RWTH - Mindstorms NXT Toolbox

Functions - Alphabetical List

COM_CloseNXTCloses and deletes a specific NXT handle, or clears all existing handles
COM_CollectPacketReads data from a USB or serial/Bluetooth port, retrieves exactly one packet
COM_CreatePacketGenerates a valid Bluetooth packet ready for transmission (i.e. sets length)
COM_GetDefaultNXTReturns the global default NXT handle if it was previously set
COM_MakeBTConfigFileCreates a Bluetooth configuration file (needed for Bluetooth connections)
COM_OpenNXTOpens USB or Bluetooth connection to NXT device and returns a handle
COM_OpenNXTExOpens USB or Bluetooth connection to NXT; advanced version, more options
COM_ReadI2CRequests and reads sensor data via I2C from a correctly configured digital sensor.
COM_SendPacketSends a communication protocol packet (byte-array) via a USB or Bluetooth
COM_SetDefaultNXTSets global default NXT handle (will be used by other functions as default)
CalibrateColorEnables calibration mode of the HiTechnic color sensor V1
CalibrateCompassEnables calibration mode of the HiTechnic compass sensor
CalibrateEOPDCalibrates the HiTechnic EOPD sensor (measures/sets calibration matrix)
CalibrateGyroCalibrates the HiTechnic Gyro sensor (measures/sets an offset while in rest)
CloseSensorCloses a sensor port (e.g. turns off active light of the light sensor)
DebugModeGets or sets debug state (i.e. if textOut prints messages to the command window)
DirectMotorCommandSends a direct command to the specified motor
GetAcceleratorReads the current value of the HiTechnic acceleration sensor
GetColorReads the current value of the HiTechnic Color V1 or V2 sensor
GetCompassReads the current value of the HiTechnic compass sensor
GetEOPDReads the current value of the HiTechnic EOPD sensor
GetGyroReads the current value of the HiTechnic Gyro sensor
GetInfraredReads the current value of the Hitechnic infrared sensor (infrared seeker)
GetLightReads the current value of the NXT light sensor
GetNXT2ColorReads the current value of the color sensor from the NXT 2.0 set
GetRFIDReads the transponder ID detected by the Codatex RFID sensor
GetSoundReads the current value of the NXT sound sensor
GetSwitchReads the current value of the NXT switch / touch sensor
GetUltrasonicReads the current value of the NXT ultrasonic sensor
MAP_GetCommModuleReads the IO map of the communication module
MAP_GetInputModuleReads the IO map of the input module
MAP_GetOutputModuleReads the IO map of the output module
MAP_GetSoundModuleReads the IO map of the sound module
MAP_GetUIModuleReads the IO map of the user interface module
MAP_SetOutputModuleWrites the IO map to the output module
MOTOR_ASymbolic constant MOTOR_A (returns 0)
MOTOR_BSymbolic constant MOTOR_B (returns 1)
MOTOR_CSymbolic constant MOTOR_C (returns 2)
NXC_GetSensorMotorDataRetrieves selected data from all analog sensors and all motors in a single packet
NXC_MotorControlSends advanced motor-command to the NXC-program MotorControl on the NXT brick
NXC_ResetErrorCorrectionSends reset error correction command to the NXC-program MotorControl on the NXT
NXTMotorConstructs an NXTMotor object
NXT_GetBatteryLevelReturns the current battery level in milli volts
NXT_GetCurrentProgramNameReturns the name of the current running program
NXT_GetFirmwareVersionReturns the protocol and firmware version of the NXT
NXT_GetInputValuesExecutes a complete sensor reading (requests and retrieves input values)
NXT_GetOutputStateRequests and retrieves an output motor state reading
NXT_LSGetStatusGets the number of available bytes for digital low speed sensors (I2C)
NXT_LSReadReads data from a digital low speed sensor port (I2C)
NXT_LSWriteWrites given data to a digital low speed sensor port (I2C)
NXT_MessageReadRetrieves a "NXT-to-NXT message" from the specified inbox
NXT_MessageWriteWrites a "NXT-to-NXT message" to the NXT's incoming BT mailbox queue
NXT_PlaySoundFilePlays the given sound file on the NXT Brick
NXT_PlayTonePlays a tone with the given frequency and duration
NXT_ReadIOMapReads the IO map of the given module ID
NXT_ResetInputScaledValueResets the sensor's ScaledVal back to 0 (depends on current sensor mode)
NXT_ResetMotorPositionResets NXT internal counter for specified motor, relative or absolute counter
NXT_SendKeepAliveSends a KeepAlive packet. Optional: requests sleep time limit.
NXT_SetBrickNameSets a new name for the NXT Brick (connected to the specified handle)
NXT_SetInputModeSets a sensor mode, configures and initializes a sensor to be read out
NXT_SetOutputStateSends previously specified settings to current active motor.
NXT_StartProgramStarts the given program on the NXT Brick
NXT_StopProgramStops the currently running program on the NXT Brick
NXT_StopSoundPlaybackStops the current sound playback
NXT_WriteIOMapWrites the IO map to the given module ID
OpenAcceleratorInitializes the HiTechnic acceleration sensor, sets correct sensor mode
OpenColorInitializes the HiTechnic color V1 or V2 sensor, sets correct sensor mode
OpenCompassInitializes the HiTechnic magnetic compass sensor, sets correct sensor mode
OpenEOPDInitializes the HiTechnic EOPD sensor, sets correct sensor mode
OpenGyroInitializes the HiTechnic Gyroscopic sensor, sets correct sensor mode
OpenInfraredInitializes the HiTechnic infrared seeker sensor, sets correct sensor mode
OpenLightInitializes the NXT light sensor, sets correct sensor mode
OpenNXT2ColorInitializes the LEGO color sensor from the NXT 2.0 set, sets correct sensor mode
OpenRFIDInitializes the Codatex RFID sensor, sets correct sensor mode
OpenSoundInitializes the NXT sound sensor, sets correct sensor mode
OpenSwitchInitializes the NXT touch sensor, sets correct sensor mode
OpenUltrasonicInitializes the NXT ultrasonic sensor, sets correct sensor mode
OptimizeToolboxPerformanceCopies binary versions of typecastc to toolbox for better performance
ReadFromNXTReads current state of specified motor(s) from NXT brick
ResetPositionResets the position counter of the given motor(s).
SENSOR_1Symbolic constant SENSOR_1 (returns 0)
SENSOR_2Symbolic constant SENSOR_2 (returns 1)
SENSOR_3Symbolic constant SENSOR_3 (returns 2)
SENSOR_4Symbolic constant SENSOR_4 (returns 3)
SendToNXTSend motor settings to the NXT brick
StopStops or brakes specified motor(s)
StopMotorStops / brakes specified motor. (Synchronisation will be lost after this)
SwitchLampSwitches the LEGO lamp on or off (has to be connected to a motor port)
USGetSnapshotResultsRetrieves up to eight echos (distances) stored inside the US sensor
USMakeSnapshotCauses the ultrasonic sensor to send one snapshot ("ping") and record the echos
WaitForWait for motor(s) to stop (busy waiting)
checkStatusByteInterpretes the status byte of a return package, returns error message
readFromIniFileReads parameters from a configuration file (usually *.ini)
textOutWrapper for fprintf() which can optionally write screen output to a logfile