Hacking the Lego Mindstorms RCX With an Arduino

I recently found a few boxes of an old LEGO Mindstorms RCX set and then spent a frustrating 2 weeks trying to get all the software and hardware to work together. Main problem was that the USB IR tower that they made to speak to the RCX control block would only run under a 32 bit computer. After setting up a Virtual Machine on my laptop and running Windows XP I managed to get the tower working but it would repeatedly drop the connection to the block during the firmware upload. Eventually I gave up and realised that everything I might want to do I should be able to do with my Arduino plus I shouldn’t have to learn any more weird and obsolete programming languages on top.”