<s>
Lego	B-Application
Mindstorms	I-Application
(	O
sometimes	O
stylized	O
as	O
LEGO	B-Application
MINDSTORMS	I-Application
)	O
was	O
a	O
hardware	O
and	O
software	O
structure	O
which	O
develops	O
programmable	O
robots	O
based	O
on	O
Lego	B-Language
building	O
blocks	O
.	O
</s>
<s>
Each	O
version	O
includes	O
computer	O
Lego	B-Language
bricks	O
,	O
a	O
set	O
of	O
modular	O
sensors	O
and	O
motors	O
,	O
and	O
parts	O
from	O
the	O
Lego	B-Language
Technic	O
line	O
to	O
create	O
the	O
mechanical	O
systems	O
.	O
</s>
<s>
The	O
system	O
is	O
controlled	O
by	O
the	O
Lego	B-Language
bricks	O
.	O
</s>
<s>
In	O
October	O
2022	O
,	O
The	O
Lego	B-Language
Group	O
announced	O
Lego	B-Application
Mindstorms	I-Application
will	O
be	O
discontinued	O
at	O
the	O
end	O
of	O
2022	O
.	O
</s>
<s>
Papert	O
had	O
previously	O
created	O
the	O
Logo	B-Device
programming	I-Device
language	I-Device
as	O
a	O
tool	O
to	O
"	O
support	O
the	O
development	O
of	O
new	O
ways	O
of	O
thinking	O
and	O
learning	O
"	O
,	O
and	O
employed	O
"	O
Turtle	O
"	O
robots	O
to	O
physically	O
act	O
out	O
the	O
programs	O
in	O
the	O
real	O
world	O
.	O
</s>
<s>
As	O
the	O
types	O
of	O
programs	O
created	O
were	O
limited	O
by	O
the	O
shape	O
of	O
the	O
Turtle	O
,	O
the	O
idea	O
came	O
up	O
to	O
make	O
a	O
construction	O
kit	O
that	O
could	O
use	O
Logo	B-Device
commands	O
to	O
animate	O
a	O
creation	O
of	O
the	O
learner	O
's	O
own	O
design	O
.	O
</s>
<s>
Similar	O
to	O
the	O
"	O
floor	O
turtle	O
"	O
robots	O
used	O
to	O
demonstrate	O
Logo	B-Device
commands	O
in	O
the	O
real	O
world	O
,	O
a	O
construction	O
system	O
that	O
ran	O
Logo	B-Device
commands	O
would	O
also	O
demonstrate	O
them	O
in	O
the	O
real	O
world	O
,	O
but	O
allowing	O
the	O
child	O
to	O
construct	O
their	O
own	O
creations	O
benefitted	O
the	O
learning	O
experience	O
by	O
putting	O
them	O
in	O
control	O
In	O
considering	O
which	O
construction	O
system	O
to	O
partner	O
with	O
,	O
they	O
wanted	O
a	O
"	O
low	O
floor	O
high	O
ceiling	O
"	O
approach	O
,	O
something	O
that	O
was	O
easy	O
to	O
pick	O
up	O
but	O
very	O
powerful	O
.	O
</s>
<s>
To	O
this	O
end	O
,	O
they	O
decided	O
to	O
use	O
Lego	B-Language
bricks	O
due	O
to	O
the	O
system	O
and	O
diversity	O
of	O
pieces	O
,	O
and	O
the	O
Logo	B-Device
language	O
due	O
to	O
the	O
groups	O
familiarity	O
with	O
the	O
software	O
and	O
its	O
ease	O
of	O
use	O
.	O
</s>
<s>
Lego	B-Language
was	O
receptive	O
to	O
collaboration	O
,	O
particularly	O
because	O
its	O
educational	O
division	O
had	O
founding	O
goals	O
very	O
similar	O
to	O
those	O
of	O
the	O
Microworlds	O
company	O
.	O
</s>
<s>
As	O
a	O
sponsor	O
of	O
the	O
entire	O
lab	O
,	O
Lego	B-Language
was	O
allowed	O
royalty	O
free	O
rights	O
to	O
mass-produce	O
any	O
technology	O
produced	O
by	O
Papert	O
,	O
Resnick	O
and	O
Ocko	O
's	O
group	O
;	O
and	O
was	O
also	O
allowed	O
to	O
send	O
an	O
employee	O
over	O
to	O
assist	O
with	O
research	O
,	O
so	O
they	O
sent	O
engineer	O
Alan	O
Tofte	O
(	O
also	O
spelled	O
Toft	O
)	O
who	O
helped	O
with	O
the	O
design	O
of	O
the	O
programmable	O
brick	O
.	O
</s>
<s>
The	O
first	O
experiments	O
of	O
combining	O
Lego	B-Language
and	O
the	O
Logo	B-Device
programming	I-Device
language	I-Device
was	O
called	O
Lego/Logo	O
and	O
it	O
started	O
in	O
1985	O
.	O
</s>
<s>
Similar	O
to	O
the	O
"	O
floor	O
turtles	O
"	O
used	O
to	O
demonstrate	O
Logo	B-Device
commands	O
in	O
the	O
real	O
world	O
,	O
Lego/Logo	O
used	O
Logo	B-Device
commands	O
to	O
animate	O
Lego	B-Language
creations	O
.	O
</s>
<s>
The	O
Lego/Logo	O
system	O
allowed	O
children	O
to	O
create	O
their	O
own	O
designs	O
and	O
experiments	O
,	O
offered	O
multiple	O
paths	O
for	O
learning	O
and	O
encouraged	O
a	O
sense	O
of	O
community	O
.	O
</s>
<s>
First	O
,	O
machines	O
are	O
built	O
out	O
Lego	B-Language
.	O
</s>
<s>
The	O
machines	O
are	O
then	O
connected	O
to	O
a	O
computer	O
and	O
programmed	O
in	O
a	O
modified	O
version	O
of	O
Logo	B-Device
.	O
</s>
<s>
The	O
Lego/Logo	O
system	O
introduced	O
new	O
types	O
of	O
parts	O
for	O
making	O
creations	O
such	O
as	O
:	O
motors	O
,	O
sensors	O
and	O
lights	O
.	O
</s>
<s>
Lego/Logo	O
would	O
later	O
be	O
commercialized	O
by	O
the	O
Lego	B-Language
group	O
Lego	B-Language
tc	O
Logo	B-Device
.	O
</s>
<s>
It	O
was	O
observed	O
