LabVIEW

TM

LEGO MINDSTORMS NXT Module Programming Guide

® ®

September 2009
372574C-01
Support

Worldwide Technical Support and Product Information

ni.com

National Instruments Corporate Headquarters

11500 North Mopac Expressway Austin, Texas 78759-3504 USA Tel: 512 683 0100

Worldwide Offices
Australia 1800 300 800, Austria 43 662 457990-0, Belgium 32 (0) 2 757 0020, Brazil 55 11 3262 3599,
Canada 800 433 3488, China 86 21 5050 9800, Czech Republic 420 224 235 774, Denmark 45 45 76 26 00,
Finland 358 (0) 9 725 72511, France 01 57 66 24 24, Germany 49 89 7413130, India 91 80 41190000,
Israel 972 3 6393737, Italy 39 02 41309277, Japan 0120-527196, Korea 82 02 3451 3400,
Lebanon 961 (0) 1 33 28 28, Malaysia 1800 887710, Mexico 01 800 010 0793, Netherlands 31 (0) 348 433 466,
New Zealand 0800 553 322, Norway 47 (0) 66 90 76 60, Poland 48 22 328 90 10, Portugal 351 210 311 210,
Russia 7 495 783 6851, Singapore 1800 226 5886, Slovenia 386 3 425 42 00, South Africa 27 0 11 805 8197,
Spain 34 91 640 0085, Sweden 46 (0) 8 587 895 00, Switzerland 41 56 2005151, Taiwan 886 02 2377 2222,
Thailand 662 278 6777, Turkey 90 212 279 3031, United Kingdom 44 (0) 1635 523545

For further support information, refer to the Technical Support and Professional Services appendix. To comment
on National Instruments documentation, refer to the National Instruments Web site at ni.com/info and enter
the info code feedback.

© 2008–2009 National Instruments Corporation. All rights reserved.

Important Information
Warranty
The media on which you receive National Instruments software are warranted not to fail to execute programming instructions, due to defects in
materials and workmanship, for a period of 90 days from date of shipment, as evidenced by receipts or other documentation. National Instruments
will, at its option, repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects
during the warranty period. National Instruments does not warrant that the operation of the software shall be uninterrupted or error free.
A Return Material Authorization (RMA) number must be obtained from the factory and clearly marked on the outside of the package before any
equipment will be accepted for warranty work. National Instruments will pay the shipping costs of returning to the owner parts which are covered by
warranty.
National Instruments believes that the information in this document is accurate. The document has been carefully reviewed for technical accuracy. In
the event that technical or typographical errors exist, National Instruments reserves the right to make changes to subsequent editions of this document
without prior notice to holders of this edition. The reader should consult National Instruments if errors are suspected. In no event shall National
Instruments be liable for any damages arising out of or related to this document or the information contained in it.
EXCEPT AS SPECIFIED HEREIN, NATIONAL INSTRUMENTS MAKES NO WARRANTIES, EXPRESS OR IMPLIED, AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF
MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. CUSTOMER’S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF NATIONAL
INSTRUMENTS SHALL BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE CUSTOMER. NATIONAL INSTRUMENTS WILL NOT BE LIABLE FOR DAMAGES RESULTING
FROM LOSS OF DATA, PROFITS, USE OF PRODUCTS, OR INCIDENTAL OR CONSEQUENTIAL DAMAGES, EVEN IF ADVISED OF THE POSSIBILITY THEREOF. This limitation of
the liability of National Instruments will apply regardless of the form of action, whether in contract or tort, including negligence. Any action against
National Instruments must be brought within one year after the cause of action accrues. National Instruments shall not be liable for any delay in
performance due to causes beyond its reasonable control. The warranty provided herein does not cover damages, defects, malfunctions, or service
failures caused by owner’s failure to follow the National Instruments installation, operation, or maintenance instructions; owner’s modification of the
product; owner’s abuse, misuse, or negligent acts; and power failure or surges, fire, flood, accident, actions of third parties, or other events outside
reasonable control.

Copyright
Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying,
recording, storing in an information retrieval system, or translating, in whole or in part, without the prior written consent of National
Instruments Corporation.
National Instruments respects the intellectual property of others, and we ask our users to do the same. NI software is protected by copyright and other
intellectual property laws. Where NI software may be used to reproduce software or other materials belonging to others, you may use NI software only
to reproduce materials that you may reproduce in accordance with the terms of any applicable license or other legal restriction.

Trademarks
National Instruments, NI, ni.com, and LabVIEW are trademarks of National Instruments Corporation. Refer to the Terms of Use section
on ni.com/legal for more information about National Instruments trademarks.
LEGO and MINDSTORMS are trademarks of the LEGO Group. Other product and company names mentioned herein are trademarks or trade names
of their respective companies.
Members of the National Instruments Alliance Partner Program are business entities independent from National Instruments and have no agency,
partnership, or joint-venture relationship with National Instruments.
Patents
For patents covering National Instruments products/technology, refer to the appropriate location: Help»Patents in your software,
the patents.txt file on your media, or the National Instruments Patent Notice at ni.com/patents.
WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS
(1) NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF
RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN
ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT
INJURY TO A HUMAN.
(2) IN ANY APPLICATION, INCLUDING THE ABOVE, RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE
IMPAIRED BY ADVERSE FACTORS, INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY,
COMPUTER HARDWARE MALFUNCTIONS, COMPUTER OPERATING SYSTEM SOFTWARE FITNESS, FITNESS OF COMPILERS
AND DEVELOPMENT SOFTWARE USED TO DEVELOP AN APPLICATION, INSTALLATION ERRORS, SOFTWARE AND HARDWARE
COMPATIBILITY PROBLEMS, MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES,
TRANSIENT FAILURES OF ELECTRONIC SYSTEMS (HARDWARE AND/OR SOFTWARE), UNANTICIPATED USES OR MISUSES, OR
ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIGNER (ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER
COLLECTIVELY TERMED “SYSTEM FAILURES”). ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE A RISK OF
HARM TO PROPERTY OR PERSONS (INCLUDING THE RISK OF BODILY INJURY AND DEATH) SHOULD NOT BE RELIANT SOLELY
UPON ONE FORM OF ELECTRONIC SYSTEM DUE TO THE RISK OF SYSTEM FAILURE. TO AVOID DAMAGE, INJURY, OR DEATH,
THE USER OR APPLICATION DESIGNER MUST TAKE REASONABLY PRUDENT STEPS TO PROTECT AGAINST SYSTEM FAILURES,
INCLUDING BUT NOT LIMITED TO BACK-UP OR SHUT DOWN MECHANISMS. BECAUSE EACH END-USER SYSTEM IS
CUSTOMIZED AND DIFFERS FROM NATIONAL INSTRUMENTS' TESTING PLATFORMS AND BECAUSE A USER OR APPLICATION
DESIGNER MAY USE NATIONAL INSTRUMENTS PRODUCTS IN COMBINATION WITH OTHER PRODUCTS IN A MANNER NOT
EVALUATED OR CONTEMPLATED BY NATIONAL INSTRUMENTS, THE USER OR APPLICATION DESIGNER IS ULTIMATELY
RESPONSIBLE FOR VERIFYING AND VALIDATING THE SUITABILITY OF NATIONAL INSTRUMENTS PRODUCTS WHENEVER
NATIONAL INSTRUMENTS PRODUCTS ARE INCORPORATED IN A SYSTEM OR APPLICATION, INCLUDING, WITHOUT
LIMITATION, THE APPROPRIATE DESIGN, PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION.
Conventions

The following conventions are used in this manual:

» The » symbol leads you through nested menu items and dialog box options
to a final action. The sequence File»Page Setup»Options directs you to
pull down the File menu, select the Page Setup item, and select Options
from the last dialog box.

This icon denotes a note, which alerts you to important information.

bold Bold text denotes items that you must select or click in the software, such
as menu items and dialog box options. Bold text also denotes parameter
names front panel controls and indicators, dialog boxes, sections of dialog
boxes, menu names, and palette names

italic Italic text denotes variables, emphasis, a cross-reference, or an introduction

to a key concept. Italic text also denotes text that is a placeholder for a word
or value that you must supply.

monospace Text in this font denotes text or characters that you should enter from the
keyboard, sections of code, programming examples, and syntax examples.
This font is also used for the proper names of disk drives, paths, directories,
programs, subprograms, subroutines, device names, functions, operations,
variables, filenames, and extensions.
Contents

Chapter 1
Introduction
Related Documentation..................................................................................................1-1
Assumptions...................................................................................................................1-2
NXT Firmware Concepts...............................................................................................1-2
NXT Programs and LabVIEW VIs .................................................................1-2
NXT Bytecode Instructions and LabVIEW Functions....................................1-3
NXT Program Data Space ...............................................................................1-3
Parallel Execution on the NXT Brick..............................................................1-3
LabVIEW Basics ...........................................................................................................1-4
Data Types.......................................................................................................1-4
Supported Data Types.......................................................................1-4
Unsupported Data Types...................................................................1-4
Controls, Indicators, and Constants.................................................................1-4
Sequence Flow Boolean Controls .....................................................1-5
NXT Refnum Controls......................................................................1-5
Functions .........................................................................................................1-6
Numeric.............................................................................................1-6
Conversion ........................................................................................1-6
Logic .................................................................................................1-6
Strings ...............................................................................................1-7
Arrays................................................................................................1-7
Comparison .......................................................................................1-7
Miscellaneous....................................................................................1-8
Custom G-code Functions.................................................................1-8
Structures.........................................................................................................1-9
SubVIs .............................................................................................................1-10

Chapter 2
Extensions to LabVIEW
Analog Input Devices ...................................................................................................2-2
Input Port Properties........................................................................................2-2
Port ....................................................................................................2-4
SensorType........................................................................................2-5
SensorMode ......................................................................................2-6
Raw ...................................................................................................2-7
Normalized........................................................................................2-8
Scaled ................................................................................................2-9

© National Instruments Corporation v LabVIEW LEGO MINDSTORMS NXT Module

Contents

InvalidData ....................................................................................... 2-10

NXTColorSensorRead...................................................................... 2-11
Digital I/O Devices........................................................................................................ 2-12
Digital I/O Port Setup ..................................................................................... 2-12
Low Speed Communication Methods............................................................. 2-12
NXTCommLSCheckStatus .............................................................. 2-14
NXTCommLSWrite ......................................................................... 2-15
NXTCommLSRead .......................................................................... 2-16
Output Devices: Motors and Lamps.............................................................................. 2-17
Output Port Properties..................................................................................... 2-17
Port.................................................................................................... 2-19
PortList ............................................................................................. 2-20
UpdateFlags ...................................................................................... 2-21
Mode ................................................................................................. 2-23
RegMode .......................................................................................... 2-24
TurnRatio.......................................................................................... 2-25
RunState............................................................................................ 2-26
Power ................................................................................................ 2-27
ActualSpeed...................................................................................... 2-28
TachoLimit ....................................................................................... 2-29
TachoCount ...................................................................................... 2-30
BlockTachoCount ............................................................................. 2-31
RotationCount................................................................................... 2-32
Overloaded........................................................................................ 2-33
RegPValue ........................................................................................ 2-34
RegIValue ......................................................................................... 2-35
RegDValue ....................................................................................... 2-36
Built-In I/O .................................................................................................................... 2-37
File Access Methods ....................................................................................... 2-37
File Handles ...................................................................................... 2-39
File Access Status Codes .................................................................. 2-40
File Access Performance Issues........................................................ 2-41
NXTFileOpenRead ........................................................................... 2-42
NXTFileOpenWrite .......................................................................... 2-43
NXTFileOpenAppend ...................................................................... 2-44
NXTFileResolveHandle ................................................................... 2-45
NXTFileClose................................................................................... 2-46
NXTFileRead.................................................................................... 2-47
NXTFileWrite................................................................................... 2-48
NXTFileDelete ................................................................................. 2-49
NXTFileRename............................................................................... 2-50
NXTListFiles .................................................................................... 2-51

LabVIEW NXT Module Programming Guide vi ni.com

 Contents

NXT Display Methods ....................................................................................2-52

NXTDrawText ..................................................................................2-52
NXTDrawPoint .................................................................................2-53
NXTDrawLine ..................................................................................2-54
NXTDrawCircle................................................................................2-55
NXTDrawRect ..................................................................................2-56
NXTDrawGraphic.............................................................................2-57
NXTSetScreenMode .........................................................................2-58
NXT Button Method........................................................................................2-59
NXTReadButton ...............................................................................2-59
Sound Playback Methods ................................................................................2-60
NXTSoundPlayFile...........................................................................2-60
NXTSoundPlayTone.........................................................................2-61
NXTSoundGetState ..........................................................................2-62
NXTSoundSetState ...........................................................................2-63
Bluetooth Communication Methods................................................................2-64
NXTCommBTCheckStatus ..............................................................2-65
NXTCommBTWrite .........................................................................2-66
NXTBTPower ...................................................................................2-67
NXTBTConnection...........................................................................2-68
NXTMessageRead ............................................................................2-69
NXTMessageWrite ...........................................................................2-70
Low-Level System Methods............................................................................2-71
NXTGetStartTick..............................................................................2-71
NXTKeepAlive .................................................................................2-72
NXTRandomNumber........................................................................2-73
NXTIOMapRead...............................................................................2-74
NXTIOMapWrite..............................................................................2-75
NXTSetSleepTimeout .......................................................................2-76
Using Dynamic System Calls ........................................................................................2-77
Creating Access to a Dynamic System Call ....................................................2-77
Using the NXTDynamicSyscall Refnum ........................................................2-78

Appendix A
Technical Support and Professional Services

© National Instruments Corporation vii LabVIEW NXT Module Programming Guide

Introduction
1
The LEGO® MINDSTORMS® NXT software uses a graphical programming
language called NXT-G that is based on National Instruments LabVIEW 7.1.
The high-level programming blocks in NXT-G block diagrams are built out
of lower-level LabVIEW block diagrams. Ultimately, NXT-G blocks are just
a special kind of VI developed for use with LEGO MINDSTORMS.

