LEGO IGT Compilation

About NXT_USB: This 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

Reqirements: 1. This code can be used only on a Linux distribution with root access. Remember to run any software utilizing this code as root. 2. 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.

Contact information: I would be more than happy to reply to any questions and comments emailed to dpace [at] bwh.harvard.edu.