<s>
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
is	O
a	O
programmable	O
robotics	O
kit	O
released	O
by	O
Lego	B-Language
on	O
August	O
2	O
,	O
2006	O
.	O
</s>
<s>
It	O
replaced	O
the	O
first-generation	O
Lego	B-Application
Mindstorms	I-Application
kit	O
,	O
which	O
was	O
called	O
the	O
Robotics	O
Invention	O
System	O
.	O
</s>
<s>
It	O
comes	O
with	O
the	O
NXT-G	O
programming	O
software	O
,	O
or	O
optionally	O
LabVIEW	B-Application
for	O
Lego	B-Application
Mindstorms	I-Application
.	O
</s>
<s>
A	O
variety	O
of	O
unofficial	O
languages	O
exist	O
,	O
such	O
as	O
NXC	B-Language
,	O
NBC	O
,	O
leJOS	B-Language
NXJ	O
,	O
and	O
RobotC	O
.	O
</s>
<s>
The	O
second	O
generation	O
of	O
the	O
set	O
,	O
the	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
2.0	O
,	O
was	O
released	O
on	O
August	O
1	O
,	O
2009	O
,	O
featuring	O
a	O
color	O
sensor	O
and	O
other	O
upgraded	O
capabilities	O
.	O
</s>
<s>
The	O
third	O
generation	O
,	O
the	O
EV3	B-Application
,	O
was	O
released	O
in	O
September	O
2013	O
.	O
</s>
<s>
The	O
main	O
component	O
in	O
the	O
kit	O
is	O
a	O
brick	O
shaped	O
computer	O
called	O
the	O
NXT	B-Application
Intelligent	O
Brick	O
.	O
</s>
<s>
The	O
brick	O
has	O
a	O
100×64	O
pixel	O
monochrome	O
LCD	B-Device
and	O
four	O
buttons	O
that	O
can	O
be	O
used	O
to	O
navigate	O
a	O
user	O
interface	O
using	O
hierarchical	O
menus	O
.	O
</s>
<s>
It	O
has	O
a	O
32-bit	O
ARM7TDMI-core	O
Atmel	O
AT91SAM7S256	O
microcontroller	B-Architecture
with	O
256KB	O
of	O
FLASH	B-Device
memory	I-Device
and	O
64KB	O
of	O
RAM	B-Architecture
,	O
plus	O
an	O
8-bit	O
Atmel	B-Architecture
AVR	I-Architecture
ATmega48	I-Architecture
microcontroller	B-Architecture
,	O
and	O
bluetooth	B-Protocol
support	O
.	O
</s>
<s>
Power	O
is	O
supplied	O
by	O
6	O
AA	B-Algorithm
(	O
1.5	O
V	O
each	O
)	O
batteries	O
in	O
the	O
consumer	O
version	O
of	O
the	O
kit	O
and	O
by	O
a	O
Li-Ion	O
rechargeable	O
battery	O
and	O
charger	O
in	O
the	O
educational	O
version	O
.	O
</s>
<s>
The	O
Intelligent	O
Brick	O
remains	O
unchanged	O
with	O
NXT	B-Application
2.0	O
.	O
</s>
<s>
Lego	B-Language
has	O
released	O
the	O
firmware	O
for	O
the	O
NXT	B-Application
Intelligent	O
Brick	O
as	O
open	B-License
source	I-License
,	O
along	O
with	O
schematics	O
for	O
all	O
hardware	O
components	O
.	O
</s>
<s>
Several	O
developer	O
kits	O
are	O
available	O
that	O
contain	O
documentation	O
for	O
the	O
NXT	B-Application
:	O
</s>
<s>
Very	O
simple	O
programs	O
can	O
be	O
created	O
using	O
the	O
menu	O
on	O
the	O
NXT	B-Application
Intelligent	O
Brick	O
.	O
</s>
<s>
More	O
complicated	O
programs	O
and	O
sound	O
files	O
can	O
be	O
downloaded	O
using	O
a	O
USB	B-Protocol
port	O
or	O
wirelessly	O
using	O
Bluetooth	B-Protocol
.	O
</s>
<s>
Files	O
can	O
also	O
be	O
copied	O
between	O
two	O
NXT	B-Application
bricks	O
wirelessly	O
,	O
and	O
some	O
mobile	O
phones	O
can	O
be	O
used	O
as	O
a	O
remote	O
control	O
.	O
</s>
<s>
Up	O
to	O
three	O
NXT	B-Application
bricks	O
can	O
communicate	O
simultaneously	O
via	O
Bluetooth	B-Protocol
when	O
user	O
created	O
programs	O
are	O
run	O
.	O
</s>
<s>
The	O
retail	O
version	O
of	O
the	O
kit	O
includes	O
software	O
for	O
writing	O
programs	O
that	O
run	O
on	O
Windows	O
