This page has moved into the new guide: Ranger 8-Way

Laser Ranger 8-ch: value & command reference

Every value and command the Laser Ranger 8-ch reports to each host: what it means, its range, and how to read it on SPIKE / EV3 / Arduino I2C / mBlock / MATRIX / micro:bit. Append ?host=spike (or ev3, arduino, mblock, matrix, microbit) to the URL to expand that host by default.

SPIKE EV3 Arduino I2C mBlock MATRIX micro:bit

Item	Detail
Factory I2C address	`0x29`
hw[0]	`8`（F0 high byte; ID high byte in SPIKE mode 8 / EV3 mode 5）
Model	`LASER8`
Protocol version	`2`
Hosts	SPIKE, EV3, Arduino I2C, mBlock, MATRIX, micro:bit

Values at a glance

Id	Value	Range	SPIKE	EV3	Arduino I2C	mBlock	MATRIX	micro:bit
`01`	nearest distance (cm)	0~120 cm	✓	✓	✓	✓	—	✓
`02`	nearest direction	-8~+8	✓	✓	✓	✓	—	✓
`03`	farthest distance (cm)	0~120 cm	✓	✓	✓	✓	—	✓
`04`	farthest direction	-7~+7	✓	✓	✓	✓	—	✓
`05`	front distance (cm)	0~120 cm	—	✓	✓	✓	—	✓
`06`	nearest distance (mm)	0~1200 mm	✓	✓	✓	✓	—	✓
`07`	init bitmap	0~255 bit	✓	—	✓	✓	—	✓
`08`	fault bitmap	0~255 bit	✓	—	✓	✓	—	✓
`09`	front distance (mm)	0~1200 mm	✓	✓	✓	✓	—	✓
`10~17`	sensor 1~8 distance (cm)	0~120 cm	✓	✓	✓	✓	✓	✓
`18~1F`	sensor 1~8 distance (mm)	0~1200 mm	—	—	✓	✓	—	✓

✓ = available on that host; — = not sent.

Reading each value

`01` nearest distance (cm) nearCm

Item	Detail
Meaning	smallest of the 8 distances, 0~120 cm (a failed sensor counts as 120); 120 = nothing around
Range	`0~120` cm
I2C / mBlock id	`01`
Locked	🔒 LEGO mode layout will not change

How to read it

SPIKE

mode 2 byte 0; mode 3 byte 1; mode 4 v[0] hi; mode 7 v[2] 🔒; mode 9 v[4] hi 🔒. Note: [最近方向, 最近距離, 第 1 顆]（第 4 byte 第 8 顆被描述表砍掉）; Pybricks ambient() = int16[2]/100 = 最近 cm（INO:348-361）

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

w = dev.read(9)[4]
nearCm = ((w >> 8) & 0xFF)   # nearest distance (cm)（hi byte）

MBC library

from pybricks.parameters import Port
from MBC_laser8_obj_Lib import MBC_LASER8

laser = MBC_LASER8(Port.A)
nearCm = laser.min_distance()

EV3

mode 2 · int8 · IR-REMOTE [最近方向−8, 最近', 最空曠方向−8, 最空曠']（INO:154-159） (locked mode: firmware and hosts will not change it)

from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port

sensor = LUMPDevice(Port.S1)   # sensor on port 1

nearCm = sensor.read(2)[1]   # nearest distance (cm)：cm×100/120 (0~100)

' clev3r (BASIC)
Sensor.SetMode(1, 2)
nearCm = Sensor.ReadRawValue(1, 1)

Arduino I2C

Returns MBC_NONE (−32768) when the module does not answer.

int16_t nearCm = mbcRead(0x29, 0x01);   // nearest distance (cm)：0~120 cm

mBlock

Block returns nearest distance (cm)（0~120 cm）。Host sends [01] → reply [lo][hi][01 ^ lo ^ hi], value = int16 little-endian.

(Ranger 8 port [1 v] nearest distance cm :: sensing)

MATRIX

Not available with the stock MATRIX 0x22 blocks.

micro:bit

Returns 0 when the sensor does not answer; check with "device at … is ready" first.

