python Library

Install the Build HAT Python library. Open a Terminal window and type,

$ pip3 install buildhat

For more information about the Build HAT Python Library see ReadTheDocs.

Using Motors from Python

There are a number of motors that work with the Build HAT.

Connecting a Motor

Connect a motor to port A on the Build HAT. The LPF2 connectors need to be inserted the correct way up. If the connector doesn’t slide in easily, rotate by 180 degrees and try again.

Working with Motors

Start the Thonny IDE. Add the program code below:

from buildhat import Motor

motor_a = Motor('A')

motor_a.run_for_seconds(5)

Run the program by clicking the play/run button. If this is the first time you’re running a Build HAT program since the Raspberry Pi has booted, there will be a few seconds pause while the firmware is copied across to the board. You should see the red LED extinguish and the green LED illuminate. Subsequent executions of a Python program will not require this pause.

Your motor should turn clockwise for 5 seconds.

Change the final line of your program and re-run.

motor_a.run_for_seconds(5, speed=50)

The motor should now turn faster. Make another change:

motor_a.run_for_seconds(5, speed=-50)

The motor should turn in the opposite (anti-clockwise) direction

Create a new program by clicking on the plus button in Thonny. Add the code below:

from buildhat import Motor

motor_a = Motor('A')

while True:
    print("Position: ", motor_a.get_aposition())

Run the program. Grab the motor and turn the shaft. You should see the numbers printed in the Thonny REPL changing.

Using Sensors from Python

There is a large range of sensors that work with the Build HAT.

Working with Sensors

Connect a Colour sensor to port B on the Build HAT, and a Force sensor to port C.

Note	If you’re not intending to drive a motor, then you don’t need an external power supply and you can use a standard USB power supply for your Raspberry Pi.

Create another new program:

from signal import pause
from buildhat import ForceSensor, ColorSensor

button = ForceSensor('C')
cs = ColorSensor('B')

def handle_pressed(force):
    cs.on()
    print(cs.get_color())

def handle_released(force):
    cs.off()

button.when_pressed = handle_pressed
button.when_released = handle_released
pause()

Run it and hold a coloured object (LEGO® elements are ideal) in front of the colour sensor and press the Force sensor plunger. The sensor’s LED should switch on and the name of the closest colour should be displayed in the thonny REPL.

Using the Build HAT from .NET

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Installing the .NET Framework

The .NET framework from Microsoft is not available via apt on Raspberry Pi. However, you can follow the official instructions from Microsoft to install the .NET framework. Alternatively, there is a simplified third party route to get the .NET toolchain on to your Raspberry Pi.

Warning

The installation script is run as root. You should read it first and make sure you understand what it is doing. If you are at all unsure you should follow the official instructions manually.

$ wget -O - https://raw.githubusercontent.com/pjgpetecodes/dotnet5pi/master/install.sh | sudo bash

After installing the .NET framework you can create your project:

$ dotnet new console --name buildhat

This creates a default program in the buildhat subdirectory, and we need to be in that directory in order to continue:

$ cd buildhat

You will now need to install the following nuget packages:

$ dotnet add package System.Device.Gpio --version 2.1.0
$ dotnet add package Iot.Device.Bindings --version 2.1.0

Running C# Code

You can run the program with the dotnet run command. Let’s try it now to make sure everything works. It should print "Hello World!"

$ dotnet run
Hello World!

(When instructed to "run the program" in the instructions that follow, you will simply rerun dotnet run)

Editing C# Code

In the instructions below, you will be editing the file buildhat/Program.cs, the C# program which was generated when you ran the above commands.

Any text editor will work to edit C# code, including Geany, the IDE/Text Editor that comes pre-installed. Visual Studio Code (often called "VS Code") is also a popular alternative.

Using the Build HAT from .NET

The Raspberry Pi Built HAT is referred to "Brick" in LEGO® parlance and you can talk directly to it from .NET using the Build HAT Serial Protocol.

You can create a brick object as below,

Brick brick = new("/dev/serial0");

but you need to remember to dispose of the brick at the end of your code.

brick.Dispose();

Warning

If you do not call brick.Dispose() your program will not terminate.

If you want to avoid calling brick.Dispose at the end, then create your brick with the using statement:

using Brick brick = new("/dev/serial0");

In this case, when reaching the end of the program, your brick will be automatically disposed.

