I'm trying to use Simulink to program a Lego Mindstorms NXT vehicle. The main program is complete, except for the sensor interface. The I2C optical sensor is already constructed and meant to be connected to one of the Lego ports. However, I'm not sure how to do that. I've downloaded a tool (Embedded Coder Robot or ECRobot) that is supposed to make Simulink work with the Lego system. However, it only works with standard sensors. See link below.
Since I haven't the faintest clue about how to do this, I thought I would look under the masks of some of the blocks in the ECRobot blockset to get a hint. The interface blocks for all the sensors (compass, gyro, motor, sound, touch, etc.) seem like a good place to start. However, looking under the mask reveals just a Saturation block and a Data Store Write block with no mention of any associated files. Surely, that can't be all there is?! It tells me very little about how to write my own code (or at least modify existing code) to achieve my goal. There are several files in other subdirectories which have codes that address the I2C communication protocol. As I haven't seen them used in any way and I also don't know how they're linked to the Simulink blocks, I'm unable to figure out how they work.
Could somebody please tell me how to uncover more of the inner workings of these blocks? If not, would someone like to share his/her knowledge of getting I2C to work with Simulink? Thanks very much.