A library for interfacing with the LEGO NXT robot over a bluetooth connection in C.
Written by Joe Jevnik.
While writing my program for the IEEE club fall NXT challenge, I realized the the only suggested means of programming the robot required non-free software or libraries. In an attempt to find free solutions, I found lestat, a GPLv2 project for providing an abstraction to the LEGO NXT in C++. I decided to use C to program the robot, so I chose to write my own library using lestat as a starting point, and changing things as I saw fit. The internals have been modified, and the interface has been changed. I chose to abstract away the interface by adding types to represent things that were previously represented in a more primitive way. This allows for the use to have more type safety, and clarity when writing their functions.
The NXT is a struct that represents a connection with the lego nxt. Functions that deal with the NXT will be prefixed like:
NXT_*
and take an NXT* as their first parameter, except for alloc_NXT() and
free_NXT()
The msg_t is a struct that represents the type of data that will be sent to
the nxt over bluetooth. functions that deal with messages will be prefixed like:
msg_*
and take a msg_t as their first parameter except for alloc_msg() and
free_msg()
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Documentation
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Testing (need lab access)
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Larger default library, like
void NXT_turn(NXT* nxt,motor_port left, motor_port right,int degrees)or things like that.