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libnxter is a collection of robot utilities for lego mindstorms nxt robotics kit, written in NXC language, and currently implements: two wheel drive vehicle, odometer, motor control, sonar, integer matrix algebra, vectors, PID control and kalman filter.

libnxter Web Site


  • Integer vector and matrix algebra
  • Odometry
  • PID control
  • Motor controls
  • Kalman filter

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Intended Audience

Advanced End Users, Education, Science/Research


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