Kirr is a Java-library to control the Lego NXT-Mindstorm-Brick via bluetooth with the standard Lego Firmware. The library is justified for priority orientated control and sensor monitoring. Using Kirr is very simple.


  • Supports standard Sensors (touch-, light-, sound-, ultrasonic-sensor)
  • - some functions of the ultrasonic-sensor are not added yet
  • Sensors can add listeners
  • Supports motors; inclusive turn-ratio, sync-mode, ..
  • The priority of sending and receiving of Devices is settable
  • Many systemfunctions are added

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