Command Layer Structure

(!) Here you can see command layers of previous toolbox releases. To see the latest overview, see Docs / Command Layer Structure.

Toolbox v4.03

The functions of the RWTH - Mindstorms NXT Toolbox can be categorized into a multiple layer structure. On the lowest layer Low Level and Helper functions are available, which mostly convert parameter modes to bytes words, determined by the LEGO direct commands documentation. The second layer includes Direct NXT Commands which are mapped from the LEGO direct command documentation without any limitations and can be identified by the NXT_* prefix. Also Bluetooth packet related functions can be found in this layer. Layer 3 provides High Level Functions for controlling the NXT motors, sensors and the Bluetooth connection. These functions are basically using the Direct NXT Commands of layer 2 to make the motor and sensor controlling more convenient and easily readable for the user. The top layer provides High Level Regulation functions for precise motor regulation and various utilities.


Layer Description Output/Motors Input/Sensors General Bluetooth / USB
4 High Level Regulation / Utilities NXTMotor
.display
.ReadFromNXT
.SendToNXT
.Stop
.WaitFor
.ResetPosition

NXC_MotorControl
  OptimizeToolboxPerformance

GUI_WatchMotorState
GUI_WatchSensor
COM_MakeBTConfigFile
3 High Level Functions DirectMotorCommand

StopMotor

SwitchLamp

NXC_ResetErrorCorrection
OpenLight
GetLight

OpenSound
GetSound

OpenSwitch
GetSwitch

OpenUltrasonic
GetUltrasonic
USMakeSnapshot
USGetSnapshotResults

OpenAccelerator
GetAccelerator

OpenColor
CalibrateColor
GetColor

OpenCompass
CalibrateCompass
GetCompass

OpenGyro
CalibrateGyro
GetGyro

OpenInfrared
GetInfrared

OpenRFID
GetRFID

CloseSensor
readFromIniFile

MAP_GetCommModule
MAP_GetInputModule
MAP_GetOutputModule
MAP_GetSoundModule
MAP_GetUIModule

MAP_SetOutputModule

NXC_GetSensorMotorData
COM_OpenNXT
COM_OpenNXTEx

COM_CloseNXT

COM_ReadI2C
2 Direct NXT Commands NXT_SetOutputState

NXT_GetOutputState

NXT_ResetMotorPosition
NXT_SetInputMode

NXT_GetInputValues


NXT_ResetInputScaledValue

NXT_LSRead
NXT_LSWrite
NXT_LSGetStatus
NXT_PlayTone
NXT_PlaySoundFile
NXT_StopSoundPlayback

NXT_StartProgram
NXT_GetCurrentProgramName
NXT_StopProgram

NXT_SendKeepAlive
NXT_GetBatteryLevel
NXT_GetFirmwareVersion
NXT_SetBrickName

NXT_ReadIOMap
NXT_WriteIOMap

NXT_MessageWrite
NXT_MessageRead
COM_CreatePacket
COM_SendPacket
COM_CollectPacket

COM_SetDefaultNXT
COM_GetDefaultNXT
1 Low Level Functions:
Helper, Conversion and
Lookup Functions
MOTOR_A
MOTOR_B
MOTOR_C


SetMotor (o)
SetPower (o)
SetAngleLimit (o)
SetRampMode (o)
SetTurnRatio (o)
SpeedRegulation (o)
SyncToMotor (o)
GetMotor (o)
SetMemoryCount (o)
GetMemoryCount (o)

byte2outputmode
byte2regmode
byte2runstate
outputmode2byte
regmode2byte
runstate2byte


initializeGlobalMotorStateVar (o)
SENSOR_1
SENSOR_2
SENSOR_3
SENSOR_4


byte2sensortype
byte2sensormode
sensortype2byte
sensormode2byte


waitUntilI2CReady
DebugMode
isdebug

textOut

dec2wordbytes
name2commandbytes
commandbyte2name
wordbytes2dec
checkStatusByte

createHandleStruct
checkHandleStruct

getLibusbErrorString
getVISAErrorString
getReplyLengthFromCmdByte

fantom_proto
libusb_proto
legend: NXT_* = NXT Direct commands without any limitations (mapped to the LEGO direct command documentation)
           COM_* = Functions related to the NXT communication
           MAP_* = Functions related to the NXT module maps
           NXC_* = Functions communicating with the embedded NXC program MotorControl
           bold = Main funcions or main group functions
           italic = private functions
           (o) = obsolete / deprecated functions (might be removed in a future release)

Toolbox v2.03

The functions of the RWTH - Mindstorms NXT Toolbox can be categorized into a multiple layer structure. On the lowest layer Low Level and Helper functions are available, which mostly convert parameter modes to bytes words, determined by the LEGO direct commands documentation. The second layer includes Direct NXT Commands which are mapped from the LEGO direct command documentation without any limitations and can be identified by the NXT_* prefix. Also Bluetooth packet related functions can be found in this layer. Layer 3 provides High Level Functions for controlling the NXT motors, sensors and the Bluetooth connection. These functions are basically using the Direct NXT Commands of layer 2 to make the motor and sensor controlling more convenient and easily readable for the user. The top layer provides High Level Regulation functions for precise motor regulation and various utilities.