The LabVIEW LEGO® MINDSTORMS® NXT Module requires

LabVIEW 2009 and does not support the NXT-G blocks. Instead, the NXT
Module includes a new high-level API built out of LabVIEW VIs that
provide a more powerful functionality than the NXT-G blocks. Using the
NXT Module with LabVIEW 2009 allows you to bypass the high-level
limitations imposed by NXT-G. The module enables you to create
advanced programs using VIs and download them to the NXT brick.
Furthermore, LabVIEW provides a more advanced editing environment
than the LEGO MINDSTORMS NXT software.

Note To develop blocks that you can import into the LEGO MINDSTORMS NXT software,
you must use the LabVIEW Toolkit for LEGO MINDSTORMS NXT with LabVIEW 7.1.

This document details the NXT-specific modifications and extensions to

LabVIEW provided by the module. Note that the module does not support
all LabVIEW features. Therefore, you should carefully review all notes and
warnings listed in this document when programming with the module.

Refer to the National Instruments Web site at ni.com/mindstorms

for more information about the LabVIEW LEGO MINDSTORMS NXT
Module.

Related Documentation
The following documents contain information that you may find helpful as
you read this manual:
• Getting Started with the LabVIEW LEGO® MINDSTORMS® NXT
Module
• LabVIEW Help

© National Instruments Corporation 1-1 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 1 Introduction

Assumptions
This document assumes that you are using the LabVIEW LEGO
MINDSTORMS NXT Module with LabVIEW 2009. This document also
assumes that you are familiar with the following LabVIEW programming
concepts:
• Data types: integers, Booleans, strings, arrays, and clusters
• Basic VIs and functions used with the listed data types
• Case, loop, and sequence structures
• Usage of subVIs
• Properties and methods

Refer to the LabVIEW Help, available in LabVIEW by selecting Help»

Search the LabVIEW Help, for more information about these concepts.

The module provides special palettes for working with both front panels
and block diagrams. These palettes contain only supported LabVIEW
features. You are not required to use these palettes, but using them will help
you remember which features the module supports.

This document assumes that you are using official LEGO or

NI NXT firmware. Refer to the LEGO MINDSTORMS Web site at
mindstorms.lego.com for more information about firmware updates.

NXT Firmware Concepts

The following sections provide a brief summary of how LabVIEW
concepts correspond to NXT firmware concepts. Refer to the LEGO
MINDSTORMS Web site at mindstorms.lego.com for the NXT SDK
and HDK documents describing the NXT hardware and firmware platform.

NXT Programs and LabVIEW VIs

When you choose a VI to compile and download to an NXT brick using the
module, that VI becomes the top-level VI of the corresponding program file
on the NXT brick. The module compiles the top-level VI and all of its
subVIs into one program file, and then downloads the program file to the
NXT brick. You can think of the top-level VI and its subVIs as the
complete source code for the resulting binary program file.

Note the implication that subVIs have no analogous feature on the file
system of the NXT brick. Inside the program file, subVIs become shared
subroutines. Refer to the SubVIs section of this document for more
information about using subVIs.

LabVIEW LEGO MINDSTORMS NXT Module 1-2 ni.com

 Chapter 1 Introduction

NXT Bytecode Instructions and LabVIEW Functions

The NXT firmware executes a program file by interpreting its contents as
bytecode instructions. You can think of many of the bytecode instructions
as loosely analogous to LabVIEW functions. For example, the NXT
firmware has an ADD bytecode that shares its semantics with the Add
function in LabVIEW. In other words, the ADD bytecode behaves
similarly to the Add function for a given set of input data types and values.

The LabVIEW Help documentation describes how all of the supported

functions operate in general. Refer to the Functions section of this
document for a list of NXT-specific exceptions and behavior changes.

NXT Program Data Space

NXT programs maintain a data space for run-time data similarly to how
LabVIEW maintains VI data spaces. You do not need to manage the data
space because the module compiler automatically organizes the data space of
NXT programs and the NXT firmware manages the data space at run time.

Note This automatic management of the data space includes resizing arrays and strings as
needed, much like LabVIEW. However, using arrays and strings requires a relatively large
amount of memory and execution time on the NXT brick, so avoid overusing arrays and
strings in the programs you write. If you extensively use dynamic array and string resizing
while the program runs, such as placing Build Array functions in a loop, the program might
intermittently run more slowly than normal.

Additionally, extensive use of dynamic array and string resizing can cause
the NXT firmware to run out of memory during program execution. If the
total size of the data space, including the array and string data, exceeds
the size of the allotted RAM pool in the NXT firmware, the program
immediately aborts and prints an error message on the display of the
NXT brick. Indexing an empty array also causes the program to abort.

Parallel Execution on the NXT Brick

NXT firmware supports parallel execution of VI code in a similar sense to
the way that LabVIEW executes parallel code on a single-processor PC.
Parallel streams of functions or subVI calls share the CPU using an
automatically managed cooperative multitasking system.

You do not need to perform any special steps to enable parallel execution.
Write parallel code the same way you write parallel code for VIs that run
on a PC.

© National Instruments Corporation 1-3 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 1 Introduction

LabVIEW Basics
Data Types
The module only supports a limited subset of the data types that LabVIEW
supports.

Supported Data Types

The module supports the following data types:
• 8-bit signed and unsigned integer numerics
• 16-bit signed and unsigned integer numerics
• 32-bit signed and unsigned integer numerics
• Booleans
• Strings
• Arrays containing integers, Booleans, strings, or clusters
– Only one-dimensional (1D) arrays are supported
• Clusters containing integers, Booleans, strings, 1D arrays, or
other clusters
• Single-precision floating point numbers

Unsupported Data Types

The module does not support any data types not listed above. The following
list includes some examples of unsupported data types:
• Enumerations
• Arrays of two or more dimensions (including tables)
• Reference numbers (refnums) of any type other than those the module
provides
• Paths
• Waveform, digital waveform, or digital data tables
• Variant or ActiveX data

Controls, Indicators, and Constants

When you compile and download VIs to an NXT brick, the layout and
appearance of their front panels do not directly influence the compiled
code. Thus, you can use any front panel control or indicator style as long
as the NXT firmware supports the data type. For example, you can use
numeric ring, slide, knob, chart, and graph controls and indicators as long
as they do not rely on multi-dimensional arrays.

LabVIEW LEGO MINDSTORMS NXT Module 1-4 ni.com

 Chapter 1 Introduction

The same principle is true for custom controls, type definitions, and block
diagram constants. As long as the NXT firmware supports the data type of
the wire connected to a particular block diagram terminal, you can use any
style or type definition.

Sequence Flow Boolean Controls

The module provides a special kind of Boolean control, Sequence Flow.
Use the following tips when working with the Sequence Flow control:
• The module identifies Sequence Flow controls by name. If the name of
your Boolean control or indicator begins with Sequence Flow, the
module compiler classifies that control or indicator as a Sequence
Flow control.
• The module classifies wires connected to Sequence Flow controls as
Sequence Flow wires. These wires are directly analogous to the white
LEGO TECHNIC beams on NXT-G diagrams.
• No Sequence Flow controls, indicators, or wires generate
corresponding data space items in the compiled NXT program.

NXT Refnum Controls

The module provides some special classes of generic refnum controls in
order to expose NXT-specific features.

Refer to Chapter 2, Extensions to LabVIEW, for specific information on

how to use each new class of refnum. Use the following tips when working
with the NXT refnums:
• The module identifies NXT refnum controls by name. If the name of
your generic refnum control or indicator begins with Generic Refnum
Name, the module compiler classifies that control or indicator as an
NXT refnum.
• NXT refnum controls, indicators, or wires do not generate
corresponding data space items in the compiled NXT program.
NXT refnum controls enable you to access the new properties and
methods that the module provides.
• Only wire these controls directly to the reference inputs of Property
and Invoke Nodes. Do not assign NXT refnum controls to subVI
connector pane terminals.

© National Instruments Corporation 1-5 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 1 Introduction

Functions
The module does not support all LabVIEW functions, and some supported
functions exhibit special behavior or limitations when you use them with
the module. In general, any function that relies on one or more unsupported
data types is itself unsupported.

The following lists the functions that the module supports, along with any
special usage notes.

Numeric
• Add
• Subtract
• Multiply
• Divide
• Quotient and Remainder (integer division)
• Increment
• Decrement
• Negate
• Square Root

Conversion
• Numeric Conversions
• Boolean to (0,1)
• String to Byte Array
• Byte Array to String
– Only true byte array inputs are supported. LabVIEW
automatically coerces any integer array to bytes, but the module
does not support this feature.

Logic
• And
• Or
• Exclusive Or
• Not
– The Not function only supports Boolean inputs.

LabVIEW LEGO MINDSTORMS NXT Module 1-6 ni.com

 Chapter 1 Introduction

Strings
• String Length
• Concatenate Strings
– String array inputs are not supported.
• String Subset
• Number to Decimal String
– The width input is ignored.
• Decimal String to Number

Arrays
The module supports several basic array functions, but you cannot resize
most of them to accept arbitrary numbers of inputs. Remember that you
can only use 1D arrays.
• Array Size
• Index Array
– You cannot resize this function.
• Array Subset
– You cannot resize this function.
• Replace Array Subset
– You cannot resize this function.
• Initialize Array
– You cannot resize this function.
• Build Array
– You must enable the Concatenate Inputs option with array
inputs.

Comparison
The following comparison functions support all compatible data types and
the Compare Aggregates mode, where applicable.
• Equal?
• Not Equal?
• Equal to 0?
• Not Equal to 0?
• Greater?

© National Instruments Corporation 1-7 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 1 Introduction

• Less?
• Greater or Equal?
• Less or Equal?
• Greater than 0?
• Less than 0?
• Greater or Equal to 0?
• Less or Equal to 0?

Miscellaneous
• Bundle
– The module does not support Bundle by Name.
• Unbundle
– The module does not support Unbundle by Name.
• Select
• Tick Count
• Flatten to String
– The module does not support the output type string value.
• Unflatten from String
– You must wire a fully constructed template for value into the type
input. The size of data in type input must match the flattened data
in binary string exactly, including array sizes.
• Stop

Custom G-code Functions

The module compiler and firmware do not support some LabVIEW
functions. The following custom functions appear similar to their
corresponding functions in LabVIEW and provide similar functionality.

Numeric
• Sign
• Add Array Elements
• Multiply Array Elements
• Square
• Reciprocal
• Transcendental Functions

LabVIEW LEGO MINDSTORMS NXT Module 1-8 ni.com

 Chapter 1 Introduction

• Max and Min

• In Range and Coerce
• Generate Random Number

Boolean
• Not And
• Not Or
• Not Exclusive Or
• And Array Elements
• Or Array Elements

String
• Trim White Space
• Reverse String
• Replace Substring
• Search and Replace String
• To Lower Case
• To Upper Case
• Search and Split String
• Rotate String

Array
• Insert Into Array
• Reverse Array
• Rotate Array
• Search Array
• Sort Array

Structures
The module supports the following structures.

