PLEASE BE AWARE THAT ALL THE CODE IN THIS WEB SITE IS EXPERIMENTAL, USE IT AT YOUR OWN RISK!
Since the LEGO EV3 kit became available, I have stopped updating the code for the LEGO NXT platform, and focused my efforts on the newer LEGO kit
In this section, I am adding some loose programs that I developed for the Lego NXT kit. These programs where done with the purpose of testing the NXC/NBC compiler. The programs use mathematical functions (i.e. sin, cos) that are only available in the Enhanced Firmware. The compiler must be configured to use the EF (Enhanced Firmware) flag, which enables these mathematical functions. We have tested our programs using the lms_arm_nbcnxc_131_20111019_1659.rfw version (newer versions should also work). The NXT firmware can be upgraded using the standard Lego environment. I have created two examples:
The robot used in all the programs in this site is a minimal skid/steer platform. The robot is built using Lego NXT parts and the Microinfinity XGL13000L gyroscope. The gyroscope is needed for accurate position estimation. The robot design includes a third motor located between the two drive wheels, which is used to move a marker in applications involving drawing.