Toolbox Documentation

Toolbox v4.04 (latest stable release)

List of functions

• By Categories (opens in a new window)
• Alphabetical List (opens in a new window)
• Command Layers

• PDF document (including list of functions and command layer overview)

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:

• Troubleshooting (opens in a new window)
• FAQ (frequently asked questions)
• Command Layer Structure (see below)

• Documentation of MotorControl (for experts and developers)

Command Layer Structure

• Command Layer Structure of previous releases

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 v4.03

List of functions

• By Categories (opens in a new window)
• Alphabetical List (opens in a new window)
• Command Layers

Tutorial: Programming Robots

• Preparing the workspace (opens in a new window)
• PC - NXT Communication (opens in a new window)
• Motor Control (opens in a new window)
• Sensor Reading (opens in a new window)
• Direct NXT Commands (opens in a new window)

Toolbox v4.02

List of functions

• By Categories (opens in a new window)
• Alphabetical List (opens in a new window)

Tutorial: Programming Robots

• Preparing the workspace (opens in a new window)
• PC - NXT Communication (opens in a new window)
• Motor Control (opens in a new window)
• Sensor Reading (opens in a new window)
• Direct NXT Commands (opens in a new window)

Toolbox v2.03

• Categories (opens in a new window)
• Alphabetical List (opens in a new window)

Toolbox v2.00

• Categories (opens in a new window)
• Alphabetical List (opens in a new window)

Toolbox v1.00

• Categories (opens in a new window)
• Alphabetical List (opens in a new window)
• Overview and tutorial