LEGO IGT Compilation
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NXT_USB is a C++ library used to control a LEGO Mindstorms NXT robot over a USB connection.
This code was modified from:
- NXT++: http://nxtpp.sourceforge.net
- Device::USB: http://search.cpan.org/~gwadej/Device-USB-0.21
Contents
Linux Installation
Reqirements
- This code can be used only on a Linux distribution with root access. Remember to run any software utilizing this code as root.
- libusb: http://libusb.sourceforge.net/
Instructions
Download libusb from:
http://libusb.sourceforge.net (version 0.1.12)
Then run:
tar zxvf libusb-0.1.12.tar.gz cd libusb-0.1.12/ ./configure CFLAGS=-funsigned-char --prefix=<your libusb directory> --exec-prefix=<your libsub directory> make make install
Then add the libusb directory to your $LD_LIBRARY_PATH variable. Note that the INSTALL.libusb file has information about the installation process.
Another alternative is to use CMake:
SET(CMAKE_CXX_FLAGS "-funsigned-char" )
INCLUDE_DIRECTORIES( ... <your libusb directory (can be a relative path)> )
ADD_LIBRARY(<your library name> ... NXT_USB.cxx NXT_USB_linux.cxx )
FIND_LIBRARY(LIBUSB_LIB NAMES libusb-lib PATHS <your libusb directory (can be a relative path)>/lib )
TARGET_LINK_LIBRARIES(Lego ... <your libusb directory (should be an absolute path)>/lib/libusb.so )
The simplest way to use this library is to keep the four NXT_USB files (NXT_USB.h, NXT_USB.cxx, NXT_USB_linux.h, and NXT_USB_linux.cxx) in the same directory as your program. Simply #include "NXT_USB.h" and compile as usual.
Windows Installation
- [1]
- libusb-win32-filter-bin-0.1.12.1.exe
- libusb-win32-device-bin-0.1.12.1.tar.gz
Contact information
I would be more than happy to reply to any questions and comments emailed to dpace [at] bwh.harvard.edu.