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colorPAL and Arduino

Hello everyone! I have a colorPAL from Parallax and it doesn't appear to be very Arduino friendly. I can't seem to find any successful code anywhere that will allow the two to communicate. Does anyone have any code to share just to get me started? Thanks

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I just skimmed the data sheets and nothing seems out of the ordinary. It allows different baud rates and from there, it is just some serial data sent back and forth. I was a little confused with 3 wires instead of 4 but it appears that the signal pin is pulled high and low for different durations teamed with some data sends to put the unit into different states. I can't tell you how many arduino based products I have had to convert to picaxe so going the other way (basic stamp to arduino) should not be that tough.