Tree [r78] /

File Date Author Commit
AlphaRexPlus.nxc 2009-04-15 kh_naba [r54] Added documentation and updated existing docume...
Angle.nxc 2009-04-15 kh_naba [r53] Angle.nxc: Fixed documentation.
CaliberateMotors.nxc 2009-04-15 kh_naba [r54] Added documentation and updated existing docume...
Circle.nxc 2009-05-02 kh_naba [r71] Fixed CircleIntersectCircle()
Debug.nxc 2008-07-30 kh_naba [r5] Added doxygen file for generating documentation...
Doxyfile 2008-08-08 kh_naba [r9] Renamed project to libnexter because of an alre...
Example.nxc 2009-06-06 kh_naba [r75] Added example vehicle.
FiltersTest.nxc 2009-04-15 kh_naba [r54] Added documentation and updated existing docume...
HighPassFilter.nxc 2008-08-03 kh_naba [r6] Updated documentation
KalmanFilter.nxc 2009-04-13 kh_naba [r49] New test points.
LowPassFilter.nxc 2009-04-15 kh_naba [r54] Added documentation and updated existing docume...
Map.nxc 2009-05-02 kh_naba [r70] Fixed map functions and added more tests
Matrix.nxc 2008-08-31 kh_naba [r20] Added debug and test conditionals
Motor.nxc 2009-04-25 kh_naba [r63] Introduced MotorSetTurnRatioPower() to set both...
Odometer2.nxc 2009-04-25 kh_naba [r62] Comment fix
PID.nxc 2009-04-25 kh_naba [r57] Added Integral limit to prevent integral windup
README 2011-06-15 kh_naba [r78] README: Updated
RandomNorm.nxc 2008-09-14 kh_naba [r41] Fixed build when test is enabled.
RobotPrima.nxc 2009-04-27 kh_naba [r66] Fixed a few test parameters for vehicle
Sampler.nxc 2009-04-15 kh_naba [r54] Added documentation and updated existing docume...
Screen.nxc 2009-05-02 kh_naba [r69] Added screen text and number printing (with aut...
Sonar.nxc 2009-05-02 kh_naba [r72] Uses Angle functions to handle angle arithmetic...
Vector.nxc 2009-04-25 kh_naba [r61] Fixes VectorGetAngleVec() to work correctly. Re...
Vehicle.nxc 2009-05-02 kh_naba [r73] Stops and Starts vehicle directly in VehiclePau...

Read Me

/** \mainpage

libnxter is a collection of robot utilities for lego mindstorms nxt robotics kit,
written in NXC, and currently implements: vectors, integer matrix algebra
(including cofactor and inverse computation), low/high pass filter, PID
control, kalman filter, motor control, odometery, sonar etc. It can be directly
used on the standard nxt firmware.


Source repository:


You need to use the library

You also need modified mindstorms nxt firmware flashed. Download it from and flash it normally.

libnxter development is blogged in my blog at:


    This program is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA


    Naba Kumar <naba(@)>


    Daniele Benedettelli <danielebenedettelli(@)>