Layer Description Output/Motors Input/Sensors General Bluetooth / USB
4 High Level Regulation / Utilities MotorRotateAbs (o)

WaitForMotor (o)
  OptimizeToolboxPerformance COM_MakeBTConfigFile
3 High Level Functions NXTmotor
ReadFromNXT
SendToNXT
Stop
WaitFor
ResetPosition

NXC_MotorControl
NXC_ResetErrorCorrection
OpenLight
OpenSound
OpenSwitch
OpenUltrasonic
OpenAccelerator
OpenInfrared
OpenCompass
OpenGyro
OpenRFID
OpenColor

GetLight
GetSound
GetSwitch
GetAccelerator
GetInfrared
GetUltrasonic

USMakeSnapshot
USGetSnapshotResults
GetCompass
CalibrateCompass
GetColor
CalibrateColor
GetRFID
GetGyro

CloseSensor
readFromIniFile

MAP_GetCommModule
MAP_GetInputModule
MAP_GetOutputModule
MAP_GetSoundModule
MAP_GetUIModule

MAP_SetOutputModule
COM_OpenNXT
COM_OpenNXTEx

COM_CloseNXT

COM_ReadI2C
SendMotorSettings (o)
SetMotor (o)
SetPower (o)
SetAngleLimit (o)
SetRampMode (o)
SpeedRegulation (o)
SyncToMotor (o)

StopMotor

GetMotorSettings (o)
GetMotor (o)

ResetMotorAngle (o)

SwitchLamp

SetMemoryCount (o)
GetMemoryCount (o)
2 Direct NXT Commands NXT_SetOutputState

NXT_GetOutputState

NXT_ResetMotorPosition
NXT_SetInputMode

NXT_GetInputValues


NXT_ResetInputScaledValue

NXT_LSRead
NXT_LSWrite
NXT_LSGetStatus
NXT_PlayTone
NXT_PlaySoundFile
NXT_StopSoundPlayback

NXT_StartProgram
NXT_StopProgram

NXT_SendKeepAlive
NXT_GetBatteryLevel
NXT_GetFirmwareVersion
NXT_SetBrickName

NXT_ReadIOMap
NXT_WriteIOMap

NXT_MessageWrite
COM_CreatePacket
COM_SendPacket
COM_CollectPacket

COM_SetDefaultNXT
COM_GetDefaultNXT
1 Low Level Functions:
Helper, Conversion and
Lookup Functions
MOTOR_A
MOTOR_B
MOTOR_C

byte2outputmode
byte2regmode
byte2runstate
outputmode2byte
regmode2byte
runstate2byte


initializeGlobalMotorStateVar (o)
resetMotorRegulation (o)
SENSOR_1
SENSOR_2
SENSOR_3
SENSOR_4

byte2sensortype
byte2sensormode
sensortype2byte
sensormode2byte


waitUntilI2CReady
DebugMode
isdebug

textOut

tictic (o)
toctoc (o)

dec2wordbytes
name2commandbytes
commandbyte2name
wordbytes2dec
checkStatusByte

createHandleStruct
checkHandleStruct

getLibusbErrorString
getVISAErrorString
getReplyLengthFromCmdByte

fantom_proto
libusb_proto
legend: NXT_* = NXT Direct commands without any limitations (mapped to the LEGO direct command documentation)
           COM_* = Functions related to the NXT communication
           MAP_* = Functions related to the NXT module maps
           bold = Main funcions or main group functions
           italic = private functions
           (o) = obsolete functions (will be removed in a future release)


Toolbox v2.02

The functions of the RWTH - Mindstorms NXT Toolbox can be categorized into a multiple layer structure. On the lowest layer Low Level and Helper functions are available, which mostly convert parameter modes to bytes words, determined by the LEGO direct commands documentation. The second layer includes Direct NXT Commands which are mapped from the LEGO direct command documentation without any limitations and can be identified by the NXT_* prefix. Also Bluetooth packet related functions can be found in this layer. Layer 3 provides High Level Functions for controlling the NXT motors, sensors and the Bluetooth connection. These functions are basically using the Direct NXT Commands of layer 2 to make the motor and sensor controlling more convenient and easily readable for the user. The top layer provides High Level Regulation functions for precise motor regulation and various utilities.



