nxt

Lego Mindstorms NXT. More...

Lego Mindstorms NXT.

This driver implements partial interaction with a USB-connected Lego Mindstorms NXT brick.
Motors are implemented.
Sensors are unimplemented.

Compile-time dependencies
Provides
Configuration file options
Example

# Standard configured brick with B and C motors in use

unit_length "m"
unit_angle  "radians"

# The NXT driver
driver
(
  name "nxt"
  provides [ "B:::position1d:0" "C:::position1d:1" "power:0" ]

  max_power [100 100 100] # 100% power is to be used
  max_speed [0.5 0.5 0.5] # in order to achieve 0.5 m/s linearly
  odom_rate [0.1 0.1 0.1] # multiplier for odometry

  period 0.05
)

# The differential driver that provides simplified position2d management
driver
(
  name "differential"
  requires [ "left:::position1d:0" "right:::position1d:1" ]
  provides [ "position2d:0" ]

  axis_length 0.25
)

Author:
Alejandro R. Mosteo