that	O
using	O
the	O
Lego/Logo	O
system	O
,	O
children	O
developed	O
a	O
form	O
of	O
knowledge	O
about	O
the	O
physical	O
world	O
that	O
allowed	O
those	O
even	O
without	O
mathematics	O
or	O
verbal	O
skills	O
to	O
solve	O
problems	O
effectively	O
using	O
the	O
system	O
.	O
</s>
<s>
While	O
Lego/Logo	O
was	O
powerful	O
,	O
it	O
was	O
restricted	O
somewhat	O
by	O
the	O
requirement	O
to	O
have	O
the	O
creations	O
attached	O
to	O
a	O
computer	O
.	O
</s>
<s>
The	O
group	O
began	O
working	O
on	O
further	O
iterations	O
of	O
the	O
Lego/Logo	O
environment	O
to	O
produce	O
a	O
robot	O
that	O
could	O
interact	O
not	O
only	O
with	O
the	O
environment	O
but	O
with	O
other	O
robots	O
programmed	O
in	O
the	O
same	O
system	O
.	O
</s>
<s>
The	O
experiments	O
with	O
an	O
untethered	O
brick	O
(	O
called	O
the	O
Logo	B-Device
Brick	O
or	O
"	O
Grey	O
Brick	O
"	O
)	O
began	O
in	O
the	O
fall	O
of	O
1986	O
.	O
</s>
<s>
To	O
speed	O
up	O
the	O
design	O
process	O
,	O
the	O
Logo	B-Device
Brick	O
contained	O
the	O
processor	O
chip	O
from	O
an	O
Apple	O
II	O
computer	O
.	O
</s>
<s>
It	O
ran	O
an	O
adapted	O
version	O
of	O
Lego/Logo	O
written	O
for	O
the	O
Apple	O
II	O
computer	O
.	O
</s>
<s>
The	O
Lego/Logo	O
interface	O
box	O
,	O
The	O
previous	O
development	O
of	O
the	O
group	O
,	O
had	O
only	O
two	O
sensor	O
ports	O
available	O
,	O
which	O
the	O
design	O
team	O
observed	O
were	O
not	O
always	O
enough	O
.	O
</s>
<s>
To	O
address	O
this	O
,	O
they	O
gave	O
the	O
Logo	B-Device
Brick	O
four	O
sensor	O
ports	O
.	O
</s>
<s>
The	O
Logo	B-Device
Brick	O
was	O
made	O
out	O
of	O
a	O
modified	O
Lego	B-Language
battery	O
box	O
and	O
was	O
about	O
the	O
size	O
of	O
a	O
deck	O
of	O
cards	O
.	O
</s>
<s>
The	O
Logo	B-Device
Brick	O
was	O
tested	O
in	O
schools	O
.	O
</s>
<s>
While	O
Lego	B-Language
had	O
been	O
interested	O
in	O
mass-producing	O
the	O
programmable	O
brick	O
concept	O
for	O
a	O
while	O
,	O
they	O
had	O
to	O
wait	O
until	O
enough	O
people	O
owned	O
personal	O
computers	O
and	O
the	O
components	O
required	O
to	O
produce	O
the	O
intelligent	O
brick	O
went	O
down	O
in	O
price	O
.	O
</s>
<s>
Development	O
of	O
what	O
would	O
later	O
be	O
known	O
as	O
Lego	B-Application
Mindstorms	I-Application
started	O
in	O
1996	O
as	O
the	O
first	O
product	O
of	O
the	O
newly	O
created	O
home-learning	O
division	O
of	O
Lego	B-Language
Education	O
(	O
Lego	B-Language
Dacta	O
)	O
.	O
</s>
<s>
The	O
Lego	B-Language
home	O
education	O
team	O
used	O
the	O
insights	O
that	O
MIT	O
researchers	O
discovered	O
from	O
testing	O
the	O
3rd	O
Generation	O
Logo	B-Device
Brick	O
(	O
"	O
Red	O
Brick	O
"	O
)	O
in	O
schools	O
as	O
the	O
basis	O
for	O
the	O
development	O
of	O
the	O
mass-produced	O
programmable	O
brick	O
.	O
</s>
<s>
Lego	B-Language
decided	O
to	O
use	O
a	O
Visual	B-Language
programming	I-Language
language	I-Language
for	O
Mindstorms	O
,	O
inspired	O
by	O
the	O
LOGOBlocks	O
language	O
previously	O
used	O
with	O
programmable	O
brick	O
experiments	O
,	O
in	O
order	O
to	O
make	O
the	O
product	O
accessible	O
to	O
children	O
who	O
might	O
be	O
unfamiliar	O
with	O
programming	O
.	O
</s>
<s>
While	O
the	O
technology	O
that	O
Mindstorms	O
was	O
based	O
on	O
was	O
aimed	O
towards	O
"	O
all	O
children	O
"	O
,	O
the	O
chosen	O
target	O
demographic	O
of	O
Lego	B-Application
Mindstorms	I-Application
was	O
intentionally	O
narrow	O
,	O
in	O
order	O
to	O
garner	O
positive	O
press	O
by	O
outselling	O
expectations	O
.	O
</s>
<s>
The	O
decision	O
was	O
made	O
to	O
aim	O
the	O
product	O
towards	O
10	O
to	O
14-year-old	O
boys	O
,	O
partly	O
because	O
it	O
was	O
Lego	B-Language
's	O
main	O
target	O
demographic	O
,	O
and	O
partly	O
based	O
on	O
market	O
research	O
(	O
not	O
substantiated	O
by	O
the	O
findings	O
of	O
the	O
MIT	O
Media	O
Lab	O
)	O
which	O
concluded	O
that	O
this	O
demographic	O
would	O
be	O
most	O
attracted	O
to	O
computerized	O
toys	O
.	O
</s>
<s>
The	O
project	O
's	O
at-first	O
low	O
profile	O
allowed	O
the	O
Mindstorms	O
team	O
the	O
freedom	O
to	O
develop	O
the	O
product	O
using	O
operating	O
procedures	O
then-unorthodox	O
to	O
the	O
Lego	B-Language
Group	O
.	O
</s>
<s>
Unlike	O
traditional	O
Lego	B-Language
sets	O
,	O
the	O
Mindstorms	O
Robotics	O
Invention	O
System	O
did	O
not	O
have	O
a	O
main	O
model	O
,	O
nor	O