and	O
Mac	O
OS	O
personal	B-Device
computers	I-Device
.	O
</s>
<s>
The	O
software	O
is	O
based	O
on	O
National	O
Instruments	O
LabVIEW	B-Application
and	O
provides	O
a	O
visual	O
programming	O
language	O
for	O
writing	O
simple	O
programs	O
and	O
downloading	O
them	O
to	O
the	O
NXT	B-Application
Brick	O
.	O
</s>
<s>
NXT-G	O
v2.0	O
is	O
a	O
graphical	O
programming	B-Application
environment	I-Application
that	O
comes	O
bundled	O
with	O
the	O
NXT	B-Application
.	O
</s>
<s>
With	O
careful	O
construction	O
of	O
blocks	O
and	O
wires	O
to	O
encapsulate	O
complexity	O
,	O
NXT-G	O
can	O
be	O
used	O
for	O
real-world	O
programming	O
.	O
</s>
<s>
Parallel	O
"	O
sequence	O
beams	O
"	O
are	O
actually	O
parallel	O
threads	O
,	O
so	O
this	O
software	O
is	O
quite	O
good	O
for	O
running	O
a	O
handful	O
of	O
parallel	O
sense/respond	O
loops	O
(	O
example	O
:	O
wait	O
60	O
seconds	O
,	O
play	O
a	O
"	O
bonk	O
"	O
sound	O
at	O
low	O
volume	O
if	O
battery	O
is	O
low	O
,	O
loop	O
)	O
,	O
or	O
blending	O
autonomous	O
control	O
with	O
bluetooth	B-Protocol
or	O
other	O
"	O
remote	O
control	O
"	O
.	O
</s>
<s>
The	O
language	O
supports	O
virtual	O
instruments	O
for	O
all	O
Lego	B-Language
branded	O
and	O
most	O
3rd	O
party	O
sensors/components	O
.	O
</s>
<s>
Version	O
2.0	O
contains	O
new	O
tutorial	O
challenges	O
,	O
a	O
remote	O
control	O
,	O
custom	O
graphics	O
and	O
sound	O
designers	O
,	O
and	O
new	O
Lego	B-Language
color	O
sensor	O
support	O
.	O
</s>
<s>
Free	O
tools	O
(	O
Visual	B-Application
Studio	I-Application
Express	I-Application
in	O
combination	O
with	O
the	O
Robotics	B-Application
Developer	I-Application
Studio	I-Application
)	O
enable	O
programming	O
the	O
NXT	B-Application
using	O
the	O
C#	B-Application
language	O
.	O
</s>
<s>
Other	O
supported	O
languages	O
include	O
IronPython	B-Application
and	O
VB.NET	B-Language
.	O
</s>
<s>
Bricx	B-Application
Command	I-Application
Center	I-Application
(	O
BricxCC	B-Application
)	O
is	O
the	O
integrated	B-Application
development	I-Application
environment	I-Application
(	O
IDE	O
)	O
used	O
to	O
write	O
,	O
compile	B-Language
,	O
and	O
edit	O
NBC	O
and	O
NXC	B-Language
programs	O
for	O
the	O
NXT	B-Application
.	O
</s>
<s>
Also	O
,	O
as	O
BricxCC	B-Application
was	O
originally	O
made	O
for	O
the	O
RCX	O
,	O
programs	O
for	O
it	O
can	O
be	O
written	O
using	O
NQC	B-Language
via	O
BricxCC	B-Application
.	O
</s>
<s>
Different	O
firmware	O
versions	O
can	O
be	O
flashed	O
to	O
the	O
NXT	B-Application
using	O
BricxCC	B-Application
.	O
</s>
<s>
BricxCC	B-Application
has	O
many	O
utilities	O
such	O
as	O
NeXTExplorer	O
(	O
upload/download	O
files	O
,	O
defragment	O
the	O
NXT	B-Application
,	O
use	O
file	O
hex	O
viewer	O
)	O
,	O
NeXTScreen	O
(	O
view	O
what	O
's	O
on	O
the	O
NXT	B-Application
's	O
LCD	B-Device
,	O
and	O
capture	O
images	O
and	O
video	O
)	O
.	O
</s>
<s>
Next	B-Application
Byte	I-Application
Codes	I-Application
(	O
NBC	O
)	O
is	O
a	O
simple	O
open	B-License
source	I-License
language	O
with	O
an	O
assembly	B-Language
language	I-Language
syntax	O
that	O
can	O
be	O
used	O
to	O
program	O
the	O
NXT	B-Application
brick	O
.	O
</s>
<s>
BricxCC	B-Application
also	O
has	O
the	O
capability	O
to	O
decompile	B-Application
