This is basically ruby-nxt. I’m simplifying things and moving it away from rubyforge.

Low-level interface for communicating directly with the NXT via a Bluetooth serial port or USB. Implements direct commands outlined in Appendix 2-LEGO MINDSTORMS NXT Direct Commands.pdf

Not all functionality is implemented yet!

For instructions on creating a bluetooth serial port connection:

• Linux: juju.org/articles/2006/10/22/bluetooth-serial-port-to-nxt-in-linux
• OSX: juju.org/articles/2006/10/22/bluetooth-serial-port-to-nxt-in-osx
• Windows: juju.org/articles/2006/08/16/ruby-serialport-nxt-on-windows

Examples

First create a new NXT object and pass the device.

  @nxt = NXT.new("/dev/tty.NXT-DevB-1")

Rotate the motor connected to port B forwards indefinitely at 100% power:

  @nxt.set_output_state(
    NXT::MOTOR_B,
    100,
    NXT::MOTORON,
    NXT::REGULATION_MODE_MOTOR_SPEED,
    100,
    NXT::MOTOR_RUN_STATE_RUNNING,
    0
  )

Play a tone at 1000 Hz for 500 ms:

  @nxt.play_tone(1000,500)

Print out the current battery level:

  puts "Battery Level: #{@nxt.get_battery_level/1000.0} V"