was	O
the	O
play	O
driven	O
by	O
storytelling	O
.	O
</s>
<s>
To	O
bridge	O
the	O
gap	O
between	O
this	O
new	O
play	O
experience	O
and	O
pre-existing	O
Lego	B-Language
ones	O
,	O
the	O
Mindstorms	O
team	O
created	O
a	O
lot	O
of	O
opportunities	O
for	O
people	O
interested	O
in	O
the	O
product	O
to	O
engage	O
with	O
each	O
other	O
,	O
such	O
as	O
the	O
creation	O
of	O
Mindstorms.com,	O
Mindstorms	O
Discovery	O
Centers	O
,	O
and	O
the	O
FIRST	O
Lego	B-Language
League	O
.	O
</s>
<s>
The	O
creation	O
of	O
these	O
experiences	O
was	O
done	O
through	O
partnerships	O
with	O
a	O
relatively	O
large	O
amount	O
of	O
external	O
groups	O
that	O
the	O
Mindstorms	O
team	O
interacted	O
with	O
as	O
equal	O
partners	O
,	O
something	O
that	O
was	O
uncommon	O
for	O
the	O
Lego	B-Language
group	O
at	O
the	O
time	O
.	O
</s>
<s>
To	O
ease	O
tensions	O
between	O
Mindstorms	O
and	O
more	O
conventional	O
products	O
,	O
the	O
project	O
team	O
was	O
given	O
autonomy	O
from	O
Lego	B-Language
's	O
product	O
development	O
process	O
and	O
instead	O
reported	O
directly	O
to	O
the	O
company	O
's	O
senior	O
management	O
.	O
</s>
<s>
Promotion	O
of	O
the	O
Lego	B-Application
Mindstorms	I-Application
Robotics	O
Invention	O
System	O
began	O
6	O
months	O
before	O
the	O
product	O
was	O
planned	O
to	O
launch	O
.	O
</s>
<s>
The	O
Mindstorms	O
product	O
was	O
launched	O
concurrently	O
with	O
Lego	B-Language
Cybermaster	O
,	O
another	O
Lego	B-Language
product	O
spun	O
off	O
from	O
the	O
MIT	O
programmable	O
brick	O
technology	O
that	O
was	O
more	O
in	O
line	O
with	O
the	O
traditional	O
product	O
philosophies	O
of	O
the	O
Lego	B-Language
group	O
.	O
</s>
<s>
Lego	B-Application
Mindstorms	I-Application
was	O
released	O
on	O
1	O
September	O
1998	O
at	O
a	O
retail	O
price	O
of	O
$199	O
.	O
</s>
<s>
Despite	O
being	O
aimed	O
towards	O
children	O
,	O
the	O
kit	O
quickly	O
found	O
an	O
audience	O
with	O
adults	O
and	O
hackers	O
of	O
all	O
ages	O
;	O
Lego	B-Language
company	O
surveys	O
had	O
determined	O
that	O
seventy	O
percent	O
of	O
Lego	B-Application
Mindstorms	I-Application
Hobbyists	O
were	O
adults	O
.	O
</s>
<s>
Shortly	O
following	O
the	O
product	O
's	O
launch	O
,	O
hobbyists	O
began	O
sharing	O
reverse-engineered	O
versions	O
of	O
the	O
RCX	O
brick	O
's	O
Microcode	B-Device
and	O
Firmware	B-Application
on	O
the	O
internet	O
,	O
leading	O
to	O
the	O
development	O
of	O
alternative	O
programming	O
languages	O
for	O
the	O
RCX	O
such	O
as	O
"	O
Not	B-Language
Quite	I-Language
C	I-Language
"	O
(	O
NQC	B-Language
)	O
and	O
alternative	O
operating	O
systems	O
for	O
the	O
brick	O
like	O
legOS	O
.	O
</s>
<s>
The	O
Lego	B-Language
Group	O
was	O
surprised	O
by	O
the	O
products	O
embrace	O
by	O
adult	O
hobbyists	O
,	O
and	O
was	O
not	O
sure	O
how	O
to	O
respond	O
to	O
the	O
sharing	O
of	O
proprietary	O
code	O
.	O
</s>
<s>
The	O
Mindstorms	O
team	O
would	O
determine	O
that	O
the	O
embrace	O
of	O
the	O
product	O
by	O
the	O
hacking	O
community	O
proved	O
that	O
the	O
product	O
was	O
worth	O
developing	O
;	O
In	O
order	O
to	O
foster	O
this	O
burgeoning	O
community	O
,	O
an	O
official	O
forum	O
was	O
established	O
on	O
the	O
Lego	B-Language
website	O
and	O
a	O
"	O
right	O
to	O
hack	O
"	O
clause	O
was	O
added	O
to	O
end	O
user	O
license	O
agreement	O
of	O
the	O
Lego	B-Application
Mindstorms	I-Application
software	O
.	O
</s>
<s>
Lego	B-Language
also	O
released	O
a	O
blue	O
computer	O
called	O
the	O
Scout	O
,	O
which	O
has	O
2	O
sensor	O
ports	O
,	O
2	O
motor	O
ports	O
(	O
plus	O
one	O
extra	O
if	O
linked	O
with	O
a	O
Micro	O
Scout	O
using	O
a	O
fiber	O
optic	O
cable	O
)	O
,	O
and	O
a	O
built-in	O
light	O
sensor	O
,	O
but	O
no	O
PC	O
interface	O
.	O
</s>
<s>
The	O
Scout	O
is	O
based	O
on	O
a	O
Toshiba	O
microcontroller	B-Architecture
with	O
32KB	O
of	O
ROM	O
and	O
1KB	O
of	O
RAM	O
,	O
where	O
about	O
400	O
bytes	O
are	O
available	O
for	O
user	O
programs	O
.	O
</s>
<s>
There	O
was	O
a	O
plan	O
for	O
Lego	B-Language
to	O
create	O
a	O
booster	O
set	O
that	O
allows	O
programming	O
the	O
Scout	O
from	O
a	O
computer	O
with	O
software	O
such	O
as	O
RCX	O
code	O
.	O
</s>
<s>
The	O
Micro	O
Scout	O
was	O
added	O
as	O
an	O
entry-level	O
to	O
Lego	B-Application
robotics	I-Application
.	O
</s>
<s>
Like	O
the	O
Scout	O
,	O
the	O