(distance 8-ch nearest \([cm v]\) :: #00A4E4)

let nearCm = mbc.tof8Nearest(MbcDistUnit.Cm)   // nearest distance (cm)：0~120 cm

Related block "on distance 8-ch nearer than 10 cm"

mbc.onTof8Near(10, function () {
})

`02` nearest direction nearDir

Item	Detail
Meaning	direction of the nearest object: −7 (left) to +7 (right), 0 = straight ahead, negative = left; ±8 = nothing around (keeps the last side)
Range	`-8~+8`
I2C / mBlock id	`02`
Locked	🔒 LEGO mode layout will not change

How to read it

SPIKE

mode 1 byte 0 −8; mode 3 byte 0 −8; mode 4 v[0] lo −8; mode 5 v[0] 🔒; mode 6 v[2]; mode 9 v[4] lo −8 🔒. Note: 原始方位 0~~16（8 = 正前）; Pybricks reflection() 編碼：x = 方位−8，負數 +6399，a = x/25、b = 10×(x mod 25)+9，3 個 int16 = a×256+b → reflection() 向零截斷 = −8~~+8（INO:319-336）; #67 新：HSV 3×int16 = [最近 mm, 正前方 mm, 最近方向 −8~+8]

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

w = dev.read(9)[4]
nearDir = (w & 0xFF) - 8   # nearest direction（lo byte）

MBC library

from pybricks.parameters import Port
from MBC_laser8_obj_Lib import MBC_LASER8

laser = MBC_LASER8(Port.A)
nearDir = laser.min_direction()

EV3

mode 2 · int8 · int8 二補數（方位−8）; mode 5 · int16 · #67 新：IR-CAL 2×int16 = [最近 mm, 最近方向 −8~+8]（原本 = 前 4 顆兩兩合併） (locked mode: firmware and hosts will not change it)

from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port

sensor = LUMPDevice(Port.S1)   # sensor on port 1

nearDir = sensor.read(2)[0]   # nearest direction：-8~+8
nearDir = sensor.read(5)[1]   # nearest direction：-8~+8

' clev3r (BASIC)
Sensor.SetMode(1, 2)
nearDir = Sensor.ReadRawValue(1, 0)
Sensor.SetMode(1, 5)
nearDir = Sensor.ReadRawValue(1, 1)

Arduino I2C

Returns MBC_NONE (−32768) when the module does not answer.

int16_t nearDir = mbcRead(0x29, 0x02);   // nearest direction：-8~+8

mBlock

Block returns nearest direction（-8~+8）。Host sends [02] → reply [lo][hi][02 ^ lo ^ hi], value = int16 little-endian.

(Ranger 8 port [1 v] nearest direction :: sensing)

MATRIX

Not available with the stock MATRIX 0x22 blocks.

micro:bit

Returns 0 when the sensor does not answer; check with "device at … is ready" first.

(distance 8-ch nearest direction :: #00A4E4)

let nearDir = mbc.tof8NearestDirection()   // nearest direction：-8~+8

`03` farthest distance (cm) farCm

Item	Detail
Meaning	largest of the 8 distances, 0~120 cm (a failed sensor always reads 120 and looks 'farthest')
Range	`0~120` cm
I2C / mBlock id	`03`
Locked	🔒 LEGO mode layout will not change

How to read it

SPIKE

mode 9 v[5] hi 🔒

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

w = dev.read(9)[5]
farCm = ((w >> 8) & 0xFF)   # farthest distance (cm)（hi byte）

MBC library

from pybricks.parameters import Port
from MBC_laser8_obj_Lib import MBC_LASER8

laser = MBC_LASER8(Port.A)
farCm = laser.max_distance()

EV3

mode 2 · int8 (locked mode: firmware and hosts will not change it)

from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port

sensor = LUMPDevice(Port.S1)   # sensor on port 1

farCm = sensor.read(2)[3]   # farthest distance (cm)：cm×100/120 (0~100)

' clev3r (BASIC)
Sensor.SetMode(1, 2)
farCm = Sensor.ReadRawValue(1, 3)

Arduino I2C

Returns MBC_NONE (−32768) when the module does not answer.

int16_t farCm = mbcRead(0x29, 0x03);   // farthest distance (cm)：0~120 cm

mBlock

Block returns farthest distance (cm)（0~120 cm）。Host sends [03] → reply [lo][hi][03 ^ lo ^ hi], value = int16 little-endian.

