One of the neat uses of a powerful tiny handheld computer, like an iPhone or iPod, is interaction with the physical world through robotics. The iPhone seems to be a perfect combination of small form factor, excellent battery capacity, powerful CPU, myriad sensors such as cameras, accelerometers, gyroscopes, compass, GPS and excellent connectivity through Bluetooth, WiFi and the cell network. For monetary reasons, Apple chose to lock down the iPhone so that it can’t communicate with other small, low power, devices unless the devices are officially licensed by Apple and labelled as “iPhone ready”.

We still want to control our small robots. What are we to do?

It turns out there is a tiny crack in Apple’s iOS Bluetooth lockdown that is sufficient to do something useful with LEGO Mindstorms as well as many other devices with the right mix of Bluetooth functionality. There is no need to jailbreak the phone and, surprisingly,  no need to use undocumented iOS APIs so this method does not violate Apple’s developer agreement. Nonetheless, experience has taught me that Apple would never approve this kind of app for inclusion in the app store and that Apple doesn’t need a reason to reject an app.

It would be very easy for Apple to plug this minor hole in their lockdown of the iPhone so in the interest of keeping the hole open as long as possible, I won’t detail how it works. Instead I’ll just post a video demo of an iPhone controlling a robot directly.

The iPhone and iPod are remarkable portable systems that could open up a whole new world of sophisticated low cost robotics. It would be very cool if Apple could find a way to officially allow these kinds of applications.

The iPhone is an island. A commercial, maximum security prison island with each and every data entry and exit very tightly controlled and tolled.

Apps can only be installed from Apple’s official app store after Apple has reviewed the app. One of the many things Apple checks when it reviews an app is to ensure the app does not leak data in a way that Apple or AT&T can’t profit from (Apple approves, pulls flashlight app).

Apple takes a cut from your app purchase. Free apps typically come loaded with ads which are served by Apple so it can take a cut there as well. The iPhone’s connector is a patented Apple design that can only be bought from Apple at a hefty price. iPhone accessories that communicate with the iPhone, speaker systems for instance, need to have an expensive Apple supplied authentication chip so the iPhone will agree to communicate with them. The iPhone’s Bluetooth capabilities are gimped to ensure no untolled data sneaks in or out of the iPhone. As a result, the iPhone works with Bluetooth headsets and can communicate with other iPhones over Bluetooth and little else.

In some sense, the iPhone is an irony. It’s the first true general purpose palmtop computer and universal communications device which can’t be used for very much computing or communication outside of Apple’s kid size prison cell.

So what does this have to do with LEGO NXT?

Well, I found a tiny little crack in the data prison that doesn’t require jailbreaking the iPhone (or iPod). It still requires the use of undocumented APIs but I find that more convenient than jailbreaking, as easy as jailbreaking has been recently. I managed to coax the undocumented Bluetooth facilities in the iPhone to let it communicate with a LEGO NXT brick.

Here’s a short unexciting video showing the two in action.

First Post.

The iPhone and LEGO NXT seem like a natural fit. The NXT can control motors while the iPhone has a lot more computing power, additional sensors and communications built in (camera, accelerometers, gyroscopes, microphone, speaker, Wifi and cellular connectivity). They also both have Bluetooth so getting them to communicate should be easy, right?
No, not really. Apple, in its infinite wisdom, has decided to lock down the iPhone in myriad bizarre ways. One of those ways is to hobble Bluetooth so that it is practically useless for anything other than ear pieces and playing games with other iPhones.
Well, not for long…. I hope…

Camera FX! was approved by Apple. Hopefully, it will get noticed a little bit…

It is available in Apple’s app store here:

http://tinyurl.com/3azu5r5

Promo Dispenser appears to be a good idea. Basically, for the developer, it ensures you get a review for every promo code you provide through the service. It does this by letting users download additional promo codes only after they have left an app store review for the previous app they got a promo code.
So far I’ve uploaded 5 promo codes each for FlashMaster and Flashlight 4.

The website does not appear to be too well known which is surprising as the idea seems solid. Solid enough that I think Apple should provide such an option as part of their promo code generation. If the developer chooses his promo code should require a review.

We’ll see how this experiment turns out…

Once I got the e-mails from Apple informing me that Apple “would require more time” to review the Flashlight 4 and FlashMaster apps I was convinced they were bound for rejection.
This morning I was pleasantly surprised to receive to approval notices from Apple and a request to add this notice to the app marketing texts:

Note: Continued use of the flash may dramatically decrease battery life.

Now have a twitter account with latest updates. Follow @xysternet

Free Mirror was approved by Apple today. It uses iPhone 4′s front facing camera to act as a magnifying mirror.
It is available, for free, here:

Free Mirror in App Store