Micro	O
Scout	O
is	O
also	O
based	O
on	O
a	O
microcontroller	B-Architecture
from	O
Toshiba	O
.	O
</s>
<s>
These	O
were	O
based	O
around	O
the	O
RCX	O
(	O
Robotic	O
Command	O
eXplorers	O
)	O
brick	O
and	O
the	O
9V	O
Lego	B-Language
Technic	O
peripherals	O
available	O
at	O
the	O
time	O
.	O
</s>
<s>
The	O
RCX	O
is	O
based	O
on	O
the	O
8-bit	O
Renesas	O
H8/300	O
microcontroller	B-Architecture
,	O
including	O
32KB	O
of	O
ROM	O
for	O
low-level	O
IO	O
functions	O
,	O
along	O
with	O
32KB	O
of	O
RAM	O
to	O
store	O
high-level	O
firmware	B-Application
and	O
user	O
programs	O
.	O
</s>
<s>
The	O
RCX	O
is	O
programmed	O
by	O
uploading	B-Application
a	O
program	O
using	O
a	O
dedicated	O
infrared	O
interface	O
.	O
</s>
<s>
After	O
the	O
user	O
uploads	B-Application
a	O
program	O
,	O
the	O
RCX	O
can	O
run	O
it	O
on	O
its	O
own	O
without	O
the	O
need	O
for	O
computer	O
access	O
.	O
</s>
<s>
A	O
built-in	O
LCD	B-Device
can	O
display	O
the	O
battery	O
level	O
,	O
the	O
status	O
of	O
the	O
input/output	O
ports	O
,	O
which	O
program	O
is	O
selected	O
or	O
running	O
,	O
and	O
other	O
information	O
.	O
</s>
<s>
Power	O
adapter-equipped	O
RCX	O
bricks	O
were	O
popular	O
for	O
stationary	O
robotics	O
projects	O
(	O
such	O
as	O
robot	O
arms	O
)	O
or	O
for	O
controlling	O
Lego	B-Language
model	O
trains	O
.	O
</s>
<s>
The	O
IR	O
interface	O
on	O
the	O
RCX	O
is	O
able	O
to	O
communicate	O
with	O
Spybots	O
,	O
Scout	O
Bricks	O
,	O
Lego	B-Language
Trains	O
,	O
and	O
the	O
NXT	B-Application
(	O
using	O
a	O
third-party	O
infrared	O
link	O
sensor	O
)	O
.	O
</s>
<s>
The	O
RCX	O
communicates	O
with	O
a	O
computer	O
using	O
a	O
Serial	B-Protocol
or	O
USB	B-Protocol
IR	O
tower	O
.	O
</s>
<s>
All	O
RCX	O
versions	O
have	O
a	O
unique	O
number	O
printed	O
on	O
them	O
,	O
which	O
could	O
be	O
registered	O
on	O
the	O
now-defunct	O
Lego	B-Application
Mindstorms	I-Application
RCX	O
website	O
.	O
</s>
<s>
The	O
Lego	B-Language
RCX	O
was	O
available	O
in	O
new	O
sets	O
from	O
1998	O
(	O
Lego	B-Language
Set	O
9719	O
:	O
Robotics	O
Invention	O
System	O
1.0	O
)	O
through	O
2003	O
(	O
Lego	B-Language
Set	O
9786	O
:	O
Robo	O
Technology	O
Set	O
,	O
with	O
USB	B-Protocol
cable	O
)	O
.	O
</s>
<s>
The	O
original	O
RCX	O
1.0	O
worked	O
with	O
existing	O
Lego	B-Language
power	O
supply	O
products	O
from	O
the	O
Lego	B-Language
Train	O
theme	O
,	O
Lego	B-Language
Product	O
70931	O
:	O
Electric	O
Train	O
Speed	O
Regulator	O
9V	O
Power	O
Adaptor	O
for	O
120v	O
60Hz	O
-	O
US	O
version	O
(	O
Years	O
:	O
1991	O
thru	O
2004	O
)	O
,	O
Lego	B-Language
Product	O
70938	O
:	O
Electric	O
Train	O
Speed	O
Regulator	O
9V	O
Power	O
Adaptor	O
for	O
230v	O
50Hz	O
-	O
European	O
version	O
(	O
Years	O
:	O
1991	O
thru	O
1996	O
)	O
.	O
</s>
<s>
These	O
were	O
sometimes	O
sold	O
alone	O
and	O
sometimes	O
available	O
as	O
part	O
of	O
other	O
sets	O
such	O
as	O
Lego	B-Language
Set	O
4563	O
:	O
Load	O
N	O
 '	O
Haul	O
Railroad	O
(	O
Year	O
:	O
1991	O
)	O
and	O
Lego	B-Language
Set	O
10132	O
:	O
Motorized	O
Hogwarts	O
Express	O
(	O
Year	O
:	O
2004	O
)	O
.	O
</s>
<s>
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
was	O
a	O
programmable	O
robotics	O
kit	O
released	O
by	O
Lego	B-Language
in	O
August	O
2006	O
,	O
replacing	O
the	O
first-generation	O
Lego	B-Application
Mindstorms	I-Application
kit	O
.	O
</s>
<s>
The	O
kit	O
consists	O
of	O
577	O
pieces	O
,	O
including	O
:	O
3	O
servo	O
motors	O
,	O
4	O
sensors	O
(	O
ultrasonic	B-Application
,	O
sound	O
,	O
touch	O
,	O
and	O
light	O
)	O
,	O
7	O
connection	O
cables	O
,	O
a	O
USB	B-Protocol
interface	O
cable	O
,	O
and	O
the	O
NXT	B-Application
Intelligent	O
Brick	O
.	O
</s>
<s>
The	O
kit	O
also	O
includes	O
NXT-G	O
,	O
a	O
graphical	B-Language
programming	I-Language
environment	O
that	O
enables	O
the	O
creation	O
and	O
downloading	O
of	O
programs	O
to	O
the	O
NXT	B-Application
.	O
</s>
<s>
The	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
2.0	O
was	O
launched	O
on	O
5	O
August	O
2009	O
.	O
</s>
<s>
It	O
contains	O
619	O
pieces	O
(	O
includes	O
sensors	O
and	O
motors	O
)	O
,	O
two	O
Touch	O
Sensors	O
,	O
an	O
Ultrasonic	B-Algorithm
Sensor	I-Algorithm
,	O
and	O
introduced	O
a	O
new	O
Color	O
Sensor	O
.	O
</s>
<s>
The	O
NXT	B-Application
2.0	O
uses	O
Floating	O
Point	O
operations	O
whereas	O