While Loops
• Stacked shift registers are not supported.
• Feedback nodes within while loops are not supported.
• Auto-indexing on array tunnels is not supported.

© National Instruments Corporation 1-9 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 1 Introduction

Case Structures
• Only one specific value, or Default, is allowed in the case selector label
for each subdiagram. You cannot use ranges (the “..” notation) or
comma-separated lists of values.
• Usage of error cluster wires with the selector terminal is not supported.

Sequence
• Only one frame per sequence structure is allowed.

SubVIs
The NXT firmware run-time system is simpler than the LabVIEW run-time
system. Remember the following limitations when using subVIs:
• You can pass only supported data types through subVI connector
panes.
• The module does not support VI refnums, so you cannot call subVIs
by reference.
• Most settings on the VI Properties page do not affect the execution
of VIs on the NXT brick. For example, the NXT firmware does not
support the concepts of priority or a preferred execution system.

Note The Reentrant execution option in the VI Properties dialog box is a special
exception. Reentrant execution enables a VI to be called by more than one caller. Normally,
a VI can only be called by one caller at a time. However, if you want two callers to be able
to call the same VI simultaneously, place a checkmark in the Reentrant execution
checkbox. The module makes a complete copy of reentrant VIs for each subVI call. In
other words, every call to a reentrant subVI is completely independent in the NXT program
and increases the overall size of the compiled program.

Remember that only one caller can have access to a non-reentrant subVI at
any given time. The same issue exists here as with using non-reentrant
subVIs in LabVIEW; parallel callers might have to wait (block) for access
while another caller is running a given subVI.

Also remember that the module compiler combines top-level VIs and all
subVIs into a single program file on the NXT brick. This behavior is similar
to using the LabVIEW Application Builder to compile all VIs into a single
PC executable file—subVIs become components inside the executable file.

LabVIEW LEGO MINDSTORMS NXT Module 1-10 ni.com

Extensions to LabVIEW
2
The NXT firmware supports various I/O devices for which LabVIEW has
no built-in interfaces. Examples include motor outputs, sensor inputs, and
the NXT display. To support these devices, the module provides extensions
to LabVIEW in the form of five classes of generic reference numbers, or
refnums, and an associated set of properties and/or methods with each class
of refnums. Each property or method loosely corresponds to a particular
piece of the I/O interface provided by the NXT bytecode interpreter.

The module provides the following five classes of generic refnums:

• NXTInput
• NXTOutput
• NXTOutputMulti
• NXTSyscall
• NXTDynamicSyscall

The module palettes provide type definition controls of each new

refnum class.

You can use the NXTInput, NXTOutput, and NXTOutputMulti refnums

with Property Nodes to expose the interfaces to input and output devices.
Connect any of these refnums to a Property Node, and then resize the
Property Node to expose as many properties as you need to read or write.

Each Property Node must include an input to specify the physical port(s) to
access. Refer to the specific Port or PortList property descriptions for more
information on each port. Each additional Property Node line corresponds
to some configuration field, such as device mode or measured value, for the
specified port(s).

You use the NXTSyscall and NXTDynamicSyscall refnums with Invoke

Nodes to expose system-level methods for access to various other features
of the NXT firmware. Use the NXTSyscall refnum with methods that the
LabVIEW LEGO MINDSTORMS NXT Module provides. Use the
NXTDynamicSyscall refnum with custom methods that you create.

© National Instruments Corporation 2-1 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

Note Refer to the Using Dynamic System Calls section of this document for more
information about using the NXTDynamicSyscall refnum.

Each method you use corresponds to a call to an internal system function

matching the name of the method, or the system call. Most system call
methods provide status codes as their return values. In general, status code
values indicate one of the following three results:
• A status code of zero indicates a status of OK; no special action is
required.
• A negative status code indicates an error.
• A positive status code indicates a warning.

System call methods might have more parameters listed below the return
value. These parameters can be inputs, outputs, or both.

Note The module does not support using error cluster inputs or outputs on Property Nodes
or Invoke Nodes.

The following sections describe how to program various device types in

more detail.

Analog Input Devices

The NXT brick features four input (sensor) ports, which you can connect
interchangeably to both analog inputs, such as light sensors, and digital
inputs, such as the NXT ultrasonic sensor. This section describes the
interface provided to program analog input devices.

Analog input devices includes touch, light, sound, and color sensors.

Input Port Properties

To configure or read values from analog I/O devices, use the NXTInput
interface. Connect an NXTInput refnum wire to the reference input of a
Property Node. Then resize the Property Node to add more terminals.
Adding more terminals enables you to display the properties you want to
access. This section describes each property that this module supports.

LabVIEW LEGO MINDSTORMS NXT Module 2-2 ni.com

 Chapter 2 Extensions to LabVIEW

The Port property has the following considerations:

• Every NXTInput Property Node must include one and only one Port
property.
• For a given Property Node, the value on the wire connected to Port
specifies the physical input port to which all other properties apply.

Given the special nature of Port, National Instruments recommends always

specifying the Port property as the first property in each NXTInput
Property Node. This convention enhances the clarity of the code.

With the exception of the Port property, each NXTInput property

corresponds to a configuration field in the input module of the NXT
firmware. The module compiler guarantees that all operations execute in
the order they appear in the Property Node, from top to bottom.

© National Instruments Corporation 2-3 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

Port
U8

Write-only

Required

Legal value range: [0, 3]

This property specifies the physical input port to which all other property reads and writes
apply. Note that legal values are zero-based, such that the values 0, 1, 2, and 3 correspond to
the physical port labels 1, 2, 3, and 4, respectively.

Every NXTInput Property Node must include only one wired Port property.

LabVIEW LEGO MINDSTORMS NXT Module 2-4 ni.com

 Chapter 2 Extensions to LabVIEW

SensorType
U8

Read-write

Optional

Legal values:
Value Enum Description
0x00 NO_SENSOR No sensor configured
0x01 SWITCH NXT or Legacy1 touch sensor
0x02 TEMPERATURE Legacy temperature sensor
0x03 REFLECTION Legacylight sensor
0x04 ANGLE Legacy rotation sensor
0x05 LIGHT_ACTIVE NXT light sensor with floodlight enabled
0x06 LIGHT_INACTIVE NXT light sensor with floodlight disabled
0x07 SOUND_DB NXT sound sensor; dB scaling
0x08 SOUND_DBA NXT sound sensor; dBA scaling
0x09 CUSTOM Unused
0x0A LOWSPEED I2C digital sensor
0x0B LOWSPEED_9V I2C digital sensor; 9V power
0x0C HIGHSPEED Unused
0x0D COLORFULL NXT color sensor in color detector mode
0x0E COLORRED NXT color sensor in light sensor mode with red light
0x0F COLORGREEN NXT color sensor in light sensor mode with green light
0x10 COLORBLUE NXT color sensor in light sensor mode with blue light
0x11 COLORNONE NXT color sensor in light sensor mode with no light

This property specifies the sensor type for this port. The sensor type primarily affects scaling
factors used to calculate the normalized sensor value, but some values have other side effects.

If you write to this property, also write a value of TRUE to the InvalidData property.

Unlike the Legacy firmware, no default sensor modes are associated with each sensor type.1

1 Legacy refers to the RCX programmable controller used in previous versions of LEGO MINDSTORMS.

© National Instruments Corporation 2-5 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

SensorMode
U8

Read-write

Optional

Legal values:
Value Enum Description
0x00 RAWMODE Report scaled value equal to raw value.
0x20 BOOLEANMODE Report scaled value as one (TRUE) or zero
(FALSE). Readings are FALSE if raw value
exceeds 55% of total range; readings are TRUE
if raw value is less than 45% of total range
(inverse Boolean logic).
0x40 TRANSITIONCNTMODE Report scaled value as number of transitions
between TRUE and FALSE.
0x60 PERIODCOUNTERMODE Report scaled value as number of transitions
from FALSE to TRUE, then back to FALSE.
0x80 PCTFULLSCALEMODE Report scaled value as percentage of full scale
reading for configured sensor type.
0xA0 CELSIUSMODE Scale TEMPERATURE reading to degrees
Celsius.
0xC0 FAHRENHEITMODE Scale TEMPERATURE reading to degrees
Fahrenheit.
0xE0 ANGLESTEPMODE Report scaled value as count of ticks on Legacy
rotation sensor.

This property specifies the sensor mode for this port. The sensor mode affects the scaled
value, which the NXT firmware calculates depending on the sensor type and sensor mode.

If you write to this property, also write a value of TRUE to the InvalidData property.

LabVIEW LEGO MINDSTORMS NXT Module 2-6 ni.com

 Chapter 2 Extensions to LabVIEW

Raw
U16

Read-only

Optional

Legal value range: [0, 1023]

This property specifies the raw 10-bit value last read from the analog to digital converter on
this port. Raw values produced by sensors typically cover some subset of the full 10-bit range.

© National Instruments Corporation 2-7 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

Normalized
U16

Read-only

Optional

Legal value range: [0, 1023]

This property specifies a 10-bit sensor reading, scaled according to the current value of the
SensorType property on this port. The NXT firmware automatically applies internal scaling
factors such that the physical range of raw values produced by the sensor is mapped
(normalized) to the full 10-bit range.

SensorMode is ignored when calculating the Normalized value.

You should use Normalized in conjunction with the InvalidData property. The Normalized
value is only valid if InvalidData is FALSE.

LabVIEW LEGO MINDSTORMS NXT Module 2-8 ni.com

 Chapter 2 Extensions to LabVIEW

Scaled
U16

Read-write

Optional

Legal value range depends on SensorMode, as listed in the following table:

Mode Value Range
RAWMODE [0, 1023]
BOOLEANMODE [0, 1]
TRANSITIONCNTMODE [0, 65535]
PERIODCOUNTERMODE [0, 65535]
PCTFULLSCALEMODE [0, 100]
CELSIUSMODE [–200, 700] (readings in 10th of a degree Celsius)
FAHRENHEITMODE [–400, 1580] (readings in 10th of a degree Fahrenheit)
ANGLESTEPMODE [0, 65535]

This property specifies a sensor reading, scaled according to the current sensor type and mode
on this port.

You should read the Scaled property in conjunction with the InvalidData property. The Scaled
value is only valid if InvalidData is FALSE.

Because some combinations of sensor types and modes might lead to accumulation of count
values in the Scaled value field, you can reset this count by writing zero to the Scaled property
at any time.

Note that you can write any value to this property at any time, but doing so is not generally
very useful because outside of counter modes, the value is usually overwritten very quickly.

© National Instruments Corporation 2-9 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

InvalidData
Boolean

Read-write

Optional

Legal values: TRUE, FALSE

This property signifies that the values of Raw, Normalized, and Scaled might be invalid due
to sensor configuration changes that the NXT firmware has not processed yet. For example,
the NXT firmware might not have processed the sensor type or mode changes immediately
due to hardware limitations.

In all cases where you change SensorType or SensorMode, use the InvalidData property to
ensure that the next value you read back has been properly processed. Set InvalidData to
TRUE in the same Property Node as you use to set SensorType and SensorMode, and then
write a while loop that does not exit until InvalidData becomes FALSE. At that point, the
Normalized and Scaled properties will return valid values for the new configuration.

LabVIEW LEGO MINDSTORMS NXT Module 2-10 ni.com

 Chapter 2 Extensions to LabVIEW

NXTColorSensorRead
Return Value:
Parameter Data Code I/O Direction Description
Port U8 input Port, [0–3]
SensorValue U8 output Detected color number, [1–black,
2–blue, 3–green, 4–yellow, 5–red,
6–white]
Raw U16 output Returns the10-bit value last read
from the analog to digital converter
on this specified port. as an array of
red, green, and blue data
Normalized U16 output Returns a 10-bit sensor reading
scaled according to the current
value of the SensorType property on
the specified port as an array of red,
green, and blue data
Scaled I16 output Returns a sensor reading as an array
of red, green, and blue data, scaled
according to the current sensor type
and mode on the specified port
Invalid Data? Boolean output Signifies whether the values of
Raw, Normalized, and Scaled might
be invalid due to sensor
configuration changes

This system call method returns the value of the color sensor and accommodates the RGB
data format.

Note This system call method is different from others in that it returns an array of values.