standard	O
.rxe	O
NXT	B-Application
executables	O
to	O
NBC	O
.	O
</s>
<s>
Not	B-Language
eXactly	I-Language
C	I-Language
(	O
NXC	B-Language
)	O
is	O
a	O
high	O
level	O
open-source	B-License
language	O
,	O
similar	O
to	O
C	B-Language
,	O
built	O
on	O
the	O
NBC	O
compiler	B-Language
.	O
</s>
<s>
It	O
can	O
also	O
be	O
used	O
to	O
program	O
the	O
NXT	B-Application
brick	O
.	O
</s>
<s>
NXC	B-Language
is	O
basically	O
NQC	B-Language
for	O
the	O
NXT	B-Application
.	O
</s>
<s>
It	O
is	O
one	O
of	O
the	O
most	O
widely	O
used	O
third-party	O
programming	O
languages	O
for	O
the	O
NXT	B-Application
.	O
</s>
<s>
In	O
NXC	B-Language
,	O
even	O
creating	O
video	O
games	O
for	O
the	O
NXT	B-Application
is	O
possible	O
.	O
</s>
<s>
Some	O
people	O
have	O
even	O
got	O
working	O
grayscale	O
on	O
the	O
NXT	B-Application
Screen	O
.	O
</s>
<s>
Robolab	B-Application
is	O
the	O
newer	O
programming	B-Application
environment	I-Application
originally	O
used	O
on	O
the	O
RCX	O
programmable	O
brick	O
.	O
</s>
<s>
Version	O
2.9	O
has	O
been	O
updated	O
so	O
that	O
it	O
can	O
be	O
used	O
to	O
program	O
the	O
NXT	B-Application
brick	O
.	O
</s>
<s>
Lego	B-Language
has	O
announced	O
that	O
it	O
will	O
stop	O
officially	O
supporting	O
Robolab	B-Application
but	O
Robolab	B-Application
2.9	O
is	O
still	O
available	O
and	O
there	O
are	O
still	O
many	O
user	O
forums	O
and	O
other	O
sources	O
of	O
help	O
available	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
to	O
see	O
the	O
result	O
in	O
real	O
life	O
.	O
</s>
<s>
Enchanting	B-Language
brings	O
NXT	B-Application
programming	O
into	O
the	O
popular	O
Scratch	O
IDE	O
,	O
designed	O
by	O
the	O
Lifelong	O
Kindergarten	O
Group	O
at	O
MIT	O
to	O
make	O
programming	O
intuitive	O
even	O
for	O
young	O
children	O
.	O
</s>
<s>
The	O
resulting	O
NXT	B-Application
programs	O
have	O
the	O
compactness	O
and	O
clarity	O
offered	O
by	O
that	O
programming	B-Application
environment	I-Application
.	O
</s>
<s>
ROBOTC	O
is	O
a	O
programming-language	O
based	O
on	O
C	B-Language
for	O
VEX	O
,	O
the	O
VEX	O
Cortex	O
,	O
FIRST	O
Tech	O
Challenge	O
,	O
and	O
Lego	B-Application
Mindstorms	I-Application
.	O
</s>
<s>
ROBOTC	O
runs	O
a	O
very	O
optimized	O
firmware	O
which	O
allows	O
the	O
NXT	B-Application
to	O
run	O
programs	O
very	O
quickly	O
,	O
and	O
also	O
compresses	O
the	O
files	O
so	O
that	O
a	O
large	O
number	O
of	O
programs	O
can	O
fit	O
into	O
the	O
NXT	B-Application
.	O
</s>
<s>
Like	O
other	O
NXT	B-Application
languages	O
,	O
ROBOTC	O
requires	O
this	O
firmware	O
to	O
be	O
downloaded	O
from	O
the	O
ROBOTC	O
interface	O
in	O
order	O
to	O
run	O
.	O
</s>
<s>
NXTGCC	O
is	O
a	O
GCC	B-Application
toolchain	O
for	O
programming	O
the	O
NXT	B-Application
firmware	O
in	O
C	B-Language
.	O
</s>
<s>
leJOS	B-Language
NXJ	O
is	O
a	O
high	O
level	O
open	B-License
source	I-License
language	O
based	O
on	O
Java	B-Language
that	O
uses	O
custom	O
firmware	O
developed	O
by	O
the	O
leJOS	B-Language
team	O
.	O
</s>
<s>
To	O
be	O
able	O
to	O
write	O
in	O
C/C	O
++	O
,	O
nxtOSEK	O
can	O
be	O
used	O
,	O
but	O
that	O
requires	O
custom	O
firmware	O
too	O
.	O
</s>
<s>
To	O
write	O
files	O
on	O
the	O
NXT	B-Application
itself	O
,	O
ICON	O
by	O
Steve	O