Displaying the information

You can gather the various software versions, the signature, and the input voltage:

var info = brick.BuildHatInformation;
Console.WriteLine($"version: {info.Version}, firmware date: {info.FirmwareDate}, signature:");
Console.WriteLine($"{BitConverter.ToString(info.Signature)}");
Console.WriteLine($"Vin = {brick.InputVoltage.Volts} V");

Note	The input voltage is read only once at boot time and is not read again afterwards.

Getting sensors and motors details

The functions GetSensorType, GetSensor will allow you to retrieve any information on connected sensor.

SensorType sensor = brick.GetSensorType((SensorPort)i);
Console.Write($"Port: {i} {(Brick.IsMotor(sensor) ? "Sensor" : "Motor")} type: {sensor} Connected: ");

In this example, you can as well use the IsMotor static function to check if the connected element is a sensor or a motor.

if (Brick.IsActiveSensor(sensor))
{
    ActiveSensor activeSensor = brick.GetActiveSensor((SensorPort)i);
}
else
{
    var passive = (Sensor)brick.GetSensor((SensorPort)i);
    Console.WriteLine(passive.IsConnected);
}

ActiveSensor have a collection of advanced properties and functions allowing to understand every element of the sensor. It is also possible to call the primitive functions from the brick from them. This will allow you to select specific modes and do advance scenarios. While this is possible, motor and sensor classes have been created to make your life easier.

Events

Most sensors implements events on their special properties. You can simply subscribe to PropertyChanged and PropertyUpdated. The changed one will be fired when the value is changing while the updated one when there is a success update to the property. Depending on the modes used, some properties may be updated in the background all the time while some others occasionally.

You may be interested only when a color is changing or the position of the motor is changing, using it as a tachometer. In this case, the PropertyChanged is what you need!

Console.WriteLine("Move motor on Port A to more than position 100 to stop this test.");
brick.WaitForSensorToConnect(SensorPort.PortA);
var active = (ActiveMotor)brick.GetMotor(SensorPort.PortA);
bool continueToRun = true;
active.PropertyChanged += MotorPropertyEvent;
while (continueToRun)
{
    Thread.Sleep(50);
}

active.PropertyChanged -= MotorPropertyEvent;
Console.WriteLine($"Current position: {active.Position}, eventing stopped.");

void MotorPropertyEvent(object? sender, PropertyChangedEventArgs e)
{
    Console.WriteLine($"Property changed: {e.PropertyName}");
    if (e.PropertyName == nameof(ActiveMotor.Position))
    {
        if (((ActiveMotor)brick.GetMotor(SensorPort.PortA)).Position > 100)
        {
            continueToRun = false;
        }
    }
}

Waiting for initialization

The brick can take a long time before it initializes. A wait for a sensor to be connected has been implemented.

brick.WaitForSensorToConnect(SensorPort.PortB);

It does as well take a CancellationToken if you want to implement advance features like warning the user after some time and retrying.

Using Motors from .NET

There are two types of motors, the passive ones and the active ones. Active motors will provide detailed position, absolute position and speed while passive motors can only be controlled with speed.

A common set of functions to control the speed of the motors are available. There are 2 important ones: SetPowerLimit and SetBias:

train.SetPowerLimit(1.0);
train.SetBias(0.2);

The accepted values are only from 0.0 to 1.0. The power limit is a convenient ay to reduce in proportion the maximum power.

The bias value sets for the current port which is added to positive motor drive values and subtracted from negative motor drive values. This can be used to compensate for the fact that most DC motors require a certain amount of drive before they will turn at all.

The default values when a motor is created is 0.7 for the power limit and 0.3 for the bias.

Passive Motors

Figure 1. Train motor, Image from Bricklink

The typical passive motor is a train and older Powered Up motors. The Speed property can be set and read. It is the target and the measured speed at the same time as those sensors do not have a way to measure them. The value is from -100 to +100.