earlier	O
versions	O
use	O
Integer	O
operation	O
.	O
</s>
<s>
The	O
Lego	B-Application
Mindstorms	I-Application
EV3	O
is	O
the	O
third	O
generation	O
Lego	B-Application
Mindstorms	I-Application
product	O
.	O
</s>
<s>
EV3	O
is	O
a	O
further	O
development	O
of	O
the	O
NXT	B-Application
.	O
</s>
<s>
The	O
Lego	B-Application
Mindstorms	I-Application
EV3	O
set	O
includes	O
motors	O
(	O
2	O
large	O
servo	O
motor	O
and	O
1	O
medium	O
servo	O
motor	O
)	O
,	O
sensors	O
(	O
2	O
touch	O
sensors	O
,	O
ultrasonic	B-Algorithm
sensor	I-Algorithm
,	O
color	O
sensor	O
,	O
infrared	O
sensor	O
,	O
and	O
the	O
new	O
gyro	O
sensor	O
)	O
,	O
the	O
EV3	O
programmable	O
brick	O
,	O
550+	O
Lego	B-Language
Technic	O
elements	O
and	O
a	O
remote	O
control	O
(	O
the	O
Infrared	O
Beacon	O
,	O
which	O
is	O
only	O
on	O
Home/Retail	O
mode	O
)	O
.	O
</s>
<s>
While	O
not	O
being	O
part	O
of	O
the	O
Mindstorms	O
product	O
line	O
,	O
the	O
basic	O
set	O
includes	O
three	O
motors	O
(	O
1	O
large	O
2	O
medium	O
)	O
and	O
sensors	O
for	O
distance	O
,	O
force	O
and	O
color	O
a	O
controller	O
brick	O
based	O
on	O
an	O
STM32F413	O
microcontroller	B-Architecture
and	O
520+	O
Lego	B-Language
Technic	O
elements	O
.	O
</s>
<s>
Lego	B-Application
Mindstorms	I-Application
Robot	O
Inventor	O
was	O
announced	O
in	O
June	O
2020	O
and	O
released	O
later	O
in	O
autumn	O
.	O
</s>
<s>
It	O
also	O
has	O
902+	O
Lego	B-Language
Technic	O
elements	O
.	O
</s>
<s>
Name	O
Device	O
Program	O
type	O
Language	O
type(s )	O
NotesLinksRCXNXTEV3Runs	O
on	O
BrickRemote	O
control	O
Actor-Lab	B-Application
Custom	O
flowchart-like	O
language	O
Ada	B-Language
Ada	B-Language
Requires	O
nxtOSEK	O
Ada	B-Language
Interface	O
to	O
Mindstorms	O
Ada	B-Language
App	B-Application
Inventor	I-Application
App	B-Application
Inventor	I-Application
Specific	O
support	O
for	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
sensors	O
and	O
motors	O
brickOS	O
C	B-Language
,	O
C++	B-Language
website	O
Ch	O
C	B-Language
,	O
C++	B-Language
interpreter	O
Control	O
Lego	B-Application
Mindstorms	I-Application
in	O
C/C	O
++	O
interactively	O
without	O
compiling	O
clang	O
C	B-Language
,	O
C++CoderZJavaWorks	O
with	O
Blockly	O
or	O
with	O
Java	B-Language
(	O
using	O
LejOS	B-Language
)	O
.	O
</s>
<s>
Also	O
includes	O
an	O
online	O
3D	O
simulatorwebsiteCpp4RobotsC/C	O
++Cpp4Robots	O
is	O
extension	O
(	O
plug-in	O
)	O
for	O
Microsoft	O
Visual	O
Studio	O
environment	O
;	O
allows	O
programming	O
Lego	B-Language
EV3	O
in	O
native	O
C/C	O
++	O
language	O
and	O
in	O
Microsoft	O
Visual	O
Studio	O
development	O
environment	O
;	O
works	O
with	O
default	O
firmware	B-Application
in	O
EV3	O
Brickwebsite	O
DialogOS	B-Application
Graphical	O
flowchart	O
for	O
voice	O
controlled	O
robots	O
DialogOS	B-Application
combines	O
speech	O
recognition	O
and	O
speech	O
synthesis	O
with	O
robotics	O
,	O
enabling	O
building	O
talking	O
robots	O
that	O
react	O
to	O
voice	O
commands	O
Enchanting	B-Language
Drag	O
and	O
drop	O
,	O
similar	O
to	O
NXT-G	O
Program	O
robots	O
simply	O
by	O
dragging	O
the	O
line	O
of	O
functionsEV3BasicMicrosoft	O
Small	O
Basicwebsite	O
ev3_scratch	O
Scratch	B-Language
(	O
programming	O
language	O
)	O
Code	O
runs	O
in	O
the	O
browser	O
relaying	O
commands	O
to	O
EV3	O
robot	O
over	O
Bluetooth	B-Protocol
FLL	O
NXT	B-Application
Navigation	O
Uses	O
NXT-G	O
and	O
.txt	O
files	O
GCC	O
C	B-Language
,	O
C++	B-Language
,	O
Objective-C	B-Language
,	O
Fortran	B-Application
,	O
Java	B-Language
,	O
Ada	B-Language
,	O
others	O
Gnikrap	O
JavaScript	B-Language
,	O
Scratch	B-Language
like	I-Language
programming	I-Language
website	O
GNU	O
Toolchain	O
for	O
h8300	B-Device
C/C	O
++	O
,	O
Assembly	B-Language
language	I-Language
(	O
ASM	O
)	O
HVMDevelopment	O
environment	O
for	O
the	O
Java	B-Language
language	I-Language
for	O
the	O
Mindstorms	O
EV3	O
,	O
Eclipse-basedWorks	O
with	O
Java	B-Language
1.7	O
;	O
works	O
with	O
standard	O
Lego	B-Language
firmware	B-Application
;	O
needs	O
no	O
microSD	O
card	O
;	O
needs	O
a	O
wireless	O
bluetooth	B-Protocol
dongle	O
for	O
the	O
EV3websiteInteractive	O
CC-style	O
languageLanguage	O
developed	O
for	O
the	O
MIT	O
Lego	B-Language
Robot	O
Design	O
Contest	O
jaraco.nxt	O
Python	B-Language
Python	B-Language
modules	O
providing	O