Layer Description Output/Motors Input/Sensors General Bluetooth / USB
4 High Level Regulation / Utilities MotorRotateAbs (o)

WaitForMotor (o)
  OptimizeToolboxPerformance COM_MakeBTConfigFile
3 High Level Functions NXTmotor
ReadFromNXT
SendToNXT
Stop
WaitFor
ResetPosition

NXC_MotorControl
NXC_ResetErrorCorrection
OpenLight
OpenSound
OpenSwitch
OpenUltrasonic
OpenAccelerator
OpenInfrared
OpenCompass

GetLight
GetSound
GetSwitch
GetAccelerator
GetInfrared
GetUltrasonic

USMakeSnapshot
USGetSnapshotResults
GetCompass
CalibrateCompass

CloseSensor
readFromIniFile

MAP_GetCommModule
MAP_GetInputModule
MAP_GetOutputModule
MAP_GetSoundModule
MAP_GetUIModule

MAP_SetOutputModule
COM_OpenNXT
COM_OpenNXTEx

COM_CloseNXT

COM_ReadI2C
SendMotorSettings (o)
SetMotor (o)
SetPower (o)
SetAngleLimit (o)
SetRampMode (o)
SpeedRegulation (o)
SyncToMotor (o)

StopMotor

GetMotorSettings (o)
GetMotor (o)

ResetMotorAngle (o)

SwitchLamp

SetMemoryCount (o)
GetMemoryCount (o)
2 Direct NXT Commands NXT_SetOutputState

NXT_GetOutputState

NXT_ResetMotorPosition
NXT_SetInputMode

NXT_GetInputValues


NXT_ResetInputScaledValue

NXT_LSRead
NXT_LSWrite
NXT_LSGetStatus
NXT_PlayTone
NXT_PlaySoundFile
NXT_StopSoundPlayback

NXT_StartProgram
NXT_StopProgram

NXT_SendKeepAlive
NXT_GetBatteryLevel
NXT_GetFirmwareVersion
NXT_SetBrickName

NXT_ReadIOMap
NXT_WriteIOMap

NXT_MessageWrite
COM_CreatePacket
COM_SendPacket
COM_CollectPacket

COM_SetDefaultNXT
COM_GetDefaultNXT
1 Low Level Functions:
Helper, Conversion and
Lookup Functions
MOTOR_A
MOTOR_B
MOTOR_C

byte2outputmode
byte2regmode
byte2runstate
outputmode2byte
regmode2byte
runstate2byte


initializeGlobalMotorStateVar (o)
resetMotorRegulation (o)
SENSOR_1
SENSOR_2
SENSOR_3
SENSOR_4

byte2sensortype
byte2sensormode
sensortype2byte
sensormode2byte
DebugMode
isdebug

textOut

tictic (o)
toctoc (o)

dec2wordbytes
name2commandbytes
commandbyte2name
wordbytes2dec
checkStatusByte

createHandleStruct
checkHandleStruct

getLibusbErrorString
getVISAErrorString
getReplyLengthFromCmdByte

fantom_proto
libusb_proto
legend: NXT_* = NXT Direct commands without any limitations (mapped to the LEGO direct command documentation)
           COM_* = Functions related to the NXT communication
           MAP_* = Functions related to the NXT module maps
           bold = Main funcions or main group functions
           italic = private functions
           (o) = obsolete functions (will be removed in a future release)


Toolbox v2.00beta

The functions of the RWTH - Mindstorms NXT Toolbox can be categorized into a multiple layer structure. On the lowest layer Low Level and Helper Functions are available, which mostly convert parameter modes to bytes words, determined by the LEGO direct commands documentation. The second layer includes Direct NXT Commands which are mapped from the LEGO direct command documentation without any limitations and can be identified by the NXT_* prefix. Also Bluetooth packet related functions can be found in this layer. Layer 3 provides High Level Functions for controlling the NXT motors, sensors and the NXT connection. These functions are basically using the Direct NXT Commands of layer 2 to make the motor and sensor controlling more convenient and easily readable for the user. The top layer provides High Level Regulation functions for precise motor regulation.



Layer Description Output/Motors Input/Sensors General Bluetooth
4 High Level Regulation MotorRotateAbs

WaitForMotor
    COM_MakeBTConfigFile
3 High Level Functions SendMotorSettings
SetMotor
SetPower
SetAngleLimit
SetRampMode
SpeedRegulation
SyncToMotor

StopMotor

GetMotorSettings
GetMotor

ResetMotorAngle

SetMemoryCount
GetMemoryCount
OpenLight
OpenSound
OpenSwitch
OpenUltrasonic

GetLight
GetSound
GetSwitch
GetUltrasonic

CloseSensor
readFromIniFile

MAP_GetCommModule
MAP_GetInputModule
MAP_GetOutputModule
MAP_GetSoundModule
MAP_GetUIModule