Hassenplug	O
is	O
an	O
ideal	O
resource	O
.	O
</s>
<s>
MATLAB	B-Language
is	O
a	O
high-level	O
programming	O
language	O
for	O
numerical	O
computing	O
,	O
data	O
acquisition	O
,	O
and	O
analysis	O
.	O
</s>
<s>
It	O
can	O
be	O
used	O
to	O
control	O
Lego	B-Application
NXT	I-Application
robots	B-Device
over	O
a	O
Bluetooth	B-Protocol
serial	O
port	O
(	O
serial	O
port	O
communication	O
is	O
part	O
of	O
the	O
base	O
functionality	O
of	O
MATLAB	B-Language
)	O
or	O
via	O
a	O
USB	B-Protocol
connection	O
;	O
for	O
example	O
using	O
the	O
RWTH	O
–	O
Mindstorms	B-Application
NXT	I-Application
Toolbox	O
(	O
free	O
&	O
open-source	B-License
)	O
.	O
</s>
<s>
Simulink	B-Application
is	O
a	O
block	O
diagram	O
environment	O
for	O
modeling	O
and	O
simulating	O
dynamic	O
systems	O
.	O
</s>
<s>
Using	O
Simulink	B-Application
,	O
a	O
user	O
can	O
design	O
and	O
simulate	O
control	O
algorithms	O
and	O
Lego	B-Language
systems	O
,	O
and	O
subsequently	O
automatically	O
program	O
the	O
Lego	B-Application
NXT	I-Application
or	O
EV3	B-Application
.	O
</s>
<s>
Support	O
for	O
programming	O
the	O
Lego	B-Application
NXT	I-Application
or	O
EV3	B-Application
only	O
requires	O
Simulink	B-Application
and	O
is	O
available	O
at	O
no	O
additional	O
charge	O
.	O
</s>
<s>
MATLAB	B-Language
and	O
Simulink	B-Application
Support	O
for	O
Lego	B-Application
Mindstorms	I-Application
programming	O
is	O
freely	O
available	O
.	O
</s>
<s>
plLua	O
is	O
a	O
port	O
of	O
the	O
Lua	B-Language
programming	I-Language
language	I-Language
,	O
a	O
general	O
purpose	O
scripting	O
language	O
,	O
for	O
Lego	B-Application
Mindstorms	I-Application
.	O
</s>
<s>
A	O
port	O
of	O
GNAT	O
is	O
available	O
for	O
the	O
NXT	B-Application
.	O
</s>
<s>
It	O
relies	O
on	O
a	O
dedicated	O
run-time	O
kernel	O
based	O
on	O
the	O
Ravenscar	B-Language
profile	I-Language
,	O
the	O
same	O
used	O
on	O
the	O
Goce	O
satellite	O
:	O
this	O
permits	O
to	O
use	O
high-level	O
Ada	B-Language
features	O
to	O
develop	O
concurrent	O
and	O
real-time	O
systems	O
on	O
the	O
Mindstorms	B-Application
NXT	I-Application
.	O
</s>
<s>
URBI	B-Application
is	O
yet	O
another	O
language	O
and	O
is	O
a	O
parallel	O
and	O
event-driven	O
language	O
,	O
with	O
interfaces	O
to	O
C++	B-Language
/Java	O
and	O
Matlab	B-Language
.	O
</s>
<s>
Urbi	B-Application
is	O
compatible	O
with	O
many	O
robots	B-Device
,	O
including	O
Nao	O
(	O
cf	O
Robocup	O
)	O
,	O
Bioloid	O
or	O
Aibo	O
.	O
</s>
<s>
FLL	O
Nxt	B-Application
Navigation	O
is	O
an	O
open	B-License
source	I-License
program	O
to	O
help	O
navigation	O
on	O
the	O
FLL	O
competition	O
table	O
.	O
</s>
<s>
It	O
uses	O
NXT-G	O
and	O
.txt	O
files	O
to	O
write	O
programs	O
.	O
</s>
<s>
Ruby-nxt	O
is	O
a	O
library	O
to	O
program	O
the	O
NXT	B-Application
for	O
the	O
Ruby	B-Language
programming	I-Language
language	I-Language
.	O
</s>
<s>
Unlike	O
the	O
other	O
languages	O
for	O
the	O
NXT	B-Application
,	O
the	O
code	O
is	O
not	O
compiled	B-Language
to	O
a	O
binary	O
file	O
.	O
</s>
<s>
Instead	O
the	O
code	O
is	O
directly	O
transmitted	O
to	O
the	O
NXT	B-Application
via	O
a	O
Bluetooth	B-Protocol
connection	O
.	O
</s>
<s>
Robotics.NXT	O
is	O
a	O
Haskell	B-Language
interface	O
to	O
NXT	B-Application
over	O
