This is the nxt Reference Manual, version 0.0.2, generated automatically by Declt version 4.0 beta 2 "William Riker" on Sun Jun 15 04:25:17 2025 GMT+0.
The main system appears first, followed by any subsystem dependency.
nxtImplements the Lego Mindstorm NXT interface over Bluetooth, USB or a TCP proxy.
David Lichteblau, Willem Rein Oudshoorn <woudshoo@xs4all.nl>
BSD, see LICENSE file.
0.0.2
cffi (system).
static-vectors (system).
babel (system).
package.lisp (file).
nxt-classes.lisp (file).
nxt-bluetooth.lisp (file).
nxt-usb.lisp (file).
nxt-command-infrastructure.lisp (file).
nxt-commands.lisp (file).
nxt-utilities.lisp (file).
nxt-motorcontrol.lisp (file).
nxt-sensors.lisp (file).
Files are sorted by type and then listed depth-first from the systems components trees.
nxt/nxt.asdnxt/package.lispnxt/nxt-classes.lispnxt/nxt-bluetooth.lispnxt/nxt-usb.lispnxt/nxt-command-infrastructure.lispnxt/nxt-commands.lispnxt/nxt-utilities.lispnxt/nxt-motorcontrol.lispnxt/nxt-sensors.lispnxt/nxt-classes.lisppackage.lisp (file).
nxt (system).
*default-bluetooth-device* (special variable).
*nxt* (special variable).
close-connection (function).
find-an-nxt (function).
initialize-instance (method).
nxt (class).
open-connection (function).
command-timestamp (reader method).
(setf command-timestamp) (writer method).
motor-state (class).
motor-states (reader method).
(setf motor-states) (writer method).
nxt/nxt-bluetooth.lispnxt-classes.lisp (file).
nxt (system).
bluetooth-nxt (class).
close-nxt (method).
open-bluetooth-nxt (function).
print-object (method).
%compute-bluetooth-timeout (function).
*bluetooth-delay-between-directions* (special variable).
*bluetooth-delay-between-writes* (special variable).
compute-bluetooth-timeout (generic function).
connection (reader method).
(setf connection) (writer method).
note-data-read (function).
note-data-written (function).
read-from-nxt (method).
read-little-endian-short (function).
read-timestamp (reader method).
(setf read-timestamp) (writer method).
wait-for-bluetooth (function).
write-timestamp (reader method).
(setf write-timestamp) (writer method).
write-to-nxt (method).
write-to-nxt-us (function).
nxt/nxt-usb.lispnxt-bluetooth.lisp (file).
nxt (system).
close-nxt (method).
find-usb-nxt (function).
usb-nxt (class).
*libusb-context* (special variable).
*libusb-loaded-p* (special variable).
*usb-timeout* (special variable).
+usb-configuration+ (constant).
+usb-interface+ (constant).
+usb-maximum-frame-size+ (constant).
+usb-recv-endpoint+ (constant).
+usb-send-endpoint+ (constant).
buf (reader method).
(setf buf) (writer method).
defcfun (macro).
ensure-libusb-initialized (function).
ensure-libusb-loaded (function).
exit-libusb (function).
handle (reader method).
(setf handle) (writer method).
libusb_bulk_transfer (function).
libusb_claim_interface (function).
libusb_close (function).
libusb_exit (function).
libusb_init (function).
libusb_open_device_with_vid_pid (function).
libusb_release_interface (function).
libusb_set_configuration (function).
read-from-nxt (method).
write-to-nxt (method).
nxt/nxt-command-infrastructure.lispnxt-usb.lisp (file).
nxt (system).
find-frame-pair (function).
(setf find-frame-pair) (function).
initialize-instance (method).
list-all-commands (function).
perform-command (function).
print-object (method).
show-command (function).
show-commands (function).
%n-static-bytes (reader method).
(setf %n-static-bytes) (writer method).
*code-to-info-table* (special variable).
*status-values* (special variable).
+& (function).
argnames-from-args (function).
check-offsets (function).
clear-all (function).
create-nxt-command-form (function).
data-parameter (class).
data-parameter/fixed-length (class).
data-parameter/implicit-length (class).
data-parameter/specified-length (class).
decode-parameter (generic function).
def-nxt-command (macro).
def-reply-package (macro).
encode-frame (function).
encode-parameter (generic function).
ensure-frame-pair (function).
fi-explicit-parameters (reader method).