(Ranger 8 port [1 v] farthest distance cm :: sensing)

MATRIX

Not available with the stock MATRIX 0x22 blocks.

micro:bit

Returns 0 when the sensor does not answer; check with "device at … is ready" first.

(distance 8-ch most open \(cm\) :: #00A4E4)

let farCm = mbc.tof8OpenCm()   // farthest distance (cm)：0~120 cm

`04` farthest direction farDir

Item	Detail
Meaning	direction of the most open side: −7 to +7, 0 = straight ahead, negative = left; 0 when all 8 read 120
Range	`-7~+7`
I2C / mBlock id	`04`
Locked	🔒 LEGO mode layout will not change

How to read it

SPIKE

mode 9 v[5] lo −8 🔒

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

w = dev.read(9)[5]
farDir = (w & 0xFF) - 8   # farthest direction（lo byte）

MBC library

from pybricks.parameters import Port
from MBC_laser8_obj_Lib import MBC_LASER8

laser = MBC_LASER8(Port.A)
farDir = laser.max_direction()

EV3

mode 2 · int8 · int8 二補數（方位−8） (locked mode: firmware and hosts will not change it)

from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port

sensor = LUMPDevice(Port.S1)   # sensor on port 1

farDir = sensor.read(2)[2]   # farthest direction：-7~+7

' clev3r (BASIC)
Sensor.SetMode(1, 2)
farDir = Sensor.ReadRawValue(1, 2)

Arduino I2C

Returns MBC_NONE (−32768) when the module does not answer.

int16_t farDir = mbcRead(0x29, 0x04);   // farthest direction：-7~+7

mBlock

Block returns farthest direction（-7~+7）。Host sends [04] → reply [lo][hi][04 ^ lo ^ hi], value = int16 little-endian.

(Ranger 8 port [1 v] farthest direction :: sensing)

MATRIX

Not available with the stock MATRIX 0x22 blocks.

micro:bit

Returns 0 when the sensor does not answer; check with "device at … is ready" first.

(distance 8-ch most open direction :: #00A4E4)

let farDir = mbc.tof8OpenDirection()   // farthest direction：-7~+7

`05` front distance (cm) frontCm

Item	Detail
Meaning	average of sensors 4 and 5 (both facing forward), 0~120 cm; EV3 mode 3 and SPIKE mode 6 carry the same thing in mm; 0x22 'C' is min(4, 5), not the average (see 10)
Range	`0~120` cm
I2C / mBlock id	`05`

How to read it

SPIKE

Not sent in any SPIKE mode (locked modes stay as they are). Use Arduino I2C / mBlock if you need it.

EV3

mode 0 · int8 · IR-PROX = (第 4'+第 5')>>1（鎖住，INO:148-150） (locked mode: firmware and hosts will not change it)

from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port

sensor = LUMPDevice(Port.S1)   # sensor on port 1

frontCm = sensor.read(0)[0]   # front distance (cm)：cm×100/120 (0~100)

' clev3r (BASIC)
Sensor.SetMode(1, 0)
frontCm = Sensor.ReadRawValue(1, 0)

Arduino I2C

Returns MBC_NONE (−32768) when the module does not answer.

int16_t frontCm = mbcRead(0x29, 0x05);   // front distance (cm)：0~120 cm

mBlock

Block returns front distance (cm)（0~120 cm）。Host sends [05] → reply [lo][hi][05 ^ lo ^ hi], value = int16 little-endian.

(Ranger 8 port [1 v] front distance cm :: sensing)

MATRIX

Not available with the stock MATRIX 0x22 blocks.

micro:bit

Returns 0 when the sensor does not answer; check with "device at … is ready" first.

