Last modified 3 years ago Last modified on 02/08/12 11:50:14

Toolbox Documentation

Toolbox v4.07 (latest stable release)

List of functions Tutorial: Programming Robots
  1. Preparing the workspace (opens in a new window)
  2. PC - NXT Communication (opens in a new window)
  3. Motor Control (opens in a new window)
  4. Sensor Reading (opens in a new window)
  5. Direct NXT Commands (opens in a new window)
Additional resources:


Command Layer Structure

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
.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

OpenNXT2Color
GetNXT2Color

OpenCompass
CalibrateCompass
GetCompass

OpenGyro
CalibrateGyro
GetGyro

OpenEOPD
CalibrateEOPD
GetEOPD

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)

Older versions

Toolbox v4.04

List of functions
  • PDF document (including list of functions and command layer overview)
Tutorial: Programming Robots


Toolbox v4.03

List of functions Tutorial: Programming Robots


Toolbox v4.02

List of functions Tutorial: Programming Robots


Toolbox v2.03

Toolbox v2.00

Toolbox v1.00