This method can return the following non-zero status code:

Status Code Enum Description
–32 0xE0 ERR_COMM_CHAN_NOT_READY Specified port is not properly
configured

© National Instruments Corporation 2-11 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

Digital I/O Devices

To program digital I/O devices, you need to use both the NXTInput and
NXTSyscall interfaces. You need both interfaces because digital and
analog devices share the same physical ports.

Digital I/O devices includes ultrasonic and temperature sensors.

Digital I/O Port Setup

First, use an NXTInput Property Node, to set the SensorType property of
the port to a value compatible with the sensor. The NXT firmware supports
the following two SensorType values for use with digital devices:
• LOWSPEED—Use this type if the sensor does not require 9V power.
• LOWSPEED_9V—Use this type if the sensor requires 9V power.

These low-speed sensor types are for use with sensors using the
I2C protocol to communicate with the NXT brick. The ultrasonic sensor
included with NXT bricks requires 9V power, so use LOWSPEED_9V
when you connect to this sensor.

Remember that you also need to set the InvalidData property to TRUE after
setting a new SensorType, then wait, using a While Loop, for the NXT
firmware to set it back to FALSE. This process ensures that the firmware
has time to initialize the port properly, including the 9V power lines,
if applicable. Some digital devices might need additional time to initialize
after power up.

Low Speed Communication Methods

After the port is initialized, you need to access the I2C communication
subsystem of the NXT firmware to communicate with the device.

Use NXTSyscall refnums with invoke nodes to expose the interface

to this communication system. The module provides the following three
methods for low speed digital communication: NXTCommLSWrite,
NXTCommLSCheckStatus, and NXTCommLSRead.

The firmware uses a master/slave setup in which the NXT brick is always
the master device. That is, the NXT firmware is responsible for controlling
the write and read operations. The firmware maintains write and read
buffers for each port, and the three system call methods provided enable
you to access these buffers.

LabVIEW LEGO MINDSTORMS NXT Module 2-12 ni.com

 Chapter 2 Extensions to LabVIEW

A call to NXTCommLSWrite constitutes the start of an asynchronous

transaction between the NXT brick and a digital device, such that the
program continues to run while the firmware manages sending bytes from
the write buffer and reading the response bytes from the device. Because
the NXT brick is the master device, you must also specify the number of
bytes to expect from the device in response to each write operation. You can
exchange up to 16 bytes in each direction per transaction.

After you start a write transaction with NXTCommLSWrite, use

NXTCommLSCheckStatus in a While Loop to check the status of the port.
If NXTCommLSCheckStatus returns a status code of zero and a count of
bytes available in the read buffer, the system is ready for you to use
NXTCommLSRead to copy the data from the read buffer into your own
buffer.

Note that any of these calls might return various status codes at any time.
A status code of zero means the port is idle and the last transaction, (if any),
did not result in any errors. Negative status codes indicate errors, while the
positive status code STAT_COMM_PENDING indicates that a transaction
is in progress on the specified port.

The following sections provide more information about each low-speed

communication method.

© National Instruments Corporation 2-13 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTCommLSCheckStatus
Parameters:
Parameter Data Type I/O Direction Description
Status Code I8 output Refer to the following status codes.
Port U8 input Port, [0, 3]
BytesReady U8 input Number of bytes ready for reading,
if any

This system call method checks the status of the I2C communication on the specified port.
If the last operation on this port was a successful NXTCommLSWrite operation that
requested response data from a device, BytesReady indicates the number of bytes in the
internal read buffer. You can access this information using NXTCommLSRead.

If the return value is zero, the port is idle and the last operation (if any) did not cause any
errors.

This method can return the following non-zero status codes:

Status Code Enum Description
32 0x20 STAT_COMM_PENDING Port is busy performing a
transaction.
–35 0xDD ERR_COMM_BUS_ERR Last transaction failed
(possible device failure).
–33 0xDF ERR_COMM_CHAN_INVALID Specified port is out of
range.
–32 0xE0 ERR_COMM_CHAN_NOT_READY Specified port is not
properly configured.

Commonly, ERR_COMM_BUS_ERR means that either no digital device is connected to the

specified port or the connected device is configured incorrectly. Attempt to write new data to
the device to clear the error condition.

If you see ERR_COMM_CHAN_NOT_READY, make sure SensorType is set properly and

InvalidData is FALSE for this port before attempting further transactions.

If you see STAT_COMM_PENDING, an operation is in progress and you should not

interrupt it. Avoid calls to NXTCommLSRead or NXTCommLSWrite until
NXTCommLSCheckStatus returns zero or a negative error code.

LabVIEW LEGO MINDSTORMS NXT Module 2-14 ni.com

 Chapter 2 Extensions to LabVIEW

NXTCommLSWrite
Parameters:
Parameter Data Type I/O Direction Description
Status Code I8 output Refer to the following status codes.
Port U8 input Port, [0–3]
Buffer U8 array input Up to 16 bytes for writing to device
ReturnLength U8 input Number of bytes expected from
device in response to writing data
in Buffer; maximum 16

This system call method copies data from the buffer input to an internal write buffer and
instructs the NXT firmware to perform a transaction by sending the write buffer to the device
and reading ReturnLength bytes back into the internal read buffer.

If the return value is zero, the method successfully started a communication transaction.
Use NXTCommLSCheckStatus to monitor the status of the transaction.

This method can return the following non-zero status codes:

Status Code Enum Description
–33 0xDF ERR_COMM_CHAN_INVALID Specified port is out of
range.
–32 0xE0 ERR_COMM_CHAN_NOT_READY Specified port is busy or
not properly configured.
–19 0xED ERR_INVALID_SIZE Either buffer size or
ReturnLength exceeded
16-byte maximum.

© National Instruments Corporation 2-15 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTCommLSRead
Parameters:
Parameter Data Type I/O Direction Description
Status Code I8 output Refer to the following status codes.
Port U8 input Port, [0–3]
Buffer U8 array output Bytes read from device, if any
BufferLength U8 input Upper bound on number of bytes
to read into Buffer; actual number
returned limited to bytes available
in the internal read buffer

This system call method attempts to copy BufferLength bytes from the internal read buffer to
your buffer.

If the return value is zero, the read operation succeeded and Buffer contains all bytes available
in the internal buffer. Successive NXTCommLSRead method calls will read new data
each time.

This method can return the following non-zero status codes:

Status Code Enum Description
32 0x20 STAT_COMM_PENDING Port is busy performing a
transaction.
–35 0xDD ERR_COMM_BUS_ERR Last transaction failed
(possible device failure).
–33 0xDF ERR_COMM_CHAN_INVALID Specified port is out of
range.
–32 0xE0 ERR_COMM_CHAN_NOT_READY Specified port is not
configured properly.

If any negative status code error is returned, Buffer is an empty array.

LabVIEW LEGO MINDSTORMS NXT Module 2-16 ni.com

 Chapter 2 Extensions to LabVIEW

Output Devices: Motors and Lamps

Two different kinds of output devices are compatible with the NXT brick:
interactive motors, NXT motors with integrated position encoders, and
non-interactive motors or lamps, Legacy-compatible outputs. All of these
devices are programmed using a common set of Property Nodes in
LabVIEW. The only difference is that non-interactive devices ignore the
properties that do not affect them. For example, instructing a lamp to rotate
counter-clockwise for 360 degrees is invalid because the lamp only
responds to power levels. Furthermore, VIs written to use interactive
device features might not operate correctly when used with non-interactive
devices. For example, you might write a VI to instruct an interactive motor
to rotate 360 degrees, and then wait in a While Loop for the NXT firmware
to complete the action. Non-interactive devices, such as lamps, do not
include position encoders, so such a loop never receives the necessary
feedback to finish executing.

You can access output ports using one of the following two classes of
Property Nodes: NXTOutput and NXTOutputMulti. NXTOutput only
allows accessing parameters of one port at a time, while NXTOutputMulti
accepts an array of port numbers so you can configure multiple ports in a
single operation. This ability of NXTOutputMulti is useful to ensure that
the firmware synchronizes multiple motors tightly. Conversely, you can
only read properties from one output at a time, so NXTOutput is useful
for inspecting the state, such as power level or motor position, of an
output port.

Use NXTOutputMulti to synchronize the behavior of two or more motors,

and use NXTOutput to read properties of an output or to configure only
one output at a time.

Output Port Properties

To configure or read values from output devices, connect an NXTOutput
or NXTOutputMulti refnum wire to any reference input of the Property
Node, and then resize the Property Node to add more terminals. Adding
more terminals enables you to display the properties you want to access.

This section describes each property that this module supports. Because
NXTOutput and NXTOutputMulti Property Nodes share many properties,
this section describes the properties only once. Each property description
specifies the access rules, read-only, write-only, or read-write, provided by
each interface.

© National Instruments Corporation 2-17 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

Use the following tips when working with the Port and PortList properties:
• Every NXTOutput or NXTOutputMulti Property Node must include
one and only one Port of the PortList property, respectively.
• For a given Property Node, the value(s) on the wire connected to
Port/PortList specify the physical output port to which all other
properties apply.

Note Given the special nature of Port/PortList, National Instruments recommends always
specifying Port/PortList as the top property in each NXTOutput/NXTOutputMulti node.
This coding convention enhances code clarity.

With the exception of Port/PortList, each property corresponds to a write or

read of the associated field in the output module of the NXT firmware. All
write operations are guaranteed to execute before all read operations, and
all operations execute in the order they occur on the Property Node, from
top to bottom. Furthermore, the module compiler combines all write
operations in each Property Node into a single bytecode instruction,
such that all write operations in a Property Node occur simultaneously.

Some property write operations also require an additional step to commit a

new value to the internal configuration data of the NXT firmware. You must
also set the appropriate bit on the UpdateFlags property. The flags are
defined in the description of the UpdateFlags property and the descriptions
of properties that require flags to be set specify which flags are applicable.

LabVIEW LEGO MINDSTORMS NXT Module 2-18 ni.com

 Chapter 2 Extensions to LabVIEW

Port
U8

NXTOutput: write-only

NXTOutputMulti: unsupported

Required

Legal value range: [0, 2]

This property specifies the physical port to which all other property read/writes apply. Note
that legal values are zero-based, such that the values 0, 1, 2, and 3 correspond to the physical
port labels 1, 2, 3, and 4, respectively.

Every NXTOutput Property Node must include only one Port property.

© National Instruments Corporation 2-19 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

PortList
U8 array

NXTOutput: unsupported

NXTOutputMulti: write-only

Required

Legal value range: [0, 2] (arrays of 1, 2, or 3 elements in this range)

This property specifies a list of physical ports to which all other property writes apply. Note
that the values 0, 1, and 2 correspond to the physical port labels A, B, and C, respectively.

Every NXTOutputMulti Property Node must include one and only one PortList property.

LabVIEW LEGO MINDSTORMS NXT Module 2-20 ni.com

 Chapter 2 Extensions to LabVIEW

UpdateFlags
U8

NXTOutput: read-write

NXTOutputMulti: write-only

Optional

Bitfield including any combination of the following flag bits:

Value Enum Description
0x01 UPDATE_MODE Commits changes to the Mode
property
0x02 UPDATE_SPEED Commits changes to the Power
property
0x04 UPDATE_TACHO_LIMIT Commits changes to the TachoLimit
property (interactive motors only)
0x08 UPDATE_RESET_COUNT Resets internal movement counters
and cancels current goal (interactive
motors only)
0x10 UPDATE_PID_VALUES Commits changes to PID regulation
parameters RegPValue, RegIValue,
and/or RegDValue (interactive
motors only)
0x20 UPDATE_RESET_BLOCK_COUNT Resets block-relative position
counter (interactive motors only)
0x40 UPDATE_RESET_ROTATION_COUNT Resets program-relative position
counter (interactive motors only)

This property is an unsigned byte bitfield with zero or more of the bit values above set.

You can use UPDATE_MODE, UPDATE_SPEED, UPDATE_TACHO_LIMIT, and

UPDATE_PID_VALUES in conjunction with other properties to commit changes to the
internal state of the NXT firmware module. You must set the appropriate flags after setting
one or more of these properties before the changes actually take affect. For example, write a
value of 0x03 (UPDATE_MODE | UPDATE_SPEED) to UpdateFlags immediately after you
write new values to the Mode and Power properties.

The reset flags are independent of other properties and automatically reset the rotation value
to zero when used.