(distance 8-ch front \([cm v]\) :: #00A4E4)

let frontCm = mbc.tof8Front(MbcDistUnit.Cm)   // front distance (cm)：0~120 cm

`06` nearest distance (mm) nearMm

Item	Detail
Meaning	smallest of the 8 mm readings, 0~1200 (failed sensor counts as 1200); 1200 = nothing around
Range	`0~1200` mm
I2C / mBlock id	`06`

How to read it

SPIKE

mode 6 v[0]. Note: #67 新：[最近 mm, 正前方 mm, 方向]

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

nearMm = dev.read(6)[0]   # nearest distance (mm)

MBC library

from pybricks.parameters import Port
from MBC_laser8_obj_Lib import MBC_LASER8

laser = MBC_LASER8(Port.A)
nearMm = laser.nearest_mm()

EV3

mode 5 · int16 · #67 新：[最近 mm, 最近方向]

from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port

sensor = LUMPDevice(Port.S1)   # sensor on port 1

nearMm = sensor.read(5)[0]   # nearest distance (mm)：0~1200 mm

' clev3r (BASIC)
Sensor.SetMode(1, 5)
nearMm = Sensor.ReadRawValue(1, 0)

Arduino I2C

Returns MBC_NONE (−32768) when the module does not answer.

int16_t nearMm = mbcRead(0x29, 0x06);   // nearest distance (mm)：0~1200 mm

mBlock

Block returns nearest distance (mm)（0~1200 mm）。Host sends [06] → reply [lo][hi][06 ^ lo ^ hi], value = int16 little-endian.

(Ranger 8 port [1 v] nearest distance mm :: sensing)

MATRIX

Not available with the stock MATRIX 0x22 blocks.

micro:bit

Returns 0 when the sensor does not answer; check with "device at … is ready" first.

(distance 8-ch nearest \([mm v]\) :: #00A4E4)

let nearMm = mbc.tof8Nearest(MbcDistUnit.Mm)   // nearest distance (mm)：0~1200 mm

`07` init bitmap initOk

Item	Detail
Meaning	bit0 = sensor 1 (left) … bit7 = sensor 8; 1 = initialised at power-on (8 sensors take 24 s, no retry); 255 = all OK
Range	`0~255` bit
I2C / mBlock id	`07`
Locked	🔒 LEGO mode layout will not change

How to read it

SPIKE

mode 9 v[6] lo 🔒

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

w = dev.read(9)[6]
initOk = (w & 0xFF)   # init bitmap（lo byte）

MBC library

from pybricks.parameters import Port
from MBC_laser8_obj_Lib import MBC_LASER8

laser = MBC_LASER8(Port.A)
initOk = laser.is_ok(1)

EV3

Not sent in any EV3 mode (the locked EV3 modes stay as they are). Use Arduino I2C / mBlock if you need it.

Arduino I2C

Returns MBC_NONE (−32768) when the module does not answer.

int16_t initOk = mbcRead(0x29, 0x07);   // init bitmap：0~255 bit

mBlock

Block returns init bitmap（0~255 bit）。Host sends [07] → reply [lo][hi][07 ^ lo ^ hi], value = int16 little-endian.

(Ranger 8 port [1 v] init bitmap :: sensing)

MATRIX

Not available with the stock MATRIX 0x22 blocks.

micro:bit

No dedicated block; in JavaScript read it with mbc.readValue(address, id) (−32768 when nothing answers). Related block: "distance 8-ch sensor 1 is OK".

let initOk = mbc.readValue(0x29, 0x07)   // init bitmap：0~255 bit

`08` fault bitmap fault

Item	Detail
Meaning	bit0 = sensor 1 … bit7 = sensor 8; 1 = currently failing (I2C error or no update for 200 ms); its distance reads 120 / 1200
Range	`0~255` bit
I2C / mBlock id	`08`
Locked	🔒 LEGO mode layout will not change

How to read it

SPIKE

mode 9 v[6] hi 🔒

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

w = dev.read(9)[6]
fault = ((w >> 8) & 0xFF)   # fault bitmap（hi byte）

MBC library

from pybricks.parameters import Port
from MBC_laser8_obj_Lib import MBC_LASER8

laser = MBC_LASER8(Port.A)
fault = laser.is_ok(1)

EV3

Not sent in any EV3 mode (the locked EV3 modes stay as they are). Use Arduino I2C / mBlock if you need it.

Arduino I2C

Returns MBC_NONE (−32768) when the module does not answer.

int16_t fault = mbcRead(0x29, 0x08);   // fault bitmap：0~255 bit

mBlock

Block returns fault bitmap（0~255 bit）。Host sends [08] → reply [lo][hi][08 ^ lo ^ hi], value = int16 little-endian.

