MATLAB Toolbox


Octave Toolbox

Toolbox for MATLAB

Video Installation Guide

  • (!) Here you can find a nice video installation guide of the RWTH - Mindstorms NXT Toolbox, the MotorControl Software, and the LEGO NXT Driver provided by Clemson University. Videos for Windows and Mac support are provided. Nice work!
  • (!) A new installation video in Portuguese using RWTH - Mindstorms NXT Toolbox v4.06 with MATLAB 2011b and Windows 64Bit is provided by Nielson C. Damasceno and can be found on !youTube Video and Video (Version 2). Thanks for this useful illustration!

Version Index

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

(!) Unsure which version is right for you? Need more background info? Read the version guide!

Version Release date Type Major new features All changes
  Looking for EV3-Support? See
  4.08 04-Jun-2013 milestone Support for NXTCam-v4 and NXTSumoEyes-v2, ID check for digital sensors Changelog
  4.07 recommended 08-Feb-2012 stable Full and well tested Win 64 Bit support Changelog
  4.06 19-Oct-2011 milestone Use sophisticated new MATLAB Bluetooth object (Win 64 Bit) Changelog
  4.05 22-Sep-2011 milestone USB support for Windows 64bit using libusb Changelog
  4.04 01-Oct-2010 stable Support for NXT 2.0 color sensor and HiTechnic EOPD sensor, minor fixes, documentation Changelog
  4.03 25-Nov-2009 stable Documentation: Fixed broken see-also-links in function help Changelog
  4.02 06-Oct-2009 stable Documentation updates (new tutorial and new example), bugfix (USB on Linux) Changelog
  4.01 31-Aug-2009 milestone Bugfixes, stability, MacOS support, documentation updates (more examples) Changelog
  4.00 20-Jul-2009 beta Dramatically improved motor control (smooth starting and braking, better precision)
  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 Bugfixes, motor control more stable 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

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. (170MB)
(Archive includes MATLAB Component Runtime which has to be installed) (1.5MB)
(Requires installed version of MATLAB Component Runtime which is not included)


The RWTH - Mindstorms NXT Toolbox for MATLAB is also featured by The MathWorks. More information can be found on the MATLAB Academica webpage.

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'' ( .

MATLAB Central


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 <>.

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.

Last modified 18 months ago Last modified on Feb 22, 2018, 4:19:47 PM