© National Instruments Corporation 2-21 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

For UPDATE_RESET_BLOCK_COUNT, block-relative refers to the way this flag is

used in the LEGO MINDSTORMS NXT software. By convention, this flag is set every
time an NXT-G motor control block starts execution. This convention means that the
BlockTachoCount property always provides a position measurement relative to the last
NXT-G motor control block to execute. The VIs included with the module follow the same
convention, but you do not need to follow this convention.

For UPDATE_RESET_ROTATION_COUNT, program-relative refers to the fact that

this position counter is reset automatically at the beginning of every program. Set
UPDATE_RESET_ROTATION_COUNT to reset this counter manually during program
execution.

LabVIEW LEGO MINDSTORMS NXT Module 2-22 ni.com

 Chapter 2 Extensions to LabVIEW

Mode
U8

NXTOutput: read-write

NXTOutputMulti: write-only

Optional

Bitfield including any combination of the following flag bits:

Value Enum Description
0x01 MOTORON Enables PWM power to port(s) according to value of
the Power property
0x02 BRAKE Applies electronic braking to port(s)
0x04 REGULATED Enables active power regulation according to value of
RegMode (interactive motors only)

This property is an unsigned byte bitfield with zero or more mode bits set. Clearing all bits
with a Mode value of 0x00 is considered COAST mode; motors connected to the specified
port(s) will rotate freely.

You must set the MOTORON bit for the NXT firmware to provide any power to the specified
output port(s). Power is provided as a PWM waveform modulated by the Power property.

The BRAKE bit enables application of electronic braking to the circuit. Braking in this sense
means that the output voltage is not allowed to float between active PWM pulses. Electronic
braking improves the accuracy of motor output, but uses slightly more battery power.

You must use the REGULATED bit in conjunction with the RegMode property. Refer to the
RegMode section for more information about using the REGULATED bit with the RegMode
property.

You must set the UPDATE_MODE bit in the UpdateFlags bitfield to commit changes to the
Mode property.

© National Instruments Corporation 2-23 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

RegMode
U8

NXTOutput: read-write

NXTOutputMulti: write-only

Optional

Interactive motors only

Legal Values:
Value Enum Description
0x00 REG_IDLE Disables regulation
0x01 REG_SPEED Enables speed regulation
0x02 REG_SYNC Enables synchronization between any two motors

This property specifies the regulation mode to use with the specified port(s).

This property is ignored if you do not set the REGULATED bit in the Mode property. Unlike
the Mode property, RegMode is not a bitfield. You can set only one RegMode value at a time.

Speed regulation means that the NXT firmware attempts to maintain a certain speed
according to the Power set-point. To accomplish this, the NXT firmware automatically adjusts
the actual PWM duty cycle if the motor is affected by a physical load. This automatic
adjustment is reflected by the value of the ActualSpeed property.

Synchronization means that the firmware attempts keep any two motors in synch regardless
of varying physical loads. A common usage of this mode is to maintain a straight path for a
vehicle robot automatically, but you also can use this mode with the TurnRatio property to
provide proportional turning. You must set REG_SYNC on at least two motor ports to have
the desired affect. If REG_SYNC is set on all three motor ports, only the first two, A and B,
are synchronized.

LabVIEW LEGO MINDSTORMS NXT Module 2-24 ni.com

 Chapter 2 Extensions to LabVIEW

TurnRatio
I8

NXTOutput: read-write

NXTOutputMulti: write-only

Optional

Interactive motors only

Legal value range: [–100, 100]

This property specifies the proportional turning ratio for synchronized turning using two
motors.

You must set other properties appropriately on at least two motor ports for TurnRatio to have
the desired effect. Use the following guidelines when setting this property:
• Mode bitfield must include MOTORON and REGULATED bits. BRAKE bit is optional.
• RegMode must be set to REG_SYNCH.
• RunState must be set to a non-IDLE value.
• Power must be set to a non-zero value.

After you set these property values, the NXT firmware uses the TurnRatio value to adjust
relative power settings for the left and right motors automatically.

Left and right refer to the physical arrangement of the output plugs on an NXT brick when
facing the display screen. The following table includes the only three valid combinations of
left and right motors that you can use with TurnRatio:
Left Right
Output Port A Output Port B
Output Port B Output Port C
Output Port A Output Port C

Note that this definition of left and right is independent of the LEGO model you are using.

Negative TurnRatio values shift power towards the left motor, while positive TurnRatio values
shift power towards the right motor. In both cases, the actual power applied is proportional to
the Power set-point, such that an absolute value of 50% for TurnRatio normally results in
one motor stopping, and an absolute value of 100% for TurnRatio normally results in the
two motors turning in opposite directions at equal power.

© National Instruments Corporation 2-25 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

RunState
U8

NXTOutput: read-write

NXTOutputMulti: write-only

Optional

Legal Values:
Value Enum Description
0x00 RUN_STATE_IDLE Disables power to specified port(s)
0x10 RUN_STATE_RAMPUP Enables automatic ramp-up to the Power
set-point (interactive motors only)
0x20 RUN_STATE_RUNNING Enables power to specified port(s) at the Power
set-point
0x40 RUN_STATE_RAMPDOWN Enables automatic ramp-down to the Power
set-point (interactive motors only)

This property specifies an auxiliary state to use with Mode, RegMode, and Power on the
specified port(s). Set only one of the legal values at a given time.

RUN_STATE_RUNNING is the most common setting. Use RUN_STATE_RUNNING to

enable power to any output device connected to the specified port(s).

RUN_STATE_RAMPUP enables automatic ramping to a new Power set-point that is greater

than the current Power set-point. When you use RUN_STATE_RAMPUP in conjunction with
appropriate TachoLimit and Power values, the NXT firmware attempts to increase the actual
power smoothly to the new Power set-point over the number of degrees specified by
TachoLimit.

RUN_STATE_RAMPDOWN enables automatic ramping to a new Power set-point that is less

than the current Power set-point. When you use RUN_STATE_RAMPDOWN in conjunction
with appropriate TachoLimit and Power values, the NXT firmware attempts to smoothly
decrease the actual power to the new Power set-point over the number of degrees specified
by TachoLimit.

LabVIEW LEGO MINDSTORMS NXT Module 2-26 ni.com

 Chapter 2 Extensions to LabVIEW

Power
I8

NXTOutput: read-write

NXTOutputMulti: write-only

Optional

Legal value range: [–100, 100]

This property specifies the power level set-point for the specified port(s).

The absolute value of Power is used as a percentage of the full power capabilities of the motor.

The sign of Power specifies rotation direction. Positive values for Power instruct the firmware
to turn the motor forward, while negative values instruct the firmware to turn the motor
backward. Forward and backward are relative to a standard orientation for a particular type
of motor.

Note Direction is not a meaningful concept for outputs like lamps. Lamps are only
affected by the absolute value of Power.

You must set some other properties appropriately for the Power setpoint to have the desired
effect. Use the following guidelines when setting this property:
• Mode bitfield must include MOTORON bit. BRAKE bit is optional.
• RunState must be set to a non-IDLE value.

You must set the UPDATE_SPEED bit in the UpdateFlags bitfield to commit changes to the
Power property.

© National Instruments Corporation 2-27 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

ActualSpeed
I8

NXTOutput: read-only

NXTOutputMulti: unsupported

Optional

Interactive motors only

Legal value range: [–100, 100]

This read-only property returns the actual percentage of full power that the NXT firmware is
applying to the output currently. This value can vary from the current Power set-point when
the internal auto-regulation code of the NXT firmware responds to drag on the output axle.

LabVIEW LEGO MINDSTORMS NXT Module 2-28 ni.com

 Chapter 2 Extensions to LabVIEW

TachoLimit
U32

NXTOutput: read-write

NXTOutputMulti: write-only

Optional

Interactive motors only

Legal value range: [0, 4294967295]

This property specifies the rotational distance in degrees that you want to turn the motor.

Set the UPDATE_TACHO_LIMIT flag to commit changes to TachoLimit. The NXT

firmware treats the new TachoLimit value as a relative distance from the motor position
at the moment that the UPDATE_TACHO_LIMIT flag is processed. Remember that the sign
of the Power property specifies the direction of rotation.

© National Instruments Corporation 2-29 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

TachoCount
I32

NXTOutput: read-only

NXTOutputMulti: unsupported

Optional

Interactive motors only

Legal value range: [–2147483648, 2147483647]

This read-only property reports the internal position counter value for the specified port.
This internal count is reset automatically when a new goal is set using the TachoLimit and
the UPDATE_TACHO_LIMIT flag.

Set the UPDATE_RESET_COUNT flag in UpdateFlags to request that the NXT firmware
resets TachoCount and cancels any current programmed goals.

The sign of TachoCount specifies rotation direction. Positive values correspond to forward
rotation while negative values correspond to backward rotation. Forward and backward are
relative to a standard orientation for a particular type of motor.

LabVIEW LEGO MINDSTORMS NXT Module 2-30 ni.com

 Chapter 2 Extensions to LabVIEW

BlockTachoCount
I32

NXTOutput: read-only

NXTOutputMulti: unsupported

Optional

Interactive motors only

Legal value range: [–2147483648, 2147483647]

This read-only property reports the block-relative position counter value for the
specified port.

Refer to the UpdateFlags section for more information about using block-relative position
counts.

Set the UPDATE_RESET_BLOCK_COUNT flag in UpdateFlags to request that the

firmware resets BlockTachoCount.

The sign of BlockTachoCount specifies the rotation direction. Positive values correspond to
forward rotation while negative values correspond to backward rotation. Forward and
backward are relative to a standard orientation for a particular type of motor.

© National Instruments Corporation 2-31 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

RotationCount
I32

NXTOutput: read-only

NXTOutputMulti: unsupported

Optional

Interactive motors only

Legal value range: [–2147483648, 2147483647]

This read-only property reports the program-relative position counter value for the
specified port.

Refer to the UpdateFlags section for more information about using program-relative position
counts.

Set the UPDATE_RESET_ROTATION_COUNT flag in UpdateFlags to request that the

NXT firmware resets the RotationCount property.

The sign of RotationCount specifies rotation direction. Positive values correspond to forward
rotation while negative values correspond to backward rotation. Forward and backward are
relative to a standard orientation for a particular type of motor.

LabVIEW LEGO MINDSTORMS NXT Module 2-32 ni.com

 Chapter 2 Extensions to LabVIEW

Overloaded
Boolean

NXTOutput: read-only

NXTOutputMulti: unsupported

Optional

Interactive motors only

Legal values: TRUE, FALSE

This read-only property returns TRUE if the speed regulation functionality of the NXT
firmware is unable to overcome physical load on the motor, such as the motor is turning more
slowly than expected. Otherwise, this property returns FALSE.

You must set other properties appropriately for the value of Overloaded to be meaningful.
Use the following guidelines when setting this property:
• Mode bitfield must include MOTORON and REGULATED bits.
• RegMode must be set to REG_SPEED.
• RunState must be set to a non-IDLE value.

© National Instruments Corporation 2-33 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

RegPValue
U8

NXTOutput: read-write

NXTOutputMulti: write-only

Optional

Interactive motors only

Legal value range: [0, 255]

This property specifies the proportional term used in the internal PID control algorithm.
Refer to the Proportional-Integral-Derivative (PID) topic in the LabVIEW Help for more
information.

Set the UPDATE_PID_VALUES to commit changes to RegPValue, RegIValue, or

RegDValue.

LabVIEW LEGO MINDSTORMS NXT Module 2-34 ni.com

 Chapter 2 Extensions to LabVIEW

RegIValue
U8

NXTOutput: read-write

NXTOutputMulti: write-only

Optional

Interactive motors only

Legal value range: [0, 255]

This property specifies the integral term used in the internal PID control algorithm.

Set the UPDATE_PID_VALUES to commit changes to RegPValue, RegIValue, or

RegDValue.

© National Instruments Corporation 2-35 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

RegDValue
U8

NXTOutput: read-write

NXTOutputMulti: write-only

Optional

Interactive motors only

Legal value range: [0, 255]

This property specifies the derivative term used in the internal PID control algorithm.

Set the UPDATE_PID_VALUES to commit changes to RegPValue, RegIValue, or

RegDValue.