(Ranger 8 port [1 v] fault bitmap :: sensing)

MATRIX

Not available with the stock MATRIX 0x22 blocks.

micro:bit

No dedicated block; in JavaScript read it with mbc.readValue(address, id) (−32768 when nothing answers). Related block: "distance 8-ch sensor 1 is OK".

let fault = mbc.readValue(0x29, 0x08)   // fault bitmap：0~255 bit

`09` front distance (mm) frontMm

Item	Detail
Meaning	average of sensors 4 and 5 (the two facing forward), 0~1200 mm; 1200 = nothing ahead. cm version is 05
Range	`0~1200` mm
I2C / mBlock id	`09`

How to read it

SPIKE

mode 6 v[1]. Note: #67 新：正前方 mm

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

frontMm = dev.read(6)[1]   # front distance (mm)

MBC library

from pybricks.parameters import Port
from MBC_laser8_obj_Lib import MBC_LASER8

laser = MBC_LASER8(Port.A)
frontMm = laser.front_mm()

EV3

mode 3 · int16 · #67 新：IR-REM-A 1×int16 = 正前方（第 4、5 顆平均）mm（原本 = 第 1 顆 0~100）

from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port

sensor = LUMPDevice(Port.S1)   # sensor on port 1

frontMm = sensor.read(3)[0]   # front distance (mm)：mm (0~1200)

' clev3r (BASIC)
Sensor.SetMode(1, 3)
frontMm = Sensor.ReadRawValue(1, 0)

Arduino I2C

Returns MBC_NONE (−32768) when the module does not answer.

int16_t frontMm = mbcRead(0x29, 0x09);   // front distance (mm)：0~1200 mm

mBlock

Block returns front distance (mm)（0~1200 mm）。Host sends [09] → reply [lo][hi][09 ^ lo ^ hi], value = int16 little-endian.

(Ranger 8 port [1 v] front distance mm :: sensing)

MATRIX

Not available with the stock MATRIX 0x22 blocks.

micro:bit

Returns 0 when the sensor does not answer; check with "device at … is ready" first.

(distance 8-ch front \([mm v]\) :: #00A4E4)

let frontMm = mbc.tof8Front(MbcDistUnit.Mm)   // front distance (mm)：0~1200 mm

`10~17` sensor 1~8 distance (cm) distCm

Item	Detail
Meaning	distance of each sensor 1~~8, 0~~120 cm (1 = far left, 4 and 5 = front, 8 = far right, 30° apart); 120 = nothing that way / sensor failed; ids 10~17
Range	`0~120` cm
I2C / mBlock id	`10~17`
Locked	🔒 LEGO mode layout will not change

How to read it

SPIKE

mode 0 (edu) byte 0 🔒; mode 0 (toy) byte 0 🔒; mode 3 byte 2; mode 4 v[1]; mode 8 v[0]; mode 9 v[0] 🔒. Note: 16 B = [第 1~~8 顆, 0×8]：App 顏色 = 第 1 顆、反射光 = 第 2 顆、原始紅 = 第 3+256×第 4 …; byte0/1 = 第 1、2 顆 ×10/120（0~~10）；byte2~~7 = 第 3~~8 顆兩顆一組 4-bit 再查表編碼（spikeEncodeU8，INO:259-284）; byte2 = 第 1 顆（byte3 = 第 8 顆被描述表砍掉）; v1 = 第 1 顆 + 256×第 8 顆; 只送 4 B：v0 = 第 1+256×第 2、v1 = 第 3+256×第 4; 每 int16 兩顆：lo = 第 2k+1 顆、hi = 第 2k+2 顆（v0~~v3 = 第 1~~8 顆）

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

words = dev.read(9)[0:4]
distCm = []
for w in words:
    distCm.append(w & 0xFF)          # odd channel
    distCm.append((w >> 8) & 0xFF)   # even channel

MBC library

from pybricks.parameters import Port
from MBC_laser8_obj_Lib import MBC_LASER8

laser = MBC_LASER8(Port.A)
distCm = laser.distances()   # list, channel 1 = [0]

