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Lego Robotics

AForge.NET framework provides set of classes allowing manipulation of Lego robotics kits, such as RCX and NXT kits. With the framework's API it is possible to control robot's outputs (motors) as well as read sensors values, which allows to start programming robotics applications very quickly.

Lego Mindstorm RCX

The RCXBrick class provides an easy to use API to control Lego RCX brick by manipulating its motors and reading its sensor's values. Also it provides some additional functionality like playing sounds, getting information about robot's batteries, etc.

// create an instance of RCX brick
RCXBrick rcx = new RCXBrick( );
// connect to the device
if ( rcx.Connect( RCXBrick.IRTowerType.USB ) )
{
    // set forward direction of motor A
    rcx.SetMotorDirection( RCXBrick.Motor.A, true );
    // set power of motor
    rcx.SetMotorPower( RCXBrick.Motor.A, 1 );
    // turm motor on
    rcx.SetMotorOn( RCXBrick.Motor.A, true );
    // ...
    // turn off motors A, B and C
    rcx.SetMotorOn( RCXBrick.Motor.ABC, false );

    // get first sensor's value
    short value;

    if ( rcx.GetSensorValue( RCXBrick.Sensor.First,
            out value ) )
    {
        // ...
    }
    // ...
}

Lego Mindstorm NXT

Similarly to RCX, the framework provides classes to control Lego NXT. Although the robotics kit represents the new generation of Lego kits, the API is made simple as for RCX to make it easy to program. However the API is a bit different, since this kit's features are a bit different as well. Using the NXTBrick class it is really easy to start controlling NXT robot over Bluetooth through configured virtual serial port:

// create an instance of NXT brick
NXTBrick nxt = new NXTBrick( );
// connect to the device
if ( nxt.Connect( "COM8" ) )
{
    // run motor A
    NXTBrick.MotorState motorState = new NXTBrick.MotorState( );

    motorState.Power      = 70;
    motorState.TurnRatio  = 50;
    motorState.Mode       = NXTBrick.MotorMode.On;
    motorState.Regulation = NXTBrick.MotorRegulationMode.Idle;
    motorState.RunState   = NXTBrick.MotorRunState.Running;
    motorState.TachoLimit = 1000;

    nxt.SetMotorState( NXTBrick.Motor.A, motorState );

    // get input value from the first sensor
    NXTBrick.SensorValues sensorValues;

    if ( nxt.GetSensorValue( NXTBrick.Sensor.First,
            out sensorValues ) )
    {
        // ...
    }
    // ...
}