LabVIEW LEGO MINDSTORMS NXT Module 2-36 ni.com

 Chapter 2 Extensions to LabVIEW

Built-In I/O
The module provides access to several kinds of built-in I/O, including the
following:
• Manipulating files in a simple flash file system using the File Access
Methods
• Drawing to the NXT display using the NXT Display Methods
• Reading the built-in buttons on the NXT brick using the NXT Button
Method
• Playing back recorded or synthesized sound using the Sound
Playback Methods
• Communication with connected Bluetooth peers using the Bluetooth
Communications Methods

To use any of these built-in I/O features in a program, connect an

NXTSyscall refnum to the reference input of any Invoke Node and select
the appropriate method.

File Access Methods

Use the file access methods to create, modify, rename, or delete files stored
on the NXT brick.

The NXT firmware organizes all files in a simple flat file system stored in
the flash memory on the NXT brick. Files are listed and referred to by
name, and files can have any size up to the amount of available flash. The
file system is flat because the file system does not support organizing files
into hierarchical folders. NXT firmware 1.05 allows you to create up to
63 files, assuming flash space is available.

NXT filenames include up to 15 characters for the main name, a dot,

and 3 characters for the extension, which specifies the file type. This
convention is referred to as 15.3 filenames. A file extension serves as a cue
to the NXT firmware as to how and where files are listed and treated.

The NXT firmware 1.05 and the LEGO MINDSTORMS NXT software use
the following main file extensions:
• RXE—Executable files compiled from NXT-G, LabVIEW, or another
compatible programming environment
• RPG—Simple 5-step programs created using the NXT Program UI on
the NXT brick

© National Instruments Corporation 2-37 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

• RTM—Built-in Try Me programs

• RIC—Image (graphic) files for use with the NXTDrawGraphic
system call method in RXE programs
• RSO—Sound files
• SYS—Internal NXT firmware files
• CAL—Sensor calibration file
• TXT—ASCII text file using CR/LF (Windows) end-of-line
convention
• LOG—ASCII text file created by NXT datalogging

When manipulating files with a program, you can create, modify, rename,
or delete any file in the system. Typical NXT programs use simple text files
with the TXT extension. You then can upload these files easily to a PC,
which then can read the files. You can use any extension or file encoding
you choose, but make sure not to interfere with the various files that the
NXT firmware and other programs use.

The default NXT firmware configuration includes several built-in files. You
can delete any of these files to free up space, but you lose any associated
functionality until you restore these files.

To manipulate files, wire an NXTSyscall refnum to any Invoke Node, then

choose a method beginning with NXTFile. The following sections list these
individual methods along with some method concepts.

LabVIEW LEGO MINDSTORMS NXT Module 2-38 ni.com

 Chapter 2 Extensions to LabVIEW

File Handles
You must open a handle to a file before you can use read or write
methods on the file. The NXTFileOpenRead, NXTFileOpenWrite, or
NXTFileOpenAppend methods return a unique handle value. The NXT
firmware also automatically registers open handles in an internal table such
that the NXTResolveHandle system call method can look up any open
handle by filename.

You must close each file handle with the NXTFileClose method before
using the file to which it refers for any other purpose. When a program
ends, the NXT firmware automatically closes any handles left open by the
program.

Note When NXT firmware 1.26 or later automatically closes a file, the firmware removes
all unused space to maximize free space on the device.

The NXT firmware restricts the maximum number of concurrently open

file handles to 16. Note that running programs uses up one file handle,
and any current sound playback or other background process can take
up additional file handles. In practice, a program can generally open
10–12 handles, but opening that many handles is fairly rare.

© National Instruments Corporation 2-39 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

File Access Status Codes

File access system call methods return a different set of status codes from
most other system call methods. File access status codes are unsigned
16-bit integers rather than signed 8-bit integers. In most cases, you only
need to check if file access methods return status codes other than zero
(SUCCESS), but the following table lists specific codes which you might
see in your programs.

Value Enum Description

0x0000 SUCCESS Operation succeeded.
0x8100 NO_HANDLES The firmware is not able to allocate any more file
handles for this operation.
0x8300 NO_FILES The firmware is not able to create any more files.
0x8400 PARTIAL_WRITE Write request exceeded space available in file;
partial write performed.
0x8500 EOF File operation reached end of file.
0x8700 FILE_NOT_FOUND Specified file not found.
0x8800 FILE_CLOSED Specified file or handle is already closed.
0x8900 NO_LINEAR_SPACE The firmware is not able to allocate requested
linear file system space for specified file.
0x8A00 GENERIC_ERROR A generic (unspecified) error condition occurred.
0x8B00 FILE_BUSY Cannot acquire file handle for specified file
because some other operation has opened the file.
0x8C00 NO_WRITE_BUFFERS Cannot open file for write operation because all
write buffers are already in use. Only four files
can be open for write simultaneously.
0x8D00 ILLEGAL_APPEND Cannot open file for append.
0x8E00 FILE_FULL Allocated space for specified file is full
(no more write operations allowed).
0x8F00 FILE_EXISTS Failure to create or rename file due to name
collision.
0x9200 ILLEGAL_FILE_NAME Illegal file name provided. Ensure file name
consists of 15.3 (or fewer) printable characters.
0x9300 ILLEGAL_HANDLE Allocated space for specified file is full.

LabVIEW LEGO MINDSTORMS NXT Module 2-40 ni.com

 Chapter 2 Extensions to LabVIEW

File Access Performance Issues

Writing to flash memory is very slow compared to RAM access on the
NXT brick. Writing to flash memory also ties up the CPU. File write
operations are buffered in RAM whenever possible, but the firmware is
subject to pauses of 6–30 ms while these buffers are committed to flash.
If you experience significant delays during program operations, consider
minimizing the amount of flash writing you perform.

Most file access method calls are subject to delays averaging 6 ms or less,
with NXTFileOpenWrite subject to the most delay per call. The following
sections describe the methods and include specific notes about potential
flash writing performance issues where applicable.

© National Instruments Corporation 2-41 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTFileOpenRead
Parameters:
Parameter Data Type I/O Direction Description
Status Code U16 output Refer to the File Access Status Codes
section.
File Handle U8 output Unique handle to identify open file
Filename string input Maximum of 19 characters
(15.3 filename)
Length U32 output Length of file in bytes

This system call method attempts to open the file specified by Filename for read operations.

If the return value is zero, the file open operation succeeded. File Handle is assigned a unique
handle for use with NXTFileRead and NXTFileClose, and Length is assigned the current
length of the file. Furthermore, this file is registered for use with NXTFileResolveHandle.

If the return value is non-zero, an error occurred attempting to open the file. You can ignore
File Handle and Length. This file is not registered for use with NXTFileResolveHandle.

LabVIEW LEGO MINDSTORMS NXT Module 2-42 ni.com

 Chapter 2 Extensions to LabVIEW

NXTFileOpenWrite
Parameters:
Parameter Data Type I/O Direction Description
Status Code U16 output Refer to the File Access Status Codes
section.
File Handle U8 output Unique handle to identify open file
Filename string input Maximum of 19 characters
(15.3 filename)
Length U32 input-output Length of file in bytes

This system call method attempts to create a file with the name specified by Filename and size
in bytes specified by Length, then keep the file open for write operations. You must specify
the total file size using the Length parameter when you create the file. If you do not use all of
the memory allocated for a particular file before closing the file handle, you can open the file
for further write operations using the NXTFileOpenAppend system call method.

If the return value is zero, the file creation operation was successful. The File Handle output
is assigned a unique handle for use with NXTFileWrite and NXTFileClose and the Length
output is assigned the current length of the file. Furthermore, this file is registered for use with
NXTFileResolveHandle.

If the return value is non-zero, an error occurred attempting to open the file. You can ignore
the File Handle. This file is not registered for use with NXTFileResolveHandle.

Only four files can be concurrently opened for write operations. This limit includes files
opened with NXTFileOpenAppend.

Note File creation involves writing data to flash, so this system call method is subject to
the performance issues previously described. NXTFileOpenWrite is potentially subject to
the most flash writing delay of any method. Creating a very large file can result in a delay
of up to 30 ms.

© National Instruments Corporation 2-43 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTFileOpenAppend
Parameters:
Parameter Data Type I/O Direction Description
Status Code U16 output Refer to the File Access Status Codes
section.
File Handle U8 output Unique handle to identify open file
Filename string input Maximum of 19 characters
(15.3 filename)
Length U32 output Number of bytes remaining in file

This system call method attempts to open the file specified by Filename for append (write)
operations. This operation is useful only if a file already exists and has been closed before all
of its allocated space has been filled.

If the return value is zero, the file open operation succeeded. The File Handle output contains
a unique handle for use with NXTFileWrite and NXTFileClose and the Length output
contains the number of unused bytes remaining in the file. The internal file cursor is set
automatically to the end of existing data such that future calls to NXTFileWrite do not
overwrite any data. Furthermore, this file is registered for use with NXTFileResolveHandle.

If the return value is non-zero, an error occurred attempting to open the file. You can ignore
the File Handle. This file is not registered for use with NXTFileResolveHandle.

Only four files may be concurrently opened for write operations. This limit includes files
opened with NXTFileOpenAppend.

LabVIEW LEGO MINDSTORMS NXT Module 2-44 ni.com

 Chapter 2 Extensions to LabVIEW

NXTFileResolveHandle
Parameters:
Parameter Data Type I/O Direction Description
Status Code U16 output Refer to the File Access Status Codes
section.
File Handle U8 output Unique handle to identify open file
Write Boolean output TRUE if returned handle is for write
Handle? operations.
Filename string input Maximum of 19 characters
(15.3 filename)

The NXT firmware has a list of open file handles. This system call method searches the list
of open file handles by Filename. To succeed, Filename must contain the exact filename of an
already opened file.

If the return value is zero, the file is already open. The File Handle output is assigned a unique
handle for use with NXTFileRead/NXTFileWrite and NXTFileClose. If the Boolean output
Write Handle? is set to TRUE, the file is open for write operations. Otherwise, the file is open
for read operations.

If the return value is non-zero, the file is not yet open. You can ignore File Handle and Write
Handle?. If you intend to use the file, call the appropriate open method for the file.

© National Instruments Corporation 2-45 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTFileClose
Parameters:
Parameter Data Type I/O Direction Description
Status Code U16 output Refer to the File Access Status Codes
section.
File Handle U8 input Unique handle to identify open file

This system call method closes the handle specified by File Handle.

If the return value is zero, the method successfully closed the file handle and removed the file
from the list of open files that NXTResolveHandle uses.

If the return value is non-zero, the close operation failed. Either the specified file handle was
invalid or no file was currently open using that file handle.

All files opened by an NXT program are automatically closed when the program finishes or
is aborted.

Note that a successful NXTFileClose operation commits any pending file write buffers to
flash memory, so this operation is subject to a 6–30 ms delay in performing the operation.

LabVIEW LEGO MINDSTORMS NXT Module 2-46 ni.com

 Chapter 2 Extensions to LabVIEW

NXTFileRead
Parameters:
Parameter Data Type I/O Direction Description
Status Code U16 output Refer to the File Access Status Codes
section.
File Handle U8 input-output Unique handle to identify open file
Buffer string output File data in string format
Length U32 input-output Length of file in bytes

This system call method attempts to read Length bytes of data from the file opened with the
handle specified by File Handle.

If the return value is zero, the file read operation succeeded. Buffer contains Length bytes of
file data in string format. If the file contains text data, use the string like a normal text string,
such as the display to the screen. If the file contains flattened binary data, use the Unflatten
from String function to unflatten it.

If the return value is non-zero, an error occurred attempting to read bytes from the file. Note
that Buffer might still contain valid data if the method encountered the end of the file before
reading Length bytes. In this case, the Length output contains the count of bytes that were
actually read.

Successive calls to NXTFileRead with the same file handle reads new data each time.
For example, each read operation advances the internal file read cursor.

© National Instruments Corporation 2-47 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTFileWrite
Parameters:
Parameter Data Code I/O Direction Description
Status Code U16 output Refer to the File Access Status
Codes section.
File Handle U8 input-output Unique handle to identify open file
Buffer string input-output File data in string format
Length U32 input-output Number of bytes to write (in);
number of bytes written (out)

This system call method attempts to write Length bytes of data to the file opened with the
handle specified by File Handle. If you use all of the memory allocated for the specified file,
the NXTFileWrite method writes partial contents of the Buffer data to the file. The method
sets Length to the number of bytes actually written, but does not modify the Buffer. If you
intend to write more data, you need to close this file and use NXTOpenWrite to create a
new file.

If the return value is zero, the file write operation succeeded.

If the return value is non-zero, an error occurred attempting to write bytes from the file.