EV3

mode 1 · int8 · IR-SEEK 8×int8 = 第 1~~8 顆（EV3 視為頻道 1~~4 的〈方位,距離〉）; mode 4 · int8 · IR-S-ALT = 前 4 顆 (locked mode: firmware and hosts will not change it)

from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port

sensor = LUMPDevice(Port.S1)   # sensor on port 1

distCm = sensor.read(1)[0:8]   # sensor 1~8 distance (cm)
distCm = sensor.read(4)[0:4]   # sensor 1~8 distance (cm)

' clev3r (BASIC)
Sensor.SetMode(1, 1)
distCm1 = Sensor.ReadRawValue(1, 0)   ' first; for the N-th use 0 + N - 1
Sensor.SetMode(1, 4)
distCm1 = Sensor.ReadRawValue(1, 0)   ' first; for the N-th use 0 + N - 1

Arduino I2C

Ids 0x10~0x17 are consecutive: one mbcReadMany call returns them from the same 10 ms snapshot.

int16_t distCm[8];
mbcReadMany(0x29, 0x10, 8, distCm);   // sensor 1~8 distance (cm)：0~120 cm
for (uint8_t i = 0; i < 8; i++) { Serial.print(distCm[i]); Serial.print(' '); }
Serial.println();

mBlock

Block returns sensor 1~~8 distance (cm)（0~~120 cm）。Host sends [10] → reply [lo][hi][10 ^ lo ^ hi], value = int16 little-endian; channel N uses id 0x10 + (N − 1).

(Ranger 8 port [1 v] sensor [1 v] distance cm :: sensing)

MATRIX

0x22 R~K.

// A. stock 0x22 blocks：R~K = sensor 1~8 distance (cm)（#67 改（使用者最終定案）：R、G、B = 第 1、2、3 顆；C = min(第 4, 第 5 顆)（正前方取較近）；M、Y、K = 第 6、7、8 顆；全部 cm 0~120；11、12 = 0）
int raw = MiniR4.I2C1.MXColor.getColor(R);   // group 1

micro:bit

Returns 0 when the sensor does not answer; check with "device at … is ready" first.

(distance 8-ch sensor (1) \([cm v]\) :: #00A4E4)

let distCm = mbc.tof8Sensor(1, MbcDistUnit.Cm)   // sensor 1~8 distance (cm)：0~120 cm (N = 1~8)

`18~1F` sensor 1~8 distance (mm) distMm

Item	Detail
Meaning	distance of each sensor 1~~8, 0~~1200 mm; 1200 = nothing that way / sensor failed; ids 18~1F
Range	`0~1200` mm
I2C / mBlock id	`18~1F`

How to read it

SPIKE

Not sent in any SPIKE mode (locked modes stay as they are). Use Arduino I2C / mBlock if you need it.

EV3

Not sent in any EV3 mode (the locked EV3 modes stay as they are). Use Arduino I2C / mBlock if you need it.

Arduino I2C

Ids 0x18~0x1F are consecutive: one mbcReadMany call returns them from the same 10 ms snapshot.

int16_t distMm[8];
mbcReadMany(0x29, 0x18, 8, distMm);   // sensor 1~8 distance (mm)：0~1200 mm
for (uint8_t i = 0; i < 8; i++) { Serial.print(distMm[i]); Serial.print(' '); }
Serial.println();

mBlock

Block returns sensor 1~~8 distance (mm)（0~~1200 mm）。Host sends [18] → reply [lo][hi][18 ^ lo ^ hi], value = int16 little-endian; channel N uses id 0x18 + (N − 1).

(Ranger 8 port [1 v] sensor [1 v] distance mm :: sensing)

MATRIX

Not available with the stock MATRIX 0x22 blocks.

micro:bit

Returns 0 when the sensor does not answer; check with "device at … is ready" first.