Bluetooth	B-Protocol
.	O
</s>
<s>
It	O
has	O
also	O
support	O
for	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	B-Language
code	O
included	O
)	O
.	O
</s>
<s>
LibNXT	O
is	O
a	O
utility	O
library	O
for	O
talking	O
to	O
the	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
intelligent	O
brick	O
at	O
a	O
relatively	O
low	O
level	O
.	O
</s>
<s>
LibNXT	O
is	O
targeted	O
mainly	O
at	O
the	O
platforms	O
that	O
the	O
official	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
software	O
overlooks	O
,	O
namely	O
Linux	O
and	O
other	O
unices	O
.	O
</s>
<s>
C_NXT	O
is	O
a	O
library	O
for	O
controlling	O
the	O
Lego	B-Application
NXT	I-Application
licensed	O
under	O
the	O
GPLv2	B-License
.	O
</s>
<s>
The	O
library	O
allows	O
users	O
to	O
control	O
a	O
Lego	B-Application
NXT	I-Application
via	O
bluetooth	B-Protocol
controller	O
from	O
within	O
other	O
C	B-Language
programs	I-Language
.	O
</s>
<s>
PyNXC	O
is	O
a	O
project	O
which	O
converts	O
Python	B-Language
code	I-Language
to	O
"	O
Not	B-Language
Exactly	I-Language
C	I-Language
"	O
(	O
NXC	B-Language
)	O
code	O
,	O
to	O
download	O
to	O
Lego	B-Application
Mindstorms	I-Application
Robots	B-Device
.	O
</s>
<s>
NXT-Python	O
is	O
a	O
python	B-Language
module	O
,	O
which	O
communicates	O
with	O
the	O
NXT	B-Application
via	O
USB	B-Protocol
or	O
Bluetooth	B-Protocol
.	O
</s>
<s>
The	O
software	O
which	O
ships	O
with	O
the	O
newer	O
Mindstorms	B-Application
EV3	I-Application
set	O
can	O
be	O
used	O
to	O
program	O
the	O
NXT	B-Application
.	O
</s>
<s>
At	O
the	O
moment	O
,	O
Bluetooth	B-Protocol
is	O
not	O
supported	O
for	O
the	O
NXT	B-Application
,	O
so	O
programs	O
must	O
be	O
downloaded	O
via	O
a	O
USB	B-Protocol
cable	O
.	O
</s>
<s>
Physical	B-Language
Etoys	I-Language
is	O
a	O
visual	O
programming	O
system	O
for	O
different	O
electronic	O
devices	O
.	O
</s>
<s>
It	O
supports	O
direct	O
mode	O
and	O
compiled	B-Language
mode	O
.	O
</s>
<s>
Ch	B-Language
is	O
a	O
C/C	O
++	O
interpreter	O
running	O
C/C	O
++	O
code	O
to	O
control	O
Lego	B-Application
NXT	I-Application
or	O
EV3	B-Application
.	O
</s>
<s>
No	O
firmware	O
upload/download	O
is	O
required	O
,	O
no	O
compilation	B-Language
is	O
needed	O
.	O
</s>
<s>
A	O
C/C	O
++	O
code	O
running	O
in	O
Ch	B-Language
can	O
control	O
either	O
a	O
Lego	B-Application
NXT	I-Application
,	O
EV3	B-Application
,	O
or	O
multiple	O
of	O
NXT/EV3	O
.	O
</s>
<s>
The	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
1.0	O
base	O
kit	O
includes	O
:	O
</s>
<s>
3	O
identical	O
servo	B-Algorithm
motors	I-Algorithm
that	O
have	O
built-in	O
reduction	O
gear	O
assemblies	O
with	O
internal	O
optical	O
rotary	B-Algorithm
encoders	I-Algorithm
that	O
sense	O
their	O
rotations	O
within	O
one	O
degree	O
of	O
accuracy	O
.	O
</s>
<s>
The	O
touch	B-Algorithm
sensor	I-Algorithm
detects	O
whether	O
it	O
is	O
currently	O
pressed	O
,	O
has	O
been	O
bumped	O
,	O
or	O
released	O
.	O
</s>
<s>
The	O
orange	O
Enter	O
button	O
and	O
the	O
gray	O
right	O
and	O
left	O
NXT	B-Application
buttons	O
can	O
be	O
programmed	O
to	O
serve	O
as	O
touch	O
sensors	O
.	O
</s>
<s>
In	O
the	O
NXT-G	O
programming	O
software	O
,	O
a	O
value	O
of	O
0	O
is	O
given	O
out	O
when	O
it	O
is	O
not	O