(setf fi-explicit-parameters) (writer method).
fi-nbytes (function).
fi-parameters (reader method).
(setf fi-parameters) (writer method).
fixed-length-parameter (type).
fp-command-code (reader method).
(setf fp-command-code) (writer method).
fp-name (reader method).
(setf fp-name) (writer method).
fp-reply (reader method).
(setf fp-reply) (writer method).
fp-request (reader method).
(setf fp-request) (writer method).
fp-type-code (reader method).
(setf fp-type-code) (writer method).
frame-info (class).
frame-pair (class).
link-size-parameters! (function).
lookup-command-code (function).
n-static-bytes (function).
nbytes-mixin (class).
numeric-parameter (class).
parameter-info (class).
parse-frame-info (function).
parse-parameter-spec (function).
parse-parameter-specs (function).
pi-adjust-size (reader method).
(setf pi-adjust-size) (writer method).
pi-end (function).
pi-last-byte (function).
pi-name (reader method).
(setf pi-name) (writer method).
pi-nbytes (generic function).
(setf pi-nbytes) (writer method).
pi-offset (reader method).
(setf pi-offset) (writer method).
pi-size-parameter (reader method).
(setf pi-size-parameter) (writer method).
read-reply (function).
read-reply/checked (function).
read-ubyte-from-reply (function).
read-ulong-from-reply (function).
read-uword-from-reply (function).
sbyte-parameter (class).
show-frame-info (function).
sign-extend (function).
size-parameter-p (reader method).
size-parameter-p (method).
(setf size-parameter-p) (writer method).
slong-parameter (class).
status-parameter (class).
string-parameter (class).
sword-parameter (class).
ubyte-parameter (class).
ulong-parameter (class).
uword-parameter (class).
variable-length-data-parameter (class).
variable-length-frame-p (function).
write-request (function).
write-ubyte-to-command (function).
write-ulong-to-command (function).
write-uword-to-command (function).
nxt/nxt-commands.lispnxt-command-infrastructure.lisp (file).
nxt (system).
nxt-close (function).
nxt-close-module-handle (function).
nxt-delete (function).
nxt-find-first (function).
nxt-find-next (function).
nxt-get-battery-level (function).
nxt-get-current-program-name (function).
nxt-get-device-info (function).
nxt-get-firmware-version (function).
nxt-get-input-values (function).
nxt-get-output-state (function).
nxt-keep-alive (function).
nxt-ls-get-status (function).
nxt-ls-read (function).
nxt-ls-write (function).
nxt-message-read (function).
nxt-message-write (function).
nxt-open-read (function).
nxt-open-write (function).
nxt-play-sound-file (function).
nxt-play-tone (function).
nxt-read (function).
nxt-request-first-module (function).
nxt-request-next-module (function).
nxt-reset-input-scaled-value (function).
nxt-reset-motor-position (function).
nxt-set-input-mode (function).
nxt-set-output-state (function).
nxt-start-program (function).
nxt-stop-program (function).
nxt-stop-sound-playback (function).
nxt-write (function).
ls-read (function).
nxt/nxt-utilities.lispnxt-commands.lisp (file).
nxt (system).
copy-file-from-nxt (function).
copy-file-to-nxt (function).
find-all-files (function).
find-all-modules (function).
get-file (function).
put-file (function).
status-ok-p (function).
value-of (function).
nxt/nxt-motorcontrol.lispnxt-utilities.lisp (file).
nxt (system).
motor-control (function).
motor-ready-p (function).
query-motor (function).
restart-motor-control (function).
running-a-program-p (function).
sleep-until-motor-ready (function).
start-program (function).
stop-current-program (function).
stop-motor (function).
*motor-control-filename* (special variable).
*start/stop-program-timeout* (special variable).
