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)

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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)