pressed	O
,	O
and	O
a	O
value	O
of	O
1	O
is	O
given	O
out	O
if	O
it	O
is	O
pressed	O
down	O
.	O
</s>
<s>
In	O
the	O
NXT-G	O
programming	O
software	O
the	O
sensor	O
senses	O
light	O
on	O
a	O
scale	O
of	O
0	O
to	O
100	O
,	O
100	O
being	O
very	O
bright	O
and	O
0	O
being	O
dark	O
.	O
</s>
<s>
The	O
ultrasonic	B-Algorithm
sensor	I-Algorithm
can	O
measure	O
the	O
distance	O
from	O
the	O
sensor	O
to	O
something	O
that	O
it	O
is	O
facing	O
,	O
and	O
detect	O
movement	O
.	O
</s>
<s>
The	O
ultrasonic	B-Algorithm
sensor	I-Algorithm
works	O
by	O
sending	O
out	O
ultrasonic	O
sound	O
waves	O
that	O
bounce	O
off	O
an	O
object	O
ahead	O
of	O
it	O
and	O
then	O
back	O
.	O
</s>
<s>
In	O
the	O
Lego	B-Application
Mindstorms	I-Application
2.0	O
base	O
kit	O
,	O
it	O
includes	O
:	O
2	O
Touch	O
sensors	O
,	O
one	O
Color	O
sensor	O
(	O
detects	O
several	O
different	O
colors	O
)	O
,	O
and	O
an	O
Ultrasonic	B-Algorithm
sensor	I-Algorithm
.	O
</s>
<s>
These	O
parts	O
are	O
not	O
included	O
in	O
the	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
base	O
kit	O
and	O
may	O
be	O
bought	O
separately	O
:	O
</s>
<s>
Third-party	O
companies	O
also	O
manufacture	O
sensors	O
such	O
as	O
the	O
compass	B-Language
,	O
gyroscope	B-Application
,	O
infrared	O
tracker	O
,	O
RFID	B-Application
reader	O
and	O
accelerometer	O
sensors	O
sold	O
by	O
Lego	B-Language
.	O
</s>
<s>
Lego	B-Language
also	O
sells	O
an	O
adapter	O
to	O
the	O
Vernier	O
sensor	O
product	O
line	O
.	O
</s>
<s>
Sensors	O
are	O
connected	O
to	O
the	O
NXT	B-Application
brick	O
using	O
a	O
6-position	O
modular	B-Architecture
connector	I-Architecture
that	O
features	O
both	O
analog	O
and	O
digital	O
interfaces	O
.	O
</s>
<s>
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
2.0	O
is	O
the	O
second	O
set	O
from	O
LEGO	B-Language
's	O
Lego	B-Application
Mindstorms	I-Application
series	O
,	O
launched	O
on	O
August	O
5	O
,	O
2009	O
,	O
at	O
the	O
Lego	B-Language
Shop	O
in	O
the	O
U.S.	O
</s>
<s>
It	O
is	O
priced	O
at	O
approximately	O
US$280	O
,	O
C$350	O
,	O
£230	O
or	O
A$500	O
.	O
</s>
<s>
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
2.0	O
has	O
a	O
successor	O
,	O
called	O
the	O
Lego	B-Application
Mindstorms	I-Application
EV3	I-Application
.	O
</s>
<s>
Includes	O
a	O
sound	O
editor	O
for	O
recording	O
any	O
sound	O
and	O
then	O
programming	O
the	O
NXT	B-Application
Brick	O
to	O
play	O
it	O
.	O
</s>
<s>
Includes	O
an	O
image	O
editor	O
for	O
downloading	O
an	O
image	O
to	O
the	O
NXT	B-Application
Brick	O
to	O
appear	O
on	O
the	O
screen	O
.	O
</s>
<s>
In	O
the	O
original	O
kit	O
,	O
the	O
sensors	O
included	O
are	O
the	O
color	O
sensor	O
,	O
two	O
touch	O
sensors	O
,	O
and	O
an	O
ultrasonic	B-Algorithm
sensor	I-Algorithm
:	O
</s>
<s>
Touch	B-Algorithm
sensor	I-Algorithm
(	O
9843	O
)	O
,	O
a	O
simple	O
button	O
that	O
senses	O
if	O
something	O
collided	O
with	O
it	O
.	O
</s>
<s>
Ultrasonic	B-Algorithm
sensor	I-Algorithm
(	O
9846	O
)	O
,	O
for	O
measuring	O
distances	O
using	O
inaudible	O
sound	O
waves	O
.	O
</s>
<s>
Compass	B-Language
sensor	O
(	O
MS1034	O
)	O
,	O
for	O
detecting	O
direction	O
.	O
</s>
<s>
Also	O
can	O
measure	O
g-force	B-Application
.	O
</s>
<s>
RFID	B-Application
sensor	O
,	O
for	O
