NXT

Python Code to control a Lego NXT robot using various devices and technologies.

Featured ways to control robot:

Directly using gamepad
Gamepad via UDP server
HTTP based remote control
Flask based webinterface (Accelerometer and VirtualJoystick.js)

Installation

Requirements

Install following debain packages:

sudo apt-get install libbluetooth-dev python3-virtualenv

Beginners Guide

Download repo

git clone https://github.com/gandie/NXT

open Terminal in Repo

chmod +x build_env.sh
./build_env.sh
. ./venv3/bin/activate

Then you can start the Script with:

Online version

nxt_start_server -w

Then open in your Webbrowser localhost:5000 and press Create Websocket

Gamepad Version

If you want to use a PS3 Controller you can use the Command:

nxt_direct -m bluetooth -g

Not recommended, only for advanced Users

Download bluetooth driver header files (to compile python bluetooth bindings)
Create virtualenv
Install last stable release of nxt python bindings into virtualenv
Keep the releasse for possible modifications
Install rest of the requirements into virtualenv via pip
Install this python module into virtualenv

Something like this in bash (not yet tested!):

sudo apt-get install libbluetooth-dev python-virtualenv
virtualenv -p python3 venv3
. ./venv3/bin/activate
wget https://github.com/bene017/nxt-python/archive/master.zip
unzip master.zip
cd nxt-python-master
python3 setup.py install
cd ..
pip3 install -r requirements.txt
python3 setup.py install
cd pf_nxt/website
chmod +x bash.sh
cd ../..

USB-Setup (udev-rule) and more: https://github.com/Eelviny/nxt-python/wiki/Installation

Modify motor.py of this driver (nxt-python-2.2.2) to achieve higher accuracy using bluetooth.

Test if everything works fine, from inside the repository:

nxt_direct -m bluetooth -g

Read the text from the console and follow instructions to continue.

gandie/NXT

NXT