Screenshots

RWTH - Mindstorms NXT Toolbox

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Toolbox documentation	Sensor Reading	Functions by Category	Watch Analog Sensor GUI	Program Examples

Promotion Video

by Nene Vasquez and Angel Chacin - 30.06.2010

Applications

Roboarm

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Roboarm	Roboarm	GUI for monitoring	GUI for controlling	Example Code

Arguments of Complex Numbers

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LEGO machine	Input dialog	Machine output	Visualization of calculated argument

Weighing machine

For more details on this weighing machine ("The resplendent Roman balance" built by University of Cambridge), see here.

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Weighing machine	Results plot

Code Examples

Play Tone and Get Battery Level

Example to play a specific tone with the NXT Brick and retrieve the current battery level:

Prepare workspace by cleaning all old settings to be on the safe side.

COM_CloseNXT all
close all
clear all


% Open new Bluetooth connection according to the previously generated configuration file.
handle = COM_OpenNXT('bluetooth.ini');
COM_SetDefaultNXT(handle);


% Play tone with frequency 800Hz and duration of 500ms.
NXT_PlayTone(800,500);


% Get current battery level.
voltage = NXT_GetBatteryLevel


% Close Bluetooth connection.
COM_CloseNXT(handle);

Published with MATLAB® 7.5

Read Sound Sensor

Example to read the sound sensor value in db: Prepare workspace by cleaning all old settings to be on the safe side.

COM_CloseNXT all
close all
clear all


% Open new Bluetooth connection according to the previously generated configuration file.
handle = COM_OpenNXT('bluetooth.ini');
COM_SetDefaultNXT(handle);


% Set the correct sound sensor mode and input port.
OpenSound(SENSOR_2, 'DB');


% Get the current sound sensor value in dB.
value = GetSound(SENSOR_2)


% Close the sound sensor.
CloseSensor(SENSOR_2);


% Close Bluetooth connection.
COM_CloseNXT(handle);

Published with MATLAB® 7.5

Drive Around Table (Motor Class)

Clear and close

COM_CloseNXT all
clear all
close all

Constants and so on
TableLength      = 1000;     % in degrees of motor rotations :-)
QuarterTurnTicks = 219;      % in motor degrees, how much is a 90° turn of the bot?
Ports = [MOTOR_B; MOTOR_C];  % motorports for left and right wheel
DrivingSpeed     = 60;
TurningSpeed     = 40;

Open Bluetooth connetion
h = COM_OpenNXT('bluetooth.ini');
COM_SetDefaultNXT(h);

Initialize motor-objects:
mStraight                   = NXTMotor(Ports);
% next command since we are driving in SYNC-mode. This should not be
% necessary with correct default values, but at the moment, I have to set
% it manually,
mStraight.SpeedRegulation   = false;  % not for sync mode
mStraight.Power             = DrivingSpeed;
mStraight.TachoLimit        = TableLength;
mStraight.ActionAtTachoLimit = 'Brake';


mTurn1                      = NXTMotor(Ports(2)); % ports swapped because it's nicer
mTurn1.SpeedRegulation      = false;  % we could use it if we wanted
mTurn1.Power                = TurningSpeed;
mTurn1.TachoLimit           = QuarterTurnTicks;
mStraight.ActionAtTachoLimit = 'Brake';


mTurn2          = mTurn1;
mTurn2.Port     = Ports(1);   % ports swapped again...
mTurn2.Power    = - mTurn1.Power;

Initialize Motors...
% we send this in case they should still be spinning or something...
mStraight.Stop('off');
Start the engines, main loop begins (repeated 4 times)
% 4 times because we got 4 equal sides of the table :-)
for j = 1 : 4

Drive
    mStraight.SendToNXT();
Wait for the end end of table
    mStraight.WaitFor();
Now please turn
    mTurn1.SendToNXT();
    mTurn1.WaitFor();

    mTurn2.SendToNXT();
    mTurn2.WaitFor();
Thats it. Repeat 4 times....
end%for
Done.
% Hey! End of a hard day's work Just to show good style, we close down our motors again:
mStraight.Stop('off');
Close Bluetooth connection
COM_CloseNXT(h);

Published with MATLAB® 7.13