Functions to control Start, Stop and SetSpeed are also available. Here is an example of how to use it:

Console.WriteLine("This will run the motor for 20 secondes incrementing the PWM");
train.SetPowerLimit(1.0);
train.Start();
for (int i = 0; i < 100; i++)
{
    train.SetSpeed(i);
    Thread.Sleep(250);
}

Console.WriteLine("Stop the train for 2 seconds");
train.Stop();
Thread.Sleep(2000);
Console.WriteLine("Full speed backward for 2 seconds");
train.Start(-100);
Thread.Sleep(2000);
Console.WriteLine("Full speed forward for 2 seconds");
train.Start(100);
Thread.Sleep(2000);
Console.WriteLine("Stop the train");
train.Stop();

Note	Once the train is started, you can adjust the speed and the motor will adjust accordingly.

Active Motors

Figure 2. Active motor, Image from Bricklink

Active motors have Speed, AbsolutePosition, Position and TargetSpeed as special properties. They are read continuously even when the motor is stopped.

The code snippet shows how to get the motors, start them and read the properties:

brick.WaitForSensorToConnect(SensorPort.PortA);
brick.WaitForSensorToConnect(SensorPort.PortD);
var active = (ActiveMotor)brick.GetMotor(SensorPort.PortA);
var active2 = (ActiveMotor)brick.GetMotor(SensorPort.PortD);
active.Start(50);
active2.Start(50);
// Make sure you have an active motor plug in the port A and D
while (!Console.KeyAvailable)
{
    Console.CursorTop = 1;
    Console.CursorLeft = 0;
    Console.WriteLine($"Absolute: {active.AbsolutePosition}     ");
    Console.WriteLine($"Position: {active.Position}     ");
    Console.WriteLine($"Speed: {active.Speed}     ");
    Console.WriteLine();
    Console.WriteLine($"Absolute: {active2.AbsolutePosition}     ");
    Console.WriteLine($"Position: {active2.Position}     ");
    Console.WriteLine($"Speed: {active2.Speed}     ");
}

active.Stop();
active2.Stop();

Note	You should not forget to start and stop your motors when needed.

Advance features are available for active motors. You can request to move for seconds, to a specific position, a specific absolute position. Here are couple of examples:

// From the previous example, this will turn the motors back to their initial position:
active.TargetSpeed = 100;
active2.TargetSpeed = 100;
// First this motor and will block the thread
active.MoveToPosition(0, true);
// Then this one and will also block the thread
active2.MoveToPosition(0, true);

Each function allow you to block or not the thread for the time the operation will be performed. Note that for absolute and relative position moves, there is a tolerance of few degrees.

brick.WaitForSensorToConnect(SensorPort.PortA);
var active = (ActiveMotor)brick.GetMotor(SensorPort.PortA);
active.TargetSpeed = 70;
Console.WriteLine("Moving motor to position 0");
active.MoveToPosition(0, true);
Console.WriteLine("Moving motor to position 3600 (10 turns)");
active.MoveToPosition(3600, true);
Console.WriteLine("Moving motor to position -3600 (so 20 turns the other way");
active.MoveToPosition(-3600, true);
Console.WriteLine("Moving motor to absolute position 0, should rotate by 90°");
active.MoveToAbsolutePosition(0, PositionWay.Shortest, true);
Console.WriteLine("Moving motor to position 90");
active.MoveToAbsolutePosition(90, PositionWay.Shortest, true);
Console.WriteLine("Moving motor to position 179");
active.MoveToAbsolutePosition(179, PositionWay.Shortest, true);
Console.WriteLine("Moving motor to position -180");
active.MoveToAbsolutePosition(-180, PositionWay.Shortest, true);
active.Float();

You can place the motor in a float position, meaning, there are no more constrains on it. This is a mode that you can use when using the motor as a tachometer, moving it and reading the position. If you still have constrains on the motors, you may not be able to move it.

Using Sensors from .NET

Like for motors, you have active and passive sensors. Most recent sensors are active. The passive one are lights and simple buttons. Active ones are distance or color sensors, as well as small 3x3 pixel displays.

