Download

Version Index

For system requirements and the download link, choose a version below. It is recommended to use the latest stable release (marked with ).

Version	Release date	Type	Major new features	All changes
4.00	20-Jul-2009	beta	Dramatically improved motor control (smooth starting and braking, better precision)	Changelog
3.00	17-Jul-2009	beta	Removed old motor commands, new syntax for motor class, removed BT auto connection for Linux	Changelog
2.04	17-Apr-2009	milestone	Direct command MessageRead, better HiTechnic Gyro sensor support	Changelog
2.03	23-Jan-2009	stable	Better motor control, motor class, bugfixes, more HiTechnic sensors	Changelog
2.02	12-Nov-2008	milestone	Better I²C performance, bugfixes	Changelog
2.01	27-Oct-2008	beta	Better motor control through embedded program on NXT, new motor objects	Changelog
2.00	25-Sep-2008	stable	USB, performance, multi-NXT, HiTechnic sensors, ultrasonic snapshot mode	Changelog
2.00beta	17-Jul-2008	beta	Preview introducing USB connections, better performance	Changelog
1.00	24-Jan-2008	stable	Initial release, Bluetooth only, well tested	Changelog
Stable releases are well tested and recommended for usage. Milestone releases should usually be stable but are not well tested. Using them is ok in most situations (to try new features for example). Beta releases are milestones with not-so-well tested changes or feature-previews. Interfaces are not guaranteed to be final, documentation might be outdated.

Release History

View the full release notes & version history (also available in section "Release Notes" inside MATLAB on the Toolbox help page).

Browse all releases

You can browse the files of all our releases online using the repository browser.

SVN Repository Checkout

For developing the RWTH - Mindstorms NXT Toolbox the usage of the SVN repository and its revision management system is recommended. To check out and update the RWTH - Mindstorms NXT Toolbox repository to your local hard drive a SVN client has to be installed on your system. Under Windows we recommend the  TortoiseSVN Client. A short tutorial how you can check out the toolbox is given on First steps with SVN.

The SVN repository server is located at  http://www.mindstorms.rwth-aachen.de/subversion

All files can be checked out and updated without limitations. But for full access permissions to the SSL-secured SVN repository you have to be a registered developer (register/login) first.

Installation Guide

For the according installation guide see the file README.txt included with your toolbox download, or choose the appropriate version page from the Version Index above.

Stand-Alone Demos

In these archives you can find stand-alone applications of the toolbox-demos, that run without MATLAB installed. They can be used for diagnostic purposes, even when classic LEGO Mindstorms NXT programs (.rxe) are executing on the NXT brick at the same time. The demos require a working Bluetooth connection, read the included README.txt file or see the installation guide on this site how to edit the bluetooth.ini file to get the demos working.
At the moment the only supported operating system is Windows.

 RWTHMindstormsNXTv1.00_StandaloneDemos.zip (170MB)
(Archive includes MATLAB Component Runtime which has to be installed)

 RWTHMindstormsNXTv1.00_StandaloneDemos_withoutMCR.zip (1.5MB)
(Requires installed version of MATLAB Component Runtime which is not included)

MATLAB Central

You can also find the examples of our toolbox at MATLAB Central, an open exchange for the MathWorks MATLAB and Simulink user community.
They are categorized under File Exchange - Production Code -  ''RWTH - Mindstorms NXT Toolbox'' (http://www.mathworks.com/rwth_nxt) .

Copyrights

The RWTH - Mindstorms NXT Toolbox is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

The RWTH - Mindstorms NXT Toolbox is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with the RWTH - Mindstorms NXT Toolbox. If not, see < http://www.gnu.org/licenses/>.

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Disclaimer: The RWTH - Mindstorms NXT Toolbox for MATLAB is neither affiliated with nor endorsed by the  LEGO Group. LEGO, MINDSTORMS, TECHNIC, and NXT are registered trademarks of the  LEGO Group.