(distance 8-ch sensor (1) \([mm v]\) :: #00A4E4)

let distMm = mbc.tof8Sensor(1, MbcDistUnit.Mm)   // sensor 1~8 distance (mm)：0~1200 mm (N = 1~8)

Status flags F3

One status per bit of F3; read directly over I2C, mBlock, micro:bit.

bit	Name	Meaning
b0	ready (`ready`)	1 once all 8 sensors are initialised (24 s after power-on) and snapshots are running
b1	any sensor failed (`fault`)	1 if any sensor failed to initialise, has an I2C error or no update for 200 ms (08 ≠ 0 or 07 ≠ 255)

SPIKE

SPIKE has no F3 flags; mode 8 returns ID / version. The official app cannot read mode 8.

from pybricks.iodevices import PUPDevice
from pybricks.parameters import Port

dev = PUPDevice(Port.A)   # sensor on port A

id_word, proto, fw, seq = dev.read(8)   # mode 8: [ID | hw0<<8, protocol 2, major×100+minor, counter]
addr = id_word & 0xFF   # 0x29
hw0 = id_word >> 8      # 8

EV3

EV3 has no F3 flags; mode 5 returns the device ID and firmware version (ID format B).

from pybricks.iodevices import LUMPDevice
from pybricks.parameters import Port

sensor = LUMPDevice(Port.S1)   # sensor on port 1

id_word, fw = sensor.read(5)   # mode 5: [ID | hw0<<8, major×100+minor]
addr = id_word & 0xFF             # 0x29
hw0 = id_word >> 8                # 8

Arduino I2C

int16_t st = mbcRead(0x29, 0xF3);
bool ready = st & (1 << 0);   // ready
bool fault = st & (1 << 1);   // any sensor failed

mBlock

The extension splits status flags F3 into boolean blocks (ready, calibrating, …).

MATRIX

The status flags are not available with the stock MATRIX 0x22 blocks.

micro:bit

let ready = mbc.deviceReady(0x29)   // F3 bit0; false when nothing answers
let st = mbc.status(0x29)   // F3

Shared registers and commands

Identical on every product, documented once in the universal I2C protocol:

Id	Name	Meaning
`F0`	device ID	low byte = factory I2C address (unchanged after re-addressing), high byte = hw[0] (channels / sensors / variant)
`F1`	protocol version	2 for this release (same number reported in SPIKE mode 8 v[1])
`F2`	firmware version	major×100 + minor (e.g. 102 = 1.2)
`F3`	status flags	b0 = ready; other bits per product (see flags)
`F4`	update counter	+1 every 10 ms snapshot, wraps 0~255 (2.56 s per cycle, not usable for reboot detection; frozen = module busy)
`F5`	uptime seconds	seconds since boot, saturates at 32767 (~9 h); a drop means the module rebooted
`F8`	change I2C address	[F8][new 0x08~~0x77][~~new], saved to EEPROM, takes effect after reboot; [F8][0x00][0xFF] = back to factory address
`EF`	reboot	[EF][0xA5]; mBlock sends ACK first, then reboots

Sources and assumptions

Generated by _build/gen-reference.mjs from _build/protocol/tof8.json (single source of truth, transcribed from the 2026-10-21 protocol decisions).

正前方 mm（EV3 模式 3、SPIKE 模式 6 v[1]）在定案 §5 沒有獨立 I2C 編號 → 掛在 05 正前方 cm 底下，用 scale:mm 標示，不自己加編號。
0x22（使用者 2026-10-21 最終定案）：只用一個位址，R~K 由左到右 7 個 cm：第 1、2、3 顆、min(第 4, 第 5)、第 6、7、8 顆；11、12 不放資料；最近距離／方向由主機自己比較。此排法只用在 0x22，EV3／SPIKE不動。
SPIKE：0/5/7/9 鎖住，1、2、3、4、8 維持不動；模式 6 改 [最近 mm, 正前方 mm, 最近方向 −8~~+8]（原本 = 第 2~~7 顆兩兩合併）；模式 8 v[0] 改 ID|hw[0]<<8。
最空曠方向 04 範圍 −7~+7（maxDirection 永遠不會是 0／16，盤點 INO:1086-1088）；最近方向 02 ±8 = 沒目標、沿用上次偏向側，開機預設 −8。
沒有寫入命令；F8 換位址／EF 重開機用共用的。
主對話 2026-10-21：補 09 正前方 mm（定案 §5 只有 05 正前方 cm，但 EV3 模式 3、SPIKE 模式 6 都送 mm，I2C／mBlock 應有同一個值）。