Button/Touch Passive Sensor

The button/touch passive sensor have one specific property IsPressed. The property is set to true when the button is pressed. Here is a complete example with events:

brick.WaitForSensorToConnect(SensorPort.PortA);
var button = (ButtonSensor)brick.GetSensor(SensorPort.PortA);
bool continueToRun = true;
button.PropertyChanged += ButtonPropertyEvent;
while (continueToRun)
{
    // You can do many other things here
    Thread.Sleep(50);
}

button.PropertyChanged -= ButtonPropertyEvent;
Console.WriteLine($"Button has been pressed, we're stopping the program.");
brick.Dispose();

void ButtonPropertyEvent(object? sender, PropertyChangedEventArgs e)
{
    Console.WriteLine($"Property changed: {e.PropertyName}");
    if (e.PropertyName == nameof(ButtonSensor.IsPressed))
    {
        continueToRun = false;
    }
}

Passive Light

Figure 3. Passive light, Image from Bricklink

The passive light are the train lights. They can be switched on and you can controlled their brightness.

brick.WaitForSensorToConnect(SensorPort.PortA);
var light = (PassiveLight)brick.GetSensor(SensorPort.PortA);
// Brightness 50%
light.On(50);
Thread.Sleep(2000);
// 70% Brightness
light.Brightness = 70;
Thread.Sleep(2000);
// Switch light off
light.Off()

Active Sensor

The active sensor class is a generic one that all the active sensor heritate including active motors. They contains a set of properties regarding how they are connected to the Build HAT, the modes, the detailed combi modes, the hardware, software versions and a specific property called ValueAsString. The value as string contains the last measurement as a collection of strings. A measurement arrives like P0C0: +23 -42 0, the enumeration will contains P0C0:, +23, -42 and 0. This is made so if you are using advance modes and managing yourself the combi modes and commands, you’ll be able to get the measurements.

All active sensor can run a specific measurement mode or a combi mode. You can setup one through the advance mode using the SelectModeAndRead and SelectCombiModesAndRead functions with the specific mode(s) you’d like to continuously have. It is important to understand that changing the mode or setting up a new mode will stop the previous mode.

The modes that can be combined in the Combi mode are listed in the CombiModes property. Al the properties of the sensors will be updated automatically when you’ll setup one of those modes.

WeDo Tilt Sensor

Figure 4. WeDo Tilt sensor, Image from Bricklink

WeDo Tilt Sensor has a special Tilt property. The type is a point with X is the X tilt and Y is the Y tilt. The values goes from -45 to + 45, they are caped to those values and represent degrees.

You can set a continuous measurement for this sensor using the ContinuousMeasurement property.

brick.WaitForSensorToConnect(SensorPort.PortA);
var tilt = (WeDoTiltSensor)brick.GetSensor(SensorPort.PortA);
tilt.ContinuousMeasurement = true;
Point tiltValue;
while(!console.KeyAvailable)
{
    tiltValue = tilt.Tilt;
    console.WriteLine($"Tilt X: {tiltValue.X}, Tilt Y: {tiltValue.Y}");
    Thread.Sleep(200);
}

WeDoDistance Sensor

Figure 5. WeDo Distance sensor, Image from Bricklink

WeDo Distance Sensor gives you a distance in millimeters with the Distance property.

brick.WaitForSensorToConnect(SensorPort.PortA);
var distance = (WeDoDistanceSensor)brick.GetSensor(SensorPort.PortA);
distance.ContinuousMeasurement = true;
while(!console.KeyAvailable)
{
    console.WriteLine($"Distance: {distance.Distance} mm");
    Thread.Sleep(200);
}

SPIKE Prime Force Sensor

Figure 6. Spike Force Sensor, Image from Bricklink

This force sensor measure the pressure applies on it and if it is pressed. The two properties can be access through Force and IsPressed properties.

brick.WaitForSensorToConnect(SensorPort.PortA);
var force = (ForceSensor)brick.GetSensor(SensorPort.PortA);
force.ContinuousMeasurement = true;
while(!force.IsPressed)
{
    console.WriteLine($"Force: {force.Force} N");
    Thread.Sleep(200);
}

SPIKE Essential 3x3 Color Light Matrix

Figure 7. spike 3x3 matrix, Image from Bricklink

This is a small 3x3 display with 9 different leds that can be controlled individually. The class exposes functions to be able to control the screen. Here is an example using them:

brick.WaitForSensorToConnect(SensorPort.PortA);
var matrix = (ColorLightMatrix)brick.GetSensor(SensorPort.PortA);
for(byte i = 0; i < 10; i++)
{
    // Will light every led one after the other like a progress bar
    matrix.DisplayProgressBar(i);
    Thread.Sleep(1000);
}

for(byte i = 0; i < 11; i++)
{
    // Will display the matrix with the same color and go through all of them
    matrix.DisplayColor((LedColor)i);
    Thread.Sleep(1000);
}

