LEGO Mindstorm NXT (hereafter NXT) is a LEGO block system that can be used to build robots, consisting of three motors, four types of sensors, and the intelligent block NXT for controlling them. NXT can be connected to a PC via USB or Bluetooth to program the intelligent block or control it directly. It is also possible to load your own program into the intelligent block and run it standalone.

Here, we will turn the intelligent block into an RT component on a PC so that motors can be driven and sensor data can be read from other components. By turning NXT into an RT component, it becomes easy to control NXT using existing RT-componentized input devices and to read sensor data.

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• Mindstorm NXT Setup
• Installing NXT Python
• Turning NXT Python into an RTC
• NXT Python Facade Class
• NXT RTC Implementation
• Generating the NXTRTC Template
• Sample Code Explanation
• NXT RTC Operation Check