low-level	O
interfaces	O
for	O
controlling	O
a	O
Lego	B-Application
NXT	I-Application
brick	O
via	O
Bluetooth	B-Protocol
;	O
includes	O
code	O
to	O
control	O
motors	O
with	O
an	O
Xbox	O
360	O
controller	O
using	O
pyglet	O
LabVIEW	B-Application
National	O
Instruments	O
LabVIEW	B-Application
visual	B-Language
programming	I-Language
language	I-Language
(	O
G	O
code	O
)	O
Core	O
language	O
used	O
to	O
develop	O
Mindstorms	B-Application
NXT	I-Application
software	O
.	O
</s>
<s>
Can	O
use	O
available	O
add-on	O
kit	O
to	O
create	O
and	O
download	O
programs	O
to	O
NXT	B-Application
,	O
create	O
original	O
NXT	B-Application
blocks	O
or	O
control	O
robot	O
directly	O
via	O
USB	B-Protocol
or	O
Bluetooth	B-Protocol
using	O
NXT	B-Application
fantom.dllLego	O
Mindstorms	O
EV3	O
API	O
for	O
.NET.NET	O
,	O
WinJS	O
and	O
C++A	O
.NET	O
API	O
for	O
the	O
Lego	B-Application
Mindstorms	I-Application
EV3	O
brick	O
usable	O
from	O
desktop	O
,	O
Windows	O
Phone	O
,	O
and	O
WinRT	O
;	O
this	O
API	O
can	O
connect	O
,	O
control	O
,	O
and	O
read	O
sensor	O
data	O
from	O
Lego	B-Language
EV3	O
bricks	O
over	O
Bluetooth	B-Protocol
,	O
WiFi	O
,	O
or	O
USBwebsite	O
Lego.NET	O
Anything	O
that	O
can	O
compile	O
to	O
CIL	O
,	O
works	O
best	O
with	O
C#	B-Application
Does	O
not	O
come	O
with	O
a	O
compiler	O
,	O
converts	O
CIL	O
to	O
machine	O
code	O
Lego::NXT	O
Perl	B-Language
Set	O
of	O
Perl	B-Language
modules	O
providing	O
real-time	O
low-level	O
control	O
of	O
a	O
Lego	B-Application
NXT	I-Application
brick	O
over	O
Bluetooth	B-Protocol
.	O
</s>
<s>
LegoLog	O
Prolog	B-Language
Uses	O
an	O
NQC	B-Language
program	O
to	O
interpret	O
commands	O
send	O
from	O
the	O
PC	O
running	O
the	O
Prolog	B-Language
code	O
LegoNXTRemote	O
Objective-C	B-Language
Remote	O
control	O
program	O
for	O
remotely	O
operating	O
and	O
programming	O
a	O
Lego	B-Application
NXT	I-Application
Brick	O
.	O
</s>
<s>
Supports	O
NXT	B-Application
2.0	O
and	O
1.0	O
,	O
sensors	O
,	O
all	O
3	O
motors	O
,	O
automatic	O
"	O
steering	O
"	O
control	O
,	O
and	O
running	O
preloaded	O
programs	O
.	O
</s>
<s>
leJOS	B-Language
Java	B-Language
A	O
java	B-Language
based	O
system	O
for	O
advanced	O
programmers	O
can	O
handle	O
most	O
sensors	O
and	O
things	O
like	O
GPS	O
,	O
speech	O
recognition	O
and	O
mapping	O
technology	O
.	O
</s>
<s>
Can	O
be	O
interfaced	O
with	O
the	O
Eclipse	B-Application
IDE	I-Application
or	O
run	O
from	O
the	O
command	O
line	O
Lestat	O
C++	B-Language
Allows	O
controlling	O
the	O
NXT	B-Application
directly	O
from	O
any	O
C++	B-Language
program	I-Language
in	O
Linux	B-Application
librcx	O
C/C	O
++	O
A	O
library	O
for	O
GCC	O
Logitech	O
SDK	O
Visual	B-Language
Basic	I-Language
,	O
Visual	B-Application
C++	I-Application
Can	O
be	O
combined	O
with	O
an	O
RCX	O
control	O
library	O
such	O
as	O
spirit.ocx	O
from	O
the	O
MindStorms	O
SDK	O
to	O
make	O
use	O
of	O
the	O
Lego	B-Language
Cam	O
Microsoft	O
Visual	B-Language
Programming	I-Language
Language	I-Language
(	O
VPL	O
)	O
Graphical	O
flowchart	O
,	O
based	O
on	O
.NET	O
With	O
the	O
Microsoft	B-Application
Robotics	I-Application
Studio	I-Application
,	O
it	O
uses	O
a	O
native	O
NXT	B-Application
program	O
msrs	B-Application
to	O
send	O
and	O
receive	O
messages	O
to	O
and	O
from	O
a	O
controlling	O
program	O
on	O
a	O
computer	O
via	O
Bluetooth	B-Protocol
Mindstorms	O
SDK	O
Visual	B-Language
Basic	I-Language
,	O
Visual	B-Application
C++	I-Application
,	O
MindScript	O
,	O
LASM	O
Does	O
not	O
need	O
VB	O
to	O
use	O
the	O
VB	O
features	O
as	O
MS	O
Office	O
comes	O
with	O
a	O
cut	O
down	O
version	O
of	O
VB	O
to	O
make	O
macrosMonobrickC#	O
.NET	O
4.5	O
.	O
</s>
<s>
Firmware	B-Application
running	O
from	O
SD	O
card.website	O
NQC	B-Language
NQC	B-Language
,	O
a	O
C-like	O
language	O
NXT++	O
C++	B-Language
Allows	O
controlling	O
the	O
NXT	B-Application
directly	O
from	O
any	O
C++	B-Language
program	I-Language
,	O
in	O
Visual	O
Studio	O
,	O
Windows	O
.	O
</s>
<s>
NXT_Python	O
Python	B-Language
Package	O
to	O
control	O
a	O
Lego	B-Application
NXT	I-Application
robot	O
using	O
Python	B-Language
language	I-Language
;	O
can	O
communicate	O
via	O
USB	B-Protocol
or	O
Bluetooth	B-Protocol
NXT-Python	O
Python	B-Language
Based	O
on	O
NXT_Python	O
,	O
includes	O
additional	O
advanced	O
features	O