Span<byte> brg = stackalloc byte[9] { 1, 2, 3, 4, 5, 6, 7, 8, 9 };
Span<LedColor> col = stackalloc LedColor[9] { LedColor.White, LedColor.White, LedColor.White,
  LedColor.White, LedColor.White, LedColor.White, LedColor.White, LedColor.White, LedColor.White };
// Shades of grey
matrix.DisplayColorPerPixel(brg, col);

SPIKE Prime Color Sensor and Color and Distance Sensor

SPIKE color sensor:

Figure 8. spike color sensor, Image from Bricklink

Color and distance sensor:

Figure 9. Color distance sensor, Image from Bricklink

Those color sensor has multiple properties and functions. You can get the Color, the ReflectedLight and the AmbiantLight.

On top of this, the Color and Distance sensor can measure the Distance and has an object Counter. It will count automatically the number of objects which will go in and out of the range. This does allow to count objects passing in front of the sensor. The distance is limited from 0 to 10 centimeters.

brick.WaitForSensorToConnect(SensorPort.PortC);

var colorSensor = (ColorAndDistanceSensor)brick.GetActiveSensor(SensorPort.PortC);
while (!Console.KeyAvailable)
{
    var colorRead = colorSensor.GetColor();
    Console.WriteLine($"Color:     {colorRead}");
    var reflected = colorSensor.GetReflectedLight();
    Console.WriteLine($"Reflected: {reflected}");
    var ambiant = colorSensor.GetAmbiantLight();
    Console.WriteLine($"Ambiant:   {ambiant}");
    var distance = colorSensor.GetDistance();
    Console.WriteLine($"Distance: {distance}");
    var counter = colorSensor.GetCounter();
    Console.WriteLine($"Counter:  {counter}");
    Thread.Sleep(200);
}

Note

For better measurement, it is not recommended to change the measurement mode in a very fast way, the color integration may not be done in a proper way. This example gives you the full spectrum of what you can do with the sensor. Also, this class do not implement a continuous measurement mode. You can setup one through the advance mode using the SelectModeAndRead function with the specific mode you’d like to continuously have. It is important to understand that changing the mode or setting up a new mode will stop the previous mode.

SPIKE Prime Ultrasonic Distance Sensor

Figure 10. spike distance sensor, Image from Bricklink

This is a distance sensor and it does implement a Distance property that will give the distance in millimeter. A ContinuousMeasurement mode is also available on this one.

brick.WaitForSensorToConnect(SensorPort.PortA);
var distance = (UltrasonicDistanceSensor)brick.GetSensor(SensorPort.PortA);
distance.ContinuousMeasurement = true;
while(!console.KeyAvailable)
{
    console.WriteLine($"Distance: {distance.Distance} mm");
    Thread.Sleep(200);
}

Further Resources

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You can download documentation on the,

and full details of the Python Library documentation can also be found on ReadTheDocs. You can find more information on the .NET library in the .NET IoT Github repository.

You can also follow along with projects from the Raspberry Pi Foundation,

Device Compatibility

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The Build HAT library supports all the LEGO® Technic™ devices included in the SPIKE™ Portfolio, along with those from the LEGO® Mindstorms Robot Inventor kit and other devices that use a PoweredUp connector.

Important

The product code for the SPIKE™ Prime Expansion Set that includes the Maker Plate is 45681. The original Expansion Set is 45680 and does not include the Maker Plate.