communication	O
between	O
multiple	O
robots	B-Device
.	O
</s>
<s>
Rotation	O
sensor	O
(	O
built	O
into	O
servo	B-Algorithm
motors	I-Algorithm
)	O
,	O
for	O
measuring	O
how	O
far	O
it	O
has	O
turned	O
.	O
</s>
<s>
Useful	O
for	O
robots	B-Device
that	O
will	O
coast	O
and	O
act	O
based	O
on	O
distance	O
rolled	O
.	O
</s>
<s>
Bluetooth	B-Protocol
communication	O
(	O
built	O
into	O
"	O
Intelligent	O
brick	O
"	O
)	O
,	O
for	O
communication	O
with	O
other	O
devices	O
.	O
</s>
<s>
Very	O
simple	O
programs	O
can	O
be	O
created	O
using	O
the	O
NXT	B-Application
Intelligent	O
Brick	O
itself	O
.	O
</s>
<s>
In	O
order	O
to	O
create	O
larger	O
,	O
more	O
complex	O
programs	O
,	O
programming	O
software	O
on	O
a	O
PC	B-Device
is	O
required	O
.	O
</s>
<s>
The	O
standard	O
programming	O
software	O
is	O
NXT-G	O
,	O
which	O
is	O
included	O
in	O
the	O
package	O
.	O
</s>
<s>
NXT-G	O
is	O
the	O
programming	O
software	O
included	O
in	O
the	O
standard	O
base	O
kit	O
.	O
</s>
<s>
It	O
is	O
based	O
on	O
LabVIEW	B-Application
graphical	O
programming	O
.	O
</s>
<s>
NXT-G	O
is	O
powered	O
by	O
LabVIEW	B-Application
,	O
an	O
industry	O
standard	O
in	O
programming	O
.	O
</s>
<s>
Created	O
by	O
National	O
Instruments	O
,	O
LabVIEW	B-Application
uses	O
data	O
flow	O
programming	O
to	O
create	O
a	O
virtual	O
instrument	O
.	O
</s>
<s>
To	O
allow	O
for	O
more	O
advanced	O
programming	O
,	O
in	O
the	O
graphical	O
sense	O
,	O
National	O
Instruments	O
released	O
a	O
Toolkit	O
for	O
the	O
NXT	B-Application
.	O
</s>
<s>
Lego::NXT	O
provides	O
an	O
API	B-General_Concept
between	O
Perl	B-Language
and	O
NXT	B-Application
.	O
</s>
<s>
A	O
port	O
iof	O
GNAT	O
is	O
available	O
for	O
the	O
NXT	B-Application
.	O
</s>
<s>
The	O
port	O
includes	O
Ada	B-Language
bindings	O
to	O
the	O
NXT	B-Application
hardware	O
and	O
nxtOSEK	O
.	O
</s>
<s>
Next	B-Application
Byte	I-Application
Codes	I-Application
(	O
NBC	O
)	O
is	O
a	O
simple	O
open-source	B-License
language	O
with	O
an	O
assembly	B-Language
language	I-Language
syntax	O
that	O
can	O
be	O
used	O
to	O
program	O
the	O
NXT	B-Application
brick	O
.	O
</s>
<s>
Not	B-Language
eXactly	I-Language
C	I-Language
(	O
NXC	B-Language
)	O
is	O
a	O
high	O
level	O
open-source	B-License
language	O
,	O
similar	O
to	O
C	B-Language
,	O
built	O
on	O
top	O
of	O
the	O
NBC	O
compiler	B-Language
.	O
</s>
<s>
It	O
can	O
also	O
be	O
used	O
to	O
program	O
the	O
NXT	B-Application
brick	O
.	O
</s>
<s>
NXC	B-Language
is	O
basically	O
NQC	B-Language
for	O
the	O
NXT	B-Application
.	O
</s>
<s>
ROBOTC	O
is	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
,	O
and	O
Arduino	O
robots	B-Device
using	O
a	O
programming	O
language	O
based	O
on	O
the	O
C	B-Language
programming	I-Language
language	I-Language
.	O
</s>
<s>
RoboMind	O
is	O
an	O
educational	O
programming	B-Application
environment	I-Application
that	O
offers	O
a	O
concise	O
scripting	O
language	O
for	O
programming	O
a	O
simulated	O
robot	O
.	O
</s>
<s>
These	O
internationalized	B-General_Concept
scripts	O
can	O
,	O
however	O
,	O
also	O
directly	O
be	O
exported	O
to	O
Lego	B-Application
Mindstorms	I-Application
robots	B-Device
.	O
</s>
<s>
NXTGCC	O
is	O
a	O
GCC	B-Application
toolchain	O
for	O
programming	O
the	O