,	O
support	O
for	O
around	O
30	O
sensors	O
,	O
and	O
multiple	O
brick	O
connection	O
backends	O
.	O
</s>
<s>
Works	O
on	O
Windows	O
,	O
Linux	B-Application
,	O
Mac	O
.	O
</s>
<s>
NXTGCC	O
Assembly	O
,	O
C	B-Language
,	O
makefiles	O
,	O
Eclipse	B-Application
,	O
etc	O
.	O
</s>
<s>
The	O
first	O
GCC	O
toolchain	O
for	O
programming	O
the	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
firmware	B-Application
.	O
</s>
<s>
nxtOSEK	O
C/C	O
++	O
OCaml-mindstorm	O
OCaml	B-Language
Module	O
to	O
control	O
Lego	B-Application
NXT	I-Application
robots	O
using	O
OCaml	B-Language
through	O
the	O
Bluetooth	B-Protocol
and	O
USB	B-Protocol
interfaces	O
.	O
</s>
<s>
OnScreen	O
A	O
custom	O
language	O
which	O
can	O
be	O
programmed	O
directly	O
on	O
the	O
RCX	O
pbForth	B-Application
ForthNo	O
longer	O
developed.pbLuaAPI	O
for	O
the	O
Lua	B-Language
programming	I-Language
language	I-Language
for	O
the	O
Mindstorms	B-Application
NXT	I-Application
,	O
text-basedpBLua	O
:	O
...	O
is	O
written	O
in	O
portable	O
C	B-Language
,	O
with	O
minimal	O
runtime	O
requirements	O
;	O
can	O
be	O
compiled	O
on	O
the	O
fly	O
on	O
NXT	B-Application
;	O
is	O
a	O
small	O
,	O
easy	O
to	O
read	O
,	O
and	O
easy	O
to	O
write	O
language	O
;	O
has	O
extensive	O
documentation	O
available	O
online	O
and	O
in	O
dead-tree	O
format	O
,	O
and	O
a	O
very	O
friendly	O
newsgroupwebsite	O
PBrickDev	O
PBrickDev	O
,	O
a	O
flowchart	O
based	O
language	O
.	O
</s>
<s>
Has	O
more	O
function	O
than	O
the	O
RIS	O
language	O
,	O
such	O
as	O
datalogs	O
and	O
subroutines	O
,	O
multithreading	O
PRO-BOT	O
A	O
kind	O
of	O
Visual	O
Basic/spirit.ocx	O
-based	O
language	O
Designed	O
for	O
robots	O
which	O
are	O
in	O
contact	O
with	O
the	O
workstation	O
at	O
all	O
times	O
Processing	O
Java	B-Language
(	O
simplified	O
,	O
programmed	O
C-style	O
)	O
Processing	O
(	O
programming	O
language	O
)	O
is	O
an	O
open	O
source	O
programming	O
language	O
and	O
environment	O
to	O
program	O
images	O
,	O
animation	O
,	O
and	O
interactions	O
.	O
</s>
<s>
It	O
is	O
used	O
by	O
students	O
,	O
artists	O
,	O
designers	O
,	O
researchers	O
,	O
and	O
hobbyists	O
for	O
learning	O
,	O
prototyping	O
,	O
and	O
production	O
;	O
the	O
NXTComm	O
Processing	O
library	O
developed	O
by	O
Jorge	O
Cardoso	O
can	O
control	O
the	O
NXT	B-Application
with	O
Processing	O
QuiteC	O
C	B-Language
A	O
library	O
for	O
use	O
with	O
GCC	O
and	O
comes	O
with	O
GCC	O
for	O
Windows	O
.	O
</s>
<s>
RCX	O
Code	O
RCX	O
Code	O
,	O
a	O
custom	O
flowchart-based	O
language	O
Included	O
in	O
the	O
Mindstorms	O
consumer	O
version	O
sold	O
at	O
toystore	O
ROBOLAB	B-Application
A	O
flowchart	O
language	O
based	O
on	O
LabVIEW	B-Application
This	O
is	O
the	O
programming	B-Application
environment	I-Application
offered	O
to	O
schools	O
who	O
use	O
MindStorms	O
,	O
supports	O
the	O
Lego	B-Language
Cam	O
.	O
</s>
<s>
Therefore	O
,	O
it	O
helps	O
users	O
a	O
great	O
deal	O
in	O
terms	O
of	O
translating	O
from	O
a	O
flowchart	O
design	O
to	O
Robolab	B-Application
icons	O
.	O
</s>
<s>
The	O
scripts	O
can	O
then	O
directly	O
be	O
transferred	O
to	O
a	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
robot	O
.	O
</s>
<s>
It	O
works	O
on	O
the	O
standard	O
firmware	B-Application
.	O
</s>
<s>
RoboRealm	O
A	O
multi-platform	O
language	O
that	O
works	O
with	O
IRobot	O
Roomba	O
,	O
NXT	B-Application
,	O
RCX	O
,	O
VEX	O
,	O
and	O
many	O
other	O
popular	O
robotic	O
sets	O
;	O
can	O
also	O
process	O
video	O
using	O
a	O
webcam	O
,	O
this	O
gives	O
a	O
robot	O
excellent	O
vision	O
since	O
it	O
can	O
filter	O
out	O
certain	O
colors	O
,	O
lock-on	O
to	O
a	O
certain	O
area	O
of	O
color	O
,	O
display	O
variables	O
from	O
the	O
robot	O
or	O
computer	O
,	O
and	O
much	O
more	O
;	O
software	O
works	O
with	O
keyboard	O
,	O
joystick	O
,	O
mouseRobot	O
JavaScriptJavaScriptA	O
compiler	O
that	O
compiles	O
JavaScript	B-Language
code	O
for	O
EV3	O
robots	O
.	O
</s>
<s>
Free.website	O
ROBOTC	O
An	O
integrated	B-Application
development	I-Application
environment	I-Application
targeted	O
towards	O
students	O
that	O
is	O
used	O
to	O
program	O
and	O
control	O
Lego	B-Application
NXT	I-Application
,	O
VEX	O
,	O
RCX	O
and	O
Arduino	O
robots	O
using	O
a	O
programming	O
language	O
based	O
on	O
the	O
language	O
C	B-Language