Successive calls to NXTFileWrite with the same file handle write new data each time. Each
write operation advances the internal file write cursor.

Note NXTFileWrite involves writing to flash memory, so this system call method is
subject to the performance issues described above. Because NXTFileWrite often is called
many times in quick succession to stream data to a file, the NXT firmware provides some
buffering to help minimize the performance cost. This buffering means that a 4–6 ms delay
might occur for every 256 bytes written.

LabVIEW LEGO MINDSTORMS NXT Module 2-48 ni.com

 Chapter 2 Extensions to LabVIEW

NXTFileDelete
Parameters:
Parameter Data Code I/O Direction Description
Status Code U16 output Refer to the File Access Status
Codes section.
Filename string input Maximum of 19 characters
(15.3 filename)

This system call method deletes the file specified by Filename.

If the return value is zero, the delete operation succeeded.

If the return value is non-zero, the delete operation failed. Either the specified file does not
exist or an open handle is associated with the file.

Be careful to close any open handles associated with a file before deleting it.

Note that file deletion involves writing internal file system data to flash memory, so this
system call method is subject to a 6–30 ms delay in performing the operation.

© National Instruments Corporation 2-49 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTFileRename
Parameters:
Parameter Data Code I/O Direction Description
Status Code U16 output Refer to the File Access Status
Codes section.
Old Filename String input Maximum of 19 characters
(15.3 filename)
New Filename String input Maximum of 19 characters
(15.3 filename)

This system call method renames the file specified by Old Filename to New Filename.

If the return value is zero, the rename operation succeeded.

If the return value is non-zero, the rename operation failed. Either the specified file does not
exist or an open handle is associated with the file.

Be careful to close any open handles associated with a file before renaming it.

Note that file renaming involves writing internal file system data to flash memory, so this
system call method is subject to a 6–30 ms delay in performing the operation.

LabVIEW LEGO MINDSTORMS NXT Module 2-50 ni.com

 Chapter 2 Extensions to LabVIEW

NXTListFiles
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output
Pattern String input File extension, such as *.rxe.
File List String array input-output List of files on the NXT brick with
the Pattern file extension.

This system call method lists the files on the NXT brick that have the file extension, or
Pattern, you specify. You must wire an array to the File List input. This system call method
then populates that array and returns the results in the File List output.

If the status code is zero, the method successfully returned the list of files on the NXT brick.
If no files of the extension you specify exist on the NXT brick, the method returns an empty
File List.

If the status code is non-zero, the method failed due to a memory error and did not return the
list of files on the NXT brick.

© National Instruments Corporation 2-51 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXT Display Methods

Use the display methods to draw text, points, shapes, or graphic files to the
built-in display on the NXT brick.

NXTDrawText
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Unused
Location cluster input-output Coordinates from lower left of
I16 (X) screen
I16 (Y)
Text string input Text string to draw
Options U32 input Bitfield of draw options

This system call method renders the string Text at the coordinates specified by Location.
The method only renders printable characters—non-ASCII or non-printable characters are
ignored. The method does not wrap text at the screen edges.

All draw coordinates are relative to the lower left corner of the screen on the NXT brick. The
NXTDrawText method coerces y-coordinates to multiples of eight by rounding down such
that text always appears on one of eight distinct lines on the display.

Set the least significant bit of Options to 1 to clear the entire screen before drawing. If you do
not set this bit, the method overlays the text on top of any pixels already drawn by the
program.

The first drawing system call method to execute in a program automatically clears the screen
regardless of the value of Options.

The return value is always zero.

LabVIEW LEGO MINDSTORMS NXT Module 2-52 ni.com

 Chapter 2 Extensions to LabVIEW

NXTDrawPoint
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Unused
Location cluster input Coordinates from lower left of
I16 (X) screen
I16 (Y)
Options U32 input Bitfield of draw options

This system call method draws a single, black pixel at the coordinates that Location specifies.

All draw coordinates are relative to the lower left corner of the screen on the NXT brick.

Set the least significant bit of Options to 1 to clear the entire screen before drawing. If you
do not set this bit, the method overlays the point on top of any pixels already drawn by the
program.

The first drawing system call method to execute in a program automatically clears the screen
regardless of the value of Options.

The return value is always zero.

© National Instruments Corporation 2-53 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTDrawLine
Parameters:
Parameter Date Code I/O Direction Description
Status I8 output Unused
StartLocation cluster input-output Coordinates from lower left of
I16 (X) screen
I16 (Y)
EndLocation cluster input-output Coordinates from lower left of
I16 (X) screen
I16 (Y)
Options U32 input Bitfield of draw options

This system call method draws a black line one pixel wide, from StartLocation to
EndLocation.

All draw coordinates are relative to the lower left corner of the screen on the NXT brick.

Set the least significant bit of Options to 1 to clear the entire screen before drawing. If you do
not set this bit, the method overlays the line on top of any pixels already drawn by the
program.

The first drawing system call method to execute in a program automatically clears the screen
regardless of the value of Options.

The return value is always zero.

LabVIEW LEGO MINDSTORMS NXT Module 2-54 ni.com

 Chapter 2 Extensions to LabVIEW

NXTDrawCircle
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Unused
Center cluster input-output Coordinates from lower left of
I16 (X) screen
I16 (Y)
Radius U8 input Radius, in pixels
Options U32 input Bitfield of draw options

This system call method draws a circle outline specified by Center coordinates and Radius in
pixels.

All draw coordinates are relative to the lower left corner of the screen on the NXT brick.

Set the least significant bit of Options to 1 to clear the entire screen before drawing. If you do
not set this bit, the method overlays the circle on top of any pixels already drawn by the
program. The circle outline is transparent; the method never modifies pixels inside the circle.

The first drawing system call method to execute in a program automatically clears the screen
regardless of the value of Options.

The return value is always zero.

© National Instruments Corporation 2-55 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTDrawRect
Parameters:
Parameter Data Type I/O Direction Description
Status Code I8 output Unused
Location cluster input-output Coordinates from lower left of
I16 (X) screen
I16 (Y)
Size cluster input-output Dimensions of rectangle, in pixels
I16 (Width)
I16 (Height)
Options U32 input Bitfield of draw options

This system call method draws a rectangle outline with one corner at the coordinates specified
by Location. The Size cluster specifies relative coordinates of the corner opposite from
Location.

Set the least significant bit of Options to 1 to clear the entire screen before drawing. If you do
not set this bit, the method overlays the rectangle on top of any pixels already drawn by the
program. The rectangle outline is transparent; the method never modifies pixels inside the
rectangle.

The first drawing system call method to execute in a program automatically clears the screen
regardless of the value of Options.

The return value is always zero.

LabVIEW LEGO MINDSTORMS NXT Module 2-56 ni.com

 Chapter 2 Extensions to LabVIEW

NXTDrawGraphic
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Unused
Location cluster input-output Coordinates from lower left of
I16 (X) screen
I16 (Y)
Filename string input Maximum of 19 characters
(15.3 filename)
Variables I32 array input Optional parameters as defined by
the RIC file.
Options U32 input Bitfield of draw options

This system call method renders the RIC-format graphic file (the LEGO standard image
format) specified by Filename. Location specifies coordinates of the lower left corner of the
rendered image.

All draw coordinates are relative to the lower left corner of the screen on the NXT brick.

The Variables argument specifies an array of arbitrary numeric parameters RIC files might
use. Most files ignore these variables.

Set the least significant bit of Options to 1 to clear the entire screen before drawing. If you do
not set this bit, the method overlays the graphic on top of any pixels already drawn by the
program.

The first drawing system call method to execute in a program automatically clears the screen
regardless of the value of Options.

If return value is non-zero, an error occurred while attempting to draw the file. Either the
specified file does not exist or is not a valid RIC format file.

© National Instruments Corporation 2-57 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTSetScreenMode
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Unused
ScreenMode U32 input New screen mode

This system call method sets a new mode for the display screen on the NXT brick. The only
valid mode for the NXT firmware 1.05 is RESTORE_NXT_SCREEN (value: 0). Use this
screen mode to restore the default status screen after using any of the NXTDraw system call
methods.

The return value is always zero.

LabVIEW LEGO MINDSTORMS NXT Module 2-58 ni.com

 Chapter 2 Extensions to LabVIEW

NXT Button Method

Use the NXT button method to read the status of the built-in buttons on the
NXT brick. Note that you can read only the top three buttons. The bottom
button always aborts the program.

NXTReadButton
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Unused
Index U8 input Button index: RIGHT, LEFT,
or ENTER
Pressed Boolean output TRUE if specified button is
currently depressed
Count U8 output Number of times specified button
has been pressed and released since
last reset.
Reset? Boolean input Set to TRUE to reset Count after
reading state.

This system call method reads the state of the built-in NXT button specified by Index
(RIGHT, LEFT, or ENTER).

Set Reset? to TRUE to reset Count after reading the state.

If the status code is zero, Pressed returns TRUE when the button is depressed, and Count
returns the number of times button has been depressed and released since last reset.

If the status code is non-zero, you specified an invalid value for Index.

Legal values for Index:

Value Enum Description
0x01 RIGHT Right arrow button
0x02 LEFT Left arrow button
0x03 ENTER Center square button

© National Instruments Corporation 2-59 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

Sound Playback Methods

Use the sound playback methods to control the sound module on the
NXT brick.

NXTSoundPlayFile
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Unused
Filename string input Maximum of 19 characters
(15.3 filename)
Loop? Boolean input Set to TRUE to enable automatic
looping of sound file
Volume U8 input Volume of playback: [0, 4]

This system call method starts playback of the sound file specified by Filename. The file must
be a valid RSO-format sound file (the LEGO standard sound file format).

Set Loop? to TRUE to loop playback automatically and indefinitely without further system
call methods.

The integer values for Volume correspond to the following behaviors:

Integer Value Value Description
0 Sound playback disabled
1 25% of full volume
2 50% of full volume
3 75% of full volume
4 100% of full volume

LabVIEW LEGO MINDSTORMS NXT Module 2-60 ni.com

 Chapter 2 Extensions to LabVIEW

NXTSoundPlayTone
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Unused
Frequency U16 input Frequency of tone in Hertz
Duration U16 input Duration of tone in milliseconds
Loop? Boolean input Set to TRUE to enable automatic
looping of tone
Volume U8 input Volume of playback: [0, 4]

This system call method starts playback of a tone specified by Frequency (Hz) and
Duration (ms).

Set Loop? to TRUE to loop playback automatically and indefinitely without further system
call methods.

The integer values for Volume correspond to the following behaviors:

Integer Value Value Description
0 Sound playback disabled
1 25% of full volume
2 50% of full volume
3 75% of full volume
4 100% of full volume

© National Instruments Corporation 2-61 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTSoundGetState
Parameters:
Parameter Data Code I/O Direction Direction
State U8 output Sound module state
Flags U8 output Bitfield of sound module flags

This system call method reads the internal state and flags of the sound module of the NXT
brick. If Flags is non-zero, the sound module has playback operations pending or in progress.
Normally, you can ignore the return value.

The return value might report the following values:

Value Enum Description
0x00 SOUND_IDLE Sound module is idle, but there might be a pending
request to playback sound
0x02 SOUND_FILE Sound module is playing an RSO file
0x03 SOUND_TONE Sound module is playing a tone
0x04 SOUND_STOP Request to stop playback in progress

Flags might report the following values:

Value Enum Description
0x00 SOUND_FLAGS_IDLE No flags set; sound module is
completely idle
0x01 SOUND_FLAGS_UPDATE A request for playback is pending
0x02 SOUND_FLAGS_RUNNING Playback in progress

LabVIEW LEGO MINDSTORMS NXT Module 2-62 ni.com

 Chapter 2 Extensions to LabVIEW

NXTSoundSetState
Parameters:
Parameter Data Code I/O Direction Description
State U8 input New state for sound module
Flags U8 input Bitfield of sound module flags

This system call method writes new State and Flags values to the sound module of the
NXT brick.

Note Use this system call method with caution because it directly influences the internals
of the sound module on the NXT brick. Use this method only for stopping current playback
by writing a new State value of SOUND_STOP.

The following value is the only value you can write to State:

Value Enum Description

0x04 SOUND_STOP Request to stop playback

The following value is the only value you can write to Flags:

Value Enum Description

0x00 SOUND_FLAGS_IDLE No flags set

© National Instruments Corporation 2-63 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

Bluetooth Communication Methods

Use the Bluetooth communication methods to send packets of information
to other devices connected to the NXT brick through Bluetooth. You also
use these methods to access the messaging queue system of the NXT
firmware.