NXT	B-Application
firmware	O
in	O
C	B-Language
.	O
</s>
<s>
URBI	B-Application
is	O
a	O
parallel	O
and	O
event-driven	O
language	O
,	O
with	O
interfaces	O
to	O
C++	B-Language
/Java	O
and	O
MATLAB	B-Language
.	O
</s>
<s>
Urbi	B-Application
is	O
compatible	O
with	O
many	O
robots	B-Device
,	O
including	O
Nao	O
(	O
cf	O
Robocup	O
)	O
,	O
Bioloid	O
or	O
Aibo	O
.	O
</s>
<s>
leJOS	B-Language
NXJ	O
is	O
a	O
high	O
level	O
open	B-License
source	I-License
language	O
based	O
on	O
Java	B-Language
that	O
uses	O
custom	O
firmware	O
developed	O
by	O
the	O
leJOS	B-Language
team	O
.	O
</s>
<s>
To	O
be	O
able	O
to	O
write	O
in	O
C	B-Language
(	O
programming	O
language	O
)	O
/C	O
++	O
,	O
nxtOSEK	O
can	O
be	O
used	O
,	O
but	O
that	O
requires	O
custom	O
firmware	O
too	O
.	O
</s>
<s>
MATLAB	B-Language
is	O
a	O
high-level	O
programming	O
language	O
for	O
numerical	O
computing	O
,	O
data	O
acquisition	O
and	O
analysis	O
.	O
</s>
<s>
It	O
can	O
be	O
used	O
to	O
control	O
Lego	B-Application
NXT	I-Application
robots	B-Device
over	O
a	O
Bluetooth	B-Protocol
serial	O
port	O
(	O
serial	O
port	O
communication	O
is	O
part	O
of	O
the	O
base	O
functionality	O
of	O
MATLAB	B-Language
)	O
or	O
via	O
a	O
USB	B-Protocol
connection	O
;	O
for	O
example	O
using	O
the	O
RWTH	O
–	O
Mindstorms	B-Application
NXT	I-Application
Toolbox	O
(	O
free	O
&	O
open-source	B-License
)	O
.	O
</s>
<s>
Simulink	B-Application
is	O
a	O
MATLAB-based	O
environment	O
for	O
modeling	O
and	O
simulating	O
dynamic	O
systems	O
.	O
</s>
<s>
Using	O
Simulink	B-Application
,	O
a	O
user	O
can	O
design	O
control	O
algorithms	O
,	O
automatically	O
generate	O
C	B-Language
code	O
for	O
those	O
algorithms	O
,	O
and	O
download	O
the	O
compiled	B-Language
code	O
onto	O
the	O
Lego	B-Application
NXT	I-Application
.	O
</s>
<s>
MATLAB	B-Language
and	O
Simulink	B-Application
code	O
for	O
NXT	B-Application
programming	O
is	O
freely	O
available	O
.	O
</s>
<s>
pbLua	O
is	O
an	O
implementation	O
of	O
the	O
Lua	B-Language
programming	I-Language
language	I-Language
,	O
a	O
general	O
purpose	O
scripting	O
language	O
,	O
for	O
Lego	B-Application
Mindstorms	I-Application
.	O
</s>
<s>
FLL	O
Nxt	B-Application
Navigation	O
is	O
an	O
open	B-License
source	I-License
program	O
to	O
help	O
navigation	O
on	O
the	O
FLL	O
competition	O
table	O
.	O
</s>
<s>
Uses	O
NXT-G	O
and	O
.txt	O
files	O
to	O
write	O
programs	O
.	O
</s>
<s>
ruby-nxt	O
is	O
a	O
library	O
to	O
program	O
the	O
NXT	B-Application
for	O
the	O
Ruby	B-Language
programming	I-Language
language	I-Language
.	O
</s>
<s>
Unlike	O
the	O
other	O
languages	O
for	O
the	O
NXT	B-Application
the	O
code	O
is	O
n't	O
compiled	B-Language
to	O
a	O
binary	O
file	O
.	O
</s>
<s>
Instead	O
the	O
code	O
is	O
directly	O
transmitted	O
to	O
the	O
NXT	B-Application
via	O
a	O
Bluetooth	B-Protocol
connection	O
.	O
</s>
<s>
This	O
method	O
of	O
execution	O
is	O
significantly	O
slower	O
than	O
executing	O
compiled	B-Language
code	O
directly	O
.	O
</s>
<s>
Robotics.NXT	O
is	O
a	O
Haskell	B-Language
interface	O
to	O
NXT	B-Application
over	O
Bluetooth	B-Protocol
.	O
</s>
<s>
It	O
has	O
also	O
support	O
for	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	B-Language
code	O
included	O
)	O
.	O
</s>