Description	Colour	LEGO Item Number	Supported in FW	Supported in Python	Alt Number	BrickLink	Available In	Set Numbers	Class	Type	Device ID
Large Angular Motor	White/Cyan	45602	Yes	Yes	45602	Link	SPIKE Prime Set, SPIKE Prime Expansion Set	45678, 45680	Motor	Active	31
Medium Angular Motor	White/Cyan	45603	Yes	Yes	45603	Link	SPIKE Prime Set	45678	Motor	Active	30
Medium Angular Motor	White/Grey	6299646, 6359216, 6386708	Yes	Yes	436655	Link	Mindstorms Robot Inventor	51515	Motor	Active	4B
Small Angular Motor	White/Cyan	45607, 6296520	Yes	Yes		Link	SPIKE Essentials Set		Motor	Active	41
Light/Colour sensor	White/Black	6217705	Yes	Yes		Link	SPIKE Prime Set, SPIKE Prime Expansion Set, Mindstorms Robot Inventor, SPIKE Essentials	45678, 45680, 51515	ColorSensor	Active	3D
Distance Sensor	White/Black	6302968	Yes	Yes		Link	SPIKE Prime Set, Mindstorms Robot Inventor	45678, 51515	DistanceSensor	Active	3E
System medium motor	White/Grey	45303, 6138854, 6290182, 6127110	Yes	Yes			Wedo 2.0, LEGO Ideas Piano, App controlled Batmobile	76112		Passive	1
Force Sensor	White/Black	6254354	Yes	Yes	45606	Link	SPIKE Prime Set	45678	ForceSensor	Active	3F
3×3 LED	White/Cyan	45608, 6297023	Yes	Yes		Link	SPIKE Essentials		Matrix	Active	40
System train motor	Black	88011	Yes	Yes	28740, 88011-1	Link	Cargo Train, Disney Train and Station, Passenger Train			Passive	2
PoweredUp LED lights	Black	88005	Yes			Link				Passive	8
Medium linear motor	White/Grey	88008	Yes	Yes	26913, 88008-1	Link	Boost, Droid Commander		Motor	Active	26
Technic large motor	Grey/Grey	88013	Yes	Yes	22169	Link				Active	2E
Technic XL motor	Grey/Grey	88014	Yes	Yes	22172, 88014	Link				Active	2F
Colour + distance sensor	White/Grey	88007	Partial	?	26912	Link				Active	25
WeDo 2.0 Motion sensor	White/Grey	45304, 6138855			5003423-1	Link				Active	35
WeDo 2.0 Tilt sensor	White/Grey	45305, 6138856			5003423-1	Link				Active	34

Description

Colour

LEGO Item Number

Supported in FW

Supported in Python

Alt Number

BrickLink

Available In

Set Numbers

Class

Type

Device ID

Large Angular Motor

White/Cyan

45602

Yes

45602

Link

SPIKE Prime Set, SPIKE Prime Expansion Set

45678, 45680

Motor

Active

Medium Angular Motor

White/Cyan

45603

Yes

45603

Link

SPIKE Prime Set

45678

Motor

Active

Medium Angular Motor

White/Grey

6299646, 6359216, 6386708

Yes

436655

Link

Mindstorms Robot Inventor

51515

Motor

Active

Small Angular Motor

White/Cyan

45607, 6296520

Yes

Link

SPIKE Essentials Set

Motor

Active

Light/Colour sensor

White/Black

6217705

Yes

Link

SPIKE Prime Set, SPIKE Prime Expansion Set, Mindstorms Robot Inventor, SPIKE Essentials

45678, 45680, 51515

ColorSensor

Active

Distance Sensor

White/Black

6302968

Yes

Link

SPIKE Prime Set, Mindstorms Robot Inventor

45678, 51515

DistanceSensor

Active

System medium motor

White/Grey

45303, 6138854, 6290182, 6127110

Yes

Wedo 2.0, LEGO Ideas Piano, App controlled Batmobile

76112

Passive

Force Sensor

White/Black

6254354

Yes

45606

Link

SPIKE Prime Set

45678

ForceSensor

Active

3×3 LED

White/Cyan

45608, 6297023

Yes

Link

SPIKE Essentials

Matrix

Active

System train motor

Black

88011

Yes

28740, 88011-1

Link

Cargo Train, Disney Train and Station, Passenger Train

Passive

PoweredUp LED lights

Black

88005

Yes

Link

Passive

Medium linear motor

White/Grey

88008

Yes

26913, 88008-1

Link

Boost, Droid Commander

Motor

Active

Technic large motor

Grey/Grey

88013

Yes

22169

Link

Active

Technic XL motor

Grey/Grey

88014

Yes

22172, 88014

Link

Active

Colour + distance sensor

White/Grey

88007

Partial

26912

Link

Active

WeDo 2.0 Motion sensor

White/Grey

45304, 6138855

5003423-1

Link

Active

WeDo 2.0 Tilt sensor

White/Grey

45305, 6138856

5003423-1

Link

Active

Mechanical Drawings

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Mechanical drawing of the Raspberry Pi Build HAT.