MAP_SetOutputModule
COM_OpenNXT
COM_OpenNXTEx

COM_CloseNXT
2 Direct NXT Commands NXT_SetOutputState

NXT_GetOutputState

NXT_ResetMotorPosition
NXT_SetInputMode

NXT_GetInputValues


NXT_ResetInputScaledValue

NXT_LSRead
NXT_LSWrite
NXT_LSGetStatus
NXT_PlayTone
NXT_PlaySoundFile
NXT_StopSoundPlayback

NXT_StartProgram
NXT_StopProgram

NXT_SendKeepAlive
NXT_GetBatteryLevel
NXT_GetFirmwareVersion
NXT_SetBrickName

NXT_ReadIOMap
NXT_WriteIOMap
COM_CreatePacket
COM_SendPacket
COM_CollectPacket

COM_SetDefaultNXT
COM_GetDefaultNXT
1 Low Level Functions:
Helper, Conversion and
Lookup Functions
MOTOR_A
MOTOR_B
MOTOR_C

byte2outputmode
byte2regmode
byte2runstate
outputmode2byte
regmode2byte
runstate2byte


initializeGlobalMotorStateVar
resetMotorRegulation
SENSOR_1
SENSOR_2
SENSOR_3
SENSOR_4

byte2sensortype
byte2sensormode
sensortype2byte
sensormode2byte
DebugMode
isdebug

textOut

tictic (o)
toctoc (o)

dec2wordbytes
name2commandbytes
commandbyte2name
wordbytes2dec
checkStatusByte

createHandleStruct
checkHandleStruct

getLibusbErrorString
getVISAErrorString
getReplyLengthFromCmdByte
legend: NXT_* = NXT Direct commands without any limitations (mapped to the LEGO direct command documentation)
           COM_* = Functions related to the NXT communication
           MAP_* = Functions related to the NXT module maps
           bold = Main funcions or main group functions
           italic = private functions
           (o) = obsolete functions (will be removed in a future release)



Toolbox v1.00

The functions of the RWTH - Mindstorms NXT Toolbox can be categorized into a multiple layer structure. On the lowest layer Low Level and Helper Functions are available, which mostly converts parameter modes to bytes words, determined by the LEGO direct commands documentation. The second layer includes Direct NXT Commands which are mapped from the LEGO direct command documentation without any limitations and can be identified by the NXT_* prefix. Also Bluetooth packet related functions can be found in this layer. Layer 3 provides High Level Functions for controlling the NXT motors, sensors and the Bluetooth connection. These functions are basically using the Direct NXT Commands of layer 2 to make the motor and sensor controlling more convenient and easily readable for the user. The top layer provides High Level Regulation functions for precise motor regulation.



Layer Description Output/Motors Input/Sensors General Bluetooth
4 High Level Regulation MotorRotateAbs

WaitForMotor
    BT_MakeConfigFile
3 High Level Functions SendMotorSettings
SetMotor
SetPower
SetAngleLimit
SetRampMode
SpeedRegulation
SyncToMotor

StopMotor

GetMotorSettings
GetMotor

ResetMotorAngle

SetMemoryCount
GetMemoryCount
OpenLight
OpenSound
OpenSwitch
OpenUltrasonic

GetLight
GetSound
GetSwitch
GetUltrasonic

CloseSensor
readFromIniFile BT_OpenHandle

BT_CloseHandle
BT_CloseAllHandles

2 Direct NXT Commands NXT_SetOutputState

NXT_GetOutputState

NXT_ResetMotorPosition
NXT_SetInputMode

NXT_GetInputValues


NXT_ResetInputScaledValue

NXT_LSRead
NXT_LSWrite
NXT_LSGetStatus
NXT_PlayTone
NXT_SendKeepAlive
NXT_GetBatteryLevel

NXT_StartProgram
NXT_StopProgram

NXT_SetBrickName
BT_CreatePacket
BT_SendPacket
BT_CollectPacket

BT_SetDefaultHandle
BT_GetDefaultHandle
1 Low Level Functions:
Helper, Conversion and
Lookup Functions
MOTOR_A
MOTOR_B
MOTOR_C

byte2outputmode
byte2regmode
byte2runstate
outputmode2byte
regmode2byte
runstate2byte


initializeGlobalMotorStateVar
resetMotorRegulation
SENSOR_1
SENSOR_2
SENSOR_3
SENSOR_4

byte2sensortype
byte2sensormode
sensortype2byte
sensormode2byte
textOut

tictic (o)
toctoc (o)

dec2wordbytes
name2commandbytes
commandbyte2name
wordbytes2dec
checkStatusByte
legend: NXT_* = NXT Direct commands without any limitations (mapped to the LEGO direct command documentation)
           BT_* = Functions related to the Bluetooth connection
           bold = Main funcions or main group functions
           italic = private functions
           (o) = obsolete functions (will be removed in a future release)


Last modified 8 years ago Last modified on Oct 11, 2010, 6:29:35 AM