% RWTH - Mindstorms NXT Toolbox % Version 2.00 25-Sep-2008 % Files % CalibrateCompass - Enables calibration mode of the HiTechnic compass sensor % checkStatusByte - Interpretes the status byte of a return package and creates an error message % CloseSensor - Closes a specified sensor port (e.g. turns off the active light mode of the NXT light sensor) % COM_CloseNXT - Closes and deletes a specific NXT handle, or clears all existing handles % COM_CollectPacket - Reads data from a USB or serial/Bluetooth port and retrieves exactly one packet % COM_CreatePacket - Generates a valid Bluetooth packet ready for transmission (i.e. calculates length) % COM_GetDefaultNXT - Returns the global default NXT handle if it was previously set % COM_MakeBTConfigFile - Creates a Bluetooth configuration file which is needed to open a Bluetooth connection. % COM_OpenNXT - Opens a USB or Bluetooth connection to an NXT device and returns a handle for future use % COM_OpenNXTEx - Opens a Bluetooth or USB connection to an NXT device and returns a handle for future use % COM_ReadI2C - Requests and reads sensor data via I2C from a correctly configured digital sensor. % COM_SendPacket - Sends a communication protocol packet (byte-array) via a USB or Bluetooth channel (serial port) % COM_SetDefaultNXT - Sets a global default NXT handle that will be used by other functions if no handle is specified. % DebugMode - Gets or sets the debug state (i.e. if textOut will print messages to the command window) % GetAccelerator - Reads the current value of the HiTechnic acceleration sensor % GetCompass - Reads the current value of the HiTechnic compass sensor % GetInfrared - Reads the current value of the Hitechnic infrared sensor (infrared seeker) % GetLight - Reads the current value of the NXT light sensor % GetMemoryCount - Gets the internal NXT memory counter (manual mapping replica) % GetMotor - Reads the current motor set by SetMotor(). Raises an error if no motor was set % GetMotorSettings - Returns the current motor data / settings (e.g. position, speed, etc.) from the specified motor % GetSound - Reads the current value of the NXT sound sensor % GetSwitch - Reads the current value of the NXT switch / touch sensor % GetUltrasonic - Reads the current value of the NXT ultrasonic sensor % MAP_GetCommModule - Reads the IO map of the communication module % MAP_GetInputModule - Reads the IO map of the input module % MAP_GetOutputModule - Reads the IO map of the output module % MAP_GetSoundModule - Reads the IO map of the sound module % MAP_GetUIModule - Reads the IO map of the user interface module % MAP_SetOutputModule - Writes the IO map to the output module % MOTOR_A - Symbolic constant MOTOR_A (returns 0) % MOTOR_B - Symbolic constant MOTOR_B (returns 1) % MOTOR_C - Symbolic constant MOTOR_C (returns 2) % MotorRotateAbs - Rotates a motor to an absolute angle % NXT_GetBatteryLevel - Returns the current battery level in milli volts % NXT_GetFirmwareVersion - Returns the protocol and firmware version of the NXT % NXT_GetInputValues - Processes a complete sensor reading, i.e. requests input values and collects the answer. % NXT_GetOutputState - Requests and retrieves an output motor state reading % NXT_LSGetStatus - Gets the number of available bytes from low speed (digital) sensor (e.g. ultrasonic) % NXT_LSRead - Reads data from a low speed (digital) sensor % NXT_LSWrite - Writes the given data to a low speed (digital) sensor % NXT_MessageWrite - Sends a message to NXT % NXT_PlaySoundFile - Plays the given sound file on the NXT Brick % NXT_PlayTone - Plays a tone with the given frequency and duration % NXT_ReadIOMap - Reads the IO map of the given module ID % NXT_ResetInputScaledValue - Resets the sensors ScaledVal back to 0, depends on currently configured mode (see NXT_SetInputMode) % NXT_ResetMotorPosition - Resets NXT internal counter for specified motor, relative or absolute counter % NXT_SendKeepAlive - Sends a KeepAlive packet. Optional: requests sleep time limit. % NXT_SetBrickName - Sets a new name for the NXT Brick (connected to the specified handle) % NXT_SetInputMode - Sets mode, configures and initializes sensor ready to be read out % NXT_SetOutputState - Sends previously specified settings to current active motor. % NXT_StartProgram - Starts the given program on the NXT Brick % NXT_StopProgram - Stops a specific program on the NXT Brick % NXT_StopSoundPlayback - Stops the current sound playback % NXT_WriteIOMap - Writes the IO map to the given module ID % OpenAccelerator - Initializes and sets the mode of the HiTechnic acceleration sensor % OpenCompass - Initializes and sets the mode of the HiTechnic magnetic compass sensor % OpenInfrared - Initializes and sets the mode of the HiTechnic infrared seeker sensor % OpenLight - Sets the parameter mode of the NXT light sensor % OpenSound - Sets the parameter mode of the NXT sound sensor % OpenSwitch - Sets the parameter mode of the NXT switch / touch sensor % OpenUltrasonic - Initializes and sets the mode of the NXT ultrasonic sensor % OptimizeToolboxPerformance - Copies binary versions of typecastc to toolbox for better performance % readFromIniFile - Reads parameters from a configuration file (usually *.ini) % ResetMotorAngle - Resets the relative angle counter for the given motor % SendMotorSettings - Sends previously specified settings to current active motor. % SENSOR_1 - Symbolic constant SENSOR_1 (returns 0) % SENSOR_2 - Symbolic constant SENSOR_2 (returns 1) % SENSOR_3 - Symbolic constant SENSOR_3 (returns 2) % SENSOR_4 - Symbolic constant SENSOR_4 (returns 3) % SetAngleLimit - Sets the angle limit (in degrees) of the current motor port % SetMemoryCount - Sets the internal NXT memory counter (manual mapping replica) % SetMotor - Sets the current motor to use for motor setting commands % SetPower - Sets the power of the current active motor % SetRampMode - Sets the runstate of the current active motor % SetTurnRatio - Sets the turn ratio of the current active motor % SpeedRegulation - Enables / disables the speed regulation mode of the current active motor % StopMotor - Stops / brakes specified motor. (Synchronisation will be lost after this) % SwitchLamp - Switches the LEGO lamp on or off (has to be connected to a motor port) % SyncToMotor - Enables synchronization regulation for current active and specified motor % textOut - Wrapper for fprintf() which can optionally write screen output to a logfile % tictic - Similar to MATLAB's tic(), but extended to save "more states" % toctoc - Similar to MATLAB's toc(), but extended to save "more states" % USGetSnapshotResults - Retrieves up to eight echos (distances) stored inside the US sensor % USMakeSnapshot - Causes the ultrasonic sensor to send one snapshot ("ping") and record the echos % WaitForMotor - Pauses execution until specific motor is not running anymore.