.	O
ROBOTC	O
gives	O
the	O
ability	O
to	O
use	O
a	O
text-based	O
language	O
based	O
on	O
the	O
C	B-Language
language	I-Language
.	O
</s>
<s>
Robotics.NXT	O
Haskell	B-Language
A	O
Haskell	B-Language
interface	O
over	O
Bluetooth	B-Protocol
;	O
it	O
supports	O
direct	O
commands	O
,	O
messages	O
and	O
many	O
sensors	O
(	O
also	O
unofficial	O
)	O
,	O
and	O
supports	O
a	O
simple	O
message-based	O
control	O
of	O
a	O
NXT	B-Application
brick	O
via	O
remotely	O
executed	O
program	O
(	O
basic	O
NXC	O
code	O
included	O
)	O
Robot	B-Application
Operating	I-Application
System	I-Application
(	O
ROS	B-Application
)	O
A	O
Linux	B-Application
based	O
library	O
for	O
writing	O
robots	O
;	O
the	O
stack	O
"	O
nxt	B-Application
"	O
provides	O
interface	O
with	O
the	O
NXT	B-Application
ruby-nxt	O
Ruby	B-Language
Provides	O
low-level	O
access	O
to	O
the	O
NXT	B-Application
via	O
Bluetooth	B-Protocol
and	O
some	O
preliminary	O
high-level	O
function	O
RWTH	O
–	O
Mindstorms	B-Application
NXT	I-Application
Toolbox	O
MATLAB	B-Language
Interface	O
to	O
control	O
the	O
NXT	B-Application
from	O
MATLAB	B-Language
via	O
Bluetooth	B-Protocol
or	O
USB	B-Protocol
;	O
open-source	O
Simulink	B-Application
(	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
Support	O
)	O
Simulink	B-Application
Provides	O
a	O
one-click	O
rapid	O
programming	O
tool	O
for	O
the	O
NXT	B-Application
;	O
C	B-Language
code	O
is	O
automatically	O
generated	O
from	O
a	O
graphical	O
Simulink	B-Application
model	O
;	O
code	O
is	O
then	O
deployed	O
and	O
downloaded	O
onto	O
the	O
NXT	B-Application
,	O
from	O
where	O
it	O
can	O
be	O
run	O
;	O
the	O
Mathworks	O
provides	O
an	O
array	O
of	O
graphical	O
blocks	O
that	O
represent	O
various	O
sensors	O
and	O
actuators	O
that	O
the	O
NXT	B-Application
uses	O
SqLego	O
Squeak	B-Operating_System
Swift	B-Application
/	O
RobotarySwift	O
(	O
programming	O
language	O
)	O
Robotary	O
is	O
a	O
Mac	O
robotics	B-Application
studio	I-Application
that	O
uses	O
the	O
Swift	B-Application
programming	O
languagewebsite	O
TclRCX	O
Tcl	B-Operating_System
Terrapin	O
Logo	B-Device
LOGO	B-Device
TinySoar	O
Soar	B-Architecture
An	O
implementation	O
of	O
the	O
Soar	B-Architecture
artificial	O
intelligence	O
architecture	O
that	O
runs	O
on	O
the	O
RCX	O
brick	O
;	O
Soar	B-Architecture
incorporates	O
acting	O
,	O
planning	O
,	O
and	O
learning	O
in	O
a	O
rule-based	O
framework	O
TinyVM	O
Java	B-Language
A	O
predecessor	O
to	O
the	O
lejos	B-Language
language	O
.	O
</s>
<s>
An	O
open	O
source	O
Java	B-Language
based	O
replacement	O
firmware	B-Application
for	O
the	O
Lego	B-Application
Mindstorms	I-Application
RCX	O
microcontroller	B-Architecture
.	O
</s>
<s>
Transterpreter	O
(	O
The	O
)	O
Occam	B-Language
TuxMinds	O
(	O
Linux	B-Application
)	O
GUI	B-Application
for	O
various	O
distributions	O
,	O
an	O
open	O
source	O
IDE	O
based	O
on	O
Qt	O
.	O
</s>
<s>
RCX	O
,	O
NXT	B-Application
and	O
Asuro	O
are	O
predefined	O
.	O
</s>
<s>
With	O
the	O
XML-based	O
configuration	O
file	O
almost	O
any	O
kind	O
of	O
bot	O
(	O
or	O
microcontroller	B-Architecture
)	O
can	O
be	O
added	O
.	O
</s>
<s>
URBI	B-Application
by	O
Gostai	O
for	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
URBI	B-Application
,	O
C++	B-Language
,	O
Java	B-Language
,	O
Matlab	B-Language
Easy	O
to	O
use	O
parallel	O
and	O
event-driven	O
script	O
language	O
with	O
a	O
component	O
architecture	O
and	O
opensource	O
interfaces	O
to	O
many	O
programming	O
languages	O
.	O
</s>
<s>
It	O
also	O
offers	O
voice/speech	O
recognition/synthesis	O
,	O
face	O
recognition/detection	O
,	O
Simultaneous	B-Application
localization	I-Application
and	I-Application
mapping	I-Application
,	O
etc	O
.	O
</s>
<s>
Mindstorms	O
kits	O
are	O
also	O
sold	O
and	O
used	O
as	O
an	O
educational	O
tool	O
,	O
originally	O
through	O
a	O
partnership	O
between	O
Lego	B-Language
and	O
the	O
MIT	O
Media	O
Laboratory	O
.	O
</s>
<s>
The	O
educational	O
version	O
of	O
the	O
products	O
is	O
called	O
Mindstorms	O
for	O
Schools	O
or	O
Mindstorms	O
Education	O
,	O
and	O
later	O
versions	O
come	O
with	O
the	O
ROBOLAB	B-Application
GUI-based	O
programming	O
software	O
,	O
developed	O
at	O
Tufts	O
University	O
using	O
the	O
National	O
Instruments	O
LabVIEW	B-Application
as	O
an	O
engine	O
.	O
</s>