The NXT firmware uses a master/slave serial port system for Bluetooth
communication. You must designate one Bluetooth device as the master
device before you run a program using Bluetooth. If the master device is the
NXT brick, you can configure up to three slave devices using serial ports 1,
2, and 3 on the NXT brick. If the slave device is an NXT brick, port 0 on
the NXT brick is reserved for the master device.

Programs running on the master NXT brick can send packets of data to any
connected slave devices using the NXTCommBTWrite method. However,
programs on slave devices cannot send packets to master devices. The
firmware of slave NXT bricks automatically handles responses sent by
programs on master devices.

Refer to the LEGO MINDSTORMS Web site at mindstorms.lego.com

for the communications protocol documentation for Bluetooth.

This section also includes descriptions of the system call methods for
accessing the mailboxes, or message queues, on the NXT brick. By using
the direct command protocol, a master device can send messages to slave
NXT bricks in the form of text strings addressed to a particular mailbox.
Each mailbox on the slave NXT brick is a circular message queue holding
up to five messages. Each message can be up to 58 bytes long.

To send messages from a master NXT brick to a slave device, use

NXTCommBTWrite on the master device to send a MessageWrite protocol
packet to the slave. Then, use NXTMessageRead on the slave device to read
the message. The slave NXT brick must be running a program when an
incoming message packet is received. If no program is running, the slave
NXT brick ignores the message, and the message is lost.

To exchange numeric data using the message system, use the

OP_FLATTEN and OP_UNFLATTEN instructions to convert data
to and from text strings.

LabVIEW LEGO MINDSTORMS NXT Module 2-64 ni.com

 Chapter 2 Extensions to LabVIEW

NXTCommBTCheckStatus
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Refer to the following status
codes.
Connection U8 input Connection (port), [0, 3]

This system call method checks the status of the Bluetooth communication on the
specified port.

If the return value is zero, the port is idle and the last operation, (if any, did not cause any
errors.

This method can return the following non-zero status codes:

Status Code Enum Description
32 0x20 STAT_COMM_PENDING Port is busy performing a
transaction.
–35 0xDD ERR_COMM_BUS_ERR Last transaction failed
–33 0xDF ERR_COMM_CHAN_INVALID Specified port is out of
range [0,3]
–32 0xE0 ERR_COMM_CHAN_NOT_READY Specified port is not properly
configured

If you see ERR_COMM_CHAN_NOT_READY, make sure a Bluetooth connection is

configured on the specified port.

If you see STAT_COMM_PENDING, an operation is in progress and do not interrupt it.

Avoid calls to NXTCommBTWrite until NXTCommBTCheckStatus returns zero or a
negative error code.

© National Instruments Corporation 2-65 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTCommBTWrite
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Refer to the following status codes.
Connection U8 input Connection (port), [0, 3]
Buffer U8 array input Up to 256 bytes for writing to specified
port

This system call method copies data from the buffer input to an internal Bluetooth buffer and
instructs the NXT firmware to send the data to the device configured on the specified port.

If the return value is zero, the method successfully started a communication transaction.
Use NXTCommBTCheckStatus to monitor the status of the transaction.

This method can return the following non-zero status codes:

Status Code Enum Description
–33 0xDF ERR_COMM_CHAN_INVALID Specified port is out of range
–32 0xE0 ERR_COMM_CHAN_NOT_READY Specified port is busy or not
properly configured
–19 0xED ERR_INVALID_SIZE Buffer size exceeded
maximum size

If you are sending data to another NXT brick, the buffer must contain a complete packet
conforming to the NXT communication protocol.

Refer to the LEGO MINDSTORMS Web site at mindstorms.lego.com for the

communications protocol documentation for Bluetooth.

LabVIEW LEGO MINDSTORMS NXT Module 2-66 ni.com

 Chapter 2 Extensions to LabVIEW

NXTBTPower
Return value:
Parameter Data Code I/O Direction Description
Power State Boolean input Signifies on or off

This dynamic system call method turns the Bluetooth device power on or off.

© National Instruments Corporation 2-67 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTBTConnection
Return value:
Parameter Data Code I/O Direction Description
Action U8 input [0–Initiate connection, 1–Close
connection]
Partner Name string input Name of device
Connection U8 input Connection (port), [0, 3]

This dynamic system call method initiates or closes a connection to another device.

LabVIEW LEGO MINDSTORMS NXT Module 2-68 ni.com

 Chapter 2 Extensions to LabVIEW

NXTMessageRead
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Refer to the following status codes.
QueueID U8 input Mailbox queue, [0, 9]
Remove (T) Boolean input If TRUE, remove message from
specified queue after reading data
Message string output Message data

This system call method reads the oldest message available in the specified mailbox queue
and optionally removes that message from the queue.

If the return value is zero, the specified message queue was not empty and the Message output
contains the oldest message from the queue.

This method can return the following non-zero status codes:

Status Code Enum Description
64 0x40 STAT_MSG_EMPTY_MAILBOX Specified mailbox queue is
empty
–18 0xEE ERR_INVALID_QUEUE Invalid mailbox queue specified

If you are calling NXTMessageRead on a master NXT brick with slave devices connected,
this method also periodically checks for outgoing messages on the slave devices by
automatically exchanging Bluetooth protocol packets with slaves.

© National Instruments Corporation 2-69 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTMessageWrite
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Refer to the following status codes.
QueueID U8 input Mailbox queue, [0, 19]
Message string input Message data

This system call method writes a new message to the specified mailbox queue. If there are
already five messages in the specified queue, the oldest message is deleted.

If the return value is zero, the method succeeded in writing the message to the specified
mailbox queue.

This method can return the following non-zero status codes:

Status Code Enum Description
–18 0xEE ERR_INVALID_QUEUE Invalid mailbox queue specified
–19 0xED ERR_INVALID_SIZE Message too large

If you are calling NXTMessageWrite on a slave NXT brick, use mailbox queues 10 through
19 as outboxes. When the master NXT brick reads messages, the device checks these upper
10 mailboxes for outgoing message on the slave device.

LabVIEW LEGO MINDSTORMS NXT Module 2-70 ni.com

 Chapter 2 Extensions to LabVIEW

Low-Level System Methods

Use the low-level system methods to access miscellaneous low-level
features of the NXT firmware system.

NXTGetStartTick
Return Value:
Parameter Data Code I/O Direction
Program Start Tick U32 output

This system call method returns the value of the system millisecond timer corresponding to
the start of execution of the current program. This system call method is useful for measuring
the time difference relative to the start of program execution.

© National Instruments Corporation 2-71 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTKeepAlive
Return Value:
Parameter Data Code I/O Direction
Sleep Time Limit U32 output

This system call method resets the internal sleep timer in the NXT firmware and returns the
current time limit in milliseconds until the next automatic sleep. Use this method to keep the
NXT brick from automatically turning off. Use the UI menu on the NXT brick to configure
the sleep time limit.

LabVIEW LEGO MINDSTORMS NXT Module 2-72 ni.com

 Chapter 2 Extensions to LabVIEW

NXTRandomNumber
Return Value:
Parameter Data Code I/O Direction
Random Number I16 output

This system call method returns a signed 16-bit random number. Internally, the NXT
firmware selects new random seeds after every twenty calls to this system call method.

© National Instruments Corporation 2-73 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTIOMapRead
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Unused
ModuleName string input Name of the firmware module
Offset U16 input Offset from beginning of the
firmware module I/O map
Count U16 input Number of bytes to read
Buffer U8 array output I/O map data

This system call method reads internal firmware module state information. This method is
reserved for internal use only.

LabVIEW LEGO MINDSTORMS NXT Module 2-74 ni.com

 Chapter 2 Extensions to LabVIEW

NXTIOMapWrite
Parameters:
Parameter Data Code I/O Direction Description
Status Code I8 output Unused
ModuleName string input Name of the firmware module
Offset U16 input Offset from beginning of the
firmware module I/O map
Buffer U8 array input I/O map data

This system call method writes internal firmware module state information. This method is
reserved for internal use only.

© National Instruments Corporation 2-75 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

NXTSetSleepTimeout
Return Value:
Parameter Data Code I/O Direction Description
SleepTimeout U32 input Sleep timeout value in milliseconds

This dynamic system call method used by NXT datalogging sets the brick sleep timeout
during datalogging programs. This prevents the brick from going to sleep during
datalogging.

LabVIEW LEGO MINDSTORMS NXT Module 2-76 ni.com

 Chapter 2 Extensions to LabVIEW

Using Dynamic System Calls

Dynamic system calls are custom functions that you create in the NXT
firmware.

Note When you create a dynamic system call, ensure the ID of the system call is unique.

You can create system-level methods that access dynamic system calls
from an NXT VI. You then can use the NXTDynamicSyscall refnum to
expose these methods.

You must update the NXT firmware to support the dynamic system call and
build a new firmware image before you can access the system call from an
NXT VI.

Creating Access to a Dynamic System Call

Complete the following steps to create access to a dynamic system call.
1. Create a .rc file that defines the system-level method with which you
want to access the dynamic system call.
2. Save the .rc file in the labview\resource\objmgr directory. The
name of the .rc file must begin with NXT.
3. Create a VI that outputs the data type and default return value of the
dynamic system call as a LabVIEW variant data type. The module
compiler uses this VI to determine the data to send to the dynamic
system call in the firmware.
4. Select the 4 × 2 × 2 × 4 connector pane pattern for the VI. Refer to the
LabVIEW Help, available by selecting Help»Search the LabVIEW
Help, for information about building connector panes.
5. Assign the top-right terminal of the connector pane to the variant
output, as shown at left.
6. Save the VI in the labview\vi.lib\addons\NXTModule\
DynamicSystemCalls directory. The name of the VI must be the
same as the name of the system-level method you created.

© National Instruments Corporation 2-77 LabVIEW LEGO MINDSTORMS NXT Module

Chapter 2 Extensions to LabVIEW

Using the NXTDynamicSyscall Refnum

Complete the following steps to use the NXTDynamicSyscall refnum to
access a dynamic system call you created.
1. Create a new NXT VI.
2. Place the NXTDynamicSyscall refnum on the front panel.
3. Press the <Ctrl-E> keys or select Window»Show Block Diagram to
display the block diagram.
4. Place an Invoke Node on the block diagram.
5. Wire the NXTDynamicSyscall refnum to the reference input of the
Invoke Node.
6. Click the Method element of the Invoke Node and select the
system-level method you created from the shortcut menu.

LabVIEW LEGO MINDSTORMS NXT Module 2-78 ni.com

Technical Support and
A
Professional Services
Visit the following sections of the award-winning National Instruments
Web site at ni.com for technical support and professional services:
• Support—Technical support at ni.com/support includes the
following resources:
– Self-Help Technical Resources—For answers and solutions,
visit ni.com/support for software drivers and updates,
a searchable KnowledgeBase, product manuals, step-by-step
troubleshooting wizards, thousands of example programs,
tutorials, application notes, instrument drivers, and so on.
Registered users also receive access to the NI Discussion Forums
at ni.com/forums. NI Applications Engineers make sure every
question submitted online receives an answer.
– Standard Service Program Membership—This program
entitles members to direct access to NI Applications Engineers
via phone and email for one-to-one technical support as well as
exclusive access to on demand training modules via the Services
Resource Center. NI offers complementary membership for a full
year after purchase, after which you may renew to continue your
benefits.
For information about other technical support options in your
area, visit ni.com/services, or contact your local office at
ni.com/contact.
• Training and Certification—Visit ni.com/training for
self-paced training, eLearning virtual classrooms, interactive CDs,
and Certification program information. You also can register for
instructor-led, hands-on courses at locations around the world.
• System Integration—If you have time constraints, limited in-house
technical resources, or other project challenges, National Instruments
Alliance Partner members can help. To learn more, call your local
NI office or visit ni.com/alliance.

© National Instruments Corporation A-1 LabVIEW LEGO MINDSTORMS NXT Module

Appendix A Technical Support and Professional Services

If you searched ni.com and could not find the answers you need, contact
your local office or NI corporate headquarters. Phone numbers for our
worldwide offices are listed at the front of this manual. You also can visit
the Worldwide Offices section of ni.com/niglobal to access the branch
office Web sites, which provide up-to-date contact information, support
phone numbers, email addresses, and current events.

LabVIEW NXT Modules Programming Guide A-2 ni.com