Opens USB or Bluetooth connection to NXT device and returns a handle
handle = COM_OpenNXT()
handle = COM_OpenNXT(inifilename)
handle = COM_OpenNXT() tries to open a connection via USB. The first NXT device that is found will be used. Device drivers (Fantom on Windows, libusb on Linux) have to be already installed for USB to work.
handle = COM_OpenNXT(inifilename) will search the USB bus for NXT devices, just as the syntax without any parameters. If this fails for some reason (no USB connection to the NXT available, no device drivers installed, or NXT device is busy), the function will try to establish a connection via Bluetooth, using the given Bluetooth configuration file (you can create one easily with COM_MakeBTConfigFile.
Note that this function is the most simple way to get an NXT handle. If you need a method to access multiple NXTs or more options, see the advanced function COM_OpenNXTEx. In fact, COM_OpenNXT is just a convenient wrapper to COM_OpenNXTEx('Any', ...).
If you call COM_CloseNXT('all') after a clear all command has been issued, the function will not be able to close all remaining open USB handles, since they have been cleared out of memory. This is a problem on Linux systems. You will not be able to use the NXT device without rebooting it. Solution: Either use only clear in your programs, or you use the COM_CloseNXT('all') statement before clear all. The best way however is to track your handles carefully and close them manually (COM_CloseNXT(handle)) before exiting whenever possible!
handle = COM_OpenNXT('bluetooth.ini'); COM_SetDefaultNXT(handle); NXT_PlayTone(440,10); COM_CloseNXT(handle);
- Author: Linus Atorf (see AUTHORS)
- Date: 2009/07/10
- Copyright: 2007-2009, RWTH Aachen University