+nxc-delay+ (constant).
call-with-motor-delays (function).
check-motor-control-ports (function).
compute-motor-timeout (function).
encode-motor-control-ports (function).
ensure-message-read (function).
note-motor-commanded (function).
send-string-message (function).
with-motor-delays (macro).
nxt/nxt-sensors.lispnxt-motorcontrol.lisp (file).
nxt (system).
acceleration-sensor-on (function).
angle-sensor-on (function).
compass-on (function).
enumerate-digital-sensors (function).
get-acceleration (function).
get-accumulated-angle (function).
get-angle-sensor-data (function).
get-brightness-or-color (function).
get-compass (function).
get-current-angle (function).
get-rpm (function).
get-switch (function).
get-ultrasonic (function).
light-off (function).
lightdetector-on (function).
probe-digital-sensor (function).
switch-on (function).
ultrasonic-on (function).
+angle+ (constant).
+anglestep-mode+ (constant).
+boolean-mode+ (constant).
+celsius-mode+ (constant).
+continuous+ (constant).
+custom+ (constant).
+default-i2c-address+ (constant).
+fahrenheit-mode+ (constant).
+light-active+ (constant).
+light-inactive+ (constant).
+lowspeed+ (constant).
+lowspeed-9v+ (constant).
+mode-mask+ (constant).
+no-sensor+ (constant).
+pct-full-scale-mode+ (constant).
+period-counter-mode+ (constant).
+raw-mode+ (constant).
+reflection+ (constant).
+single-shot+ (constant).
+slope-mask+ (constant).
+sound-db+ (constant).
+sound-dba+ (constant).
+state-command+ (constant).
+switch+ (constant).
+temperature+ (constant).
+transition-cnt-mode+ (constant).
compute-timeout (function).
get-calibrated-value (function).
get-normalized-value (function).
get-scaled-value (function).
get-valid-input-values (function).
read-i2c (function).
timeoutp (function).
ub8-vector (function).
Packages are listed by definition order.
nxtcommon-lisp.
*default-bluetooth-device* (special variable).
*nxt* (special variable).
acceleration-sensor-on (function).
angle-sensor-on (function).
bluetooth-nxt (class).
close-connection (function).
close-nxt (generic function).
compass-on (function).
enumerate-digital-sensors (function).
find-an-nxt (function).
find-frame-pair (function).
(setf find-frame-pair) (function).
find-usb-nxt (function).
get-acceleration (function).
get-accumulated-angle (function).
get-angle-sensor-data (function).
get-brightness-or-color (function).
get-compass (function).
get-current-angle (function).
get-rpm (function).
get-switch (function).
get-ultrasonic (function).
light-off (function).
lightdetector-on (function).
list-all-commands (function).
motor-control (function).
motor-ready-p (function).
nxt (class).
nxt-close (function).
nxt-close-module-handle (function).
nxt-delete (function).
nxt-find-first (function).
nxt-find-next (function).
nxt-get-battery-level (function).
nxt-get-current-program-name (function).
nxt-get-device-info (function).
nxt-get-firmware-version (function).
nxt-get-input-values (function).
nxt-get-output-state (function).
nxt-keep-alive (function).
nxt-ls-get-status (function).
nxt-ls-read (function).
nxt-ls-write (function).
nxt-message-read (function).
nxt-message-write (function).
nxt-open-read (function).
nxt-open-write (function).
nxt-play-sound-file (function).
nxt-play-tone (function).
nxt-read (function).
nxt-request-first-module (function).
nxt-request-next-module (function).
nxt-reset-input-scaled-value (function).
nxt-reset-motor-position (function).
nxt-set-input-mode (function).
nxt-set-output-state (function).
nxt-start-program (function).
nxt-stop-program (function).
nxt-stop-sound-playback (function).
nxt-write (function).
open-bluetooth-nxt (function).
open-connection (function).
perform-command (function).
probe-digital-sensor (function).
query-motor (function).
restart-motor-control (function).
running-a-program-p (function).
show-command (function).
show-commands (function).
sleep-until-motor-ready (function).
start-program (function).
stop-current-program (function).
stop-motor (function).
switch-on (function).
ultrasonic-on (function).
usb-nxt (class).
%compute-bluetooth-timeout (function).
%n-static-bytes (generic reader).
(setf %n-static-bytes) (generic writer).
*bluetooth-delay-between-directions* (special variable).
*bluetooth-delay-between-writes* (special variable).
*code-to-info-table* (special variable).
*libusb-context* (special variable).
*libusb-loaded-p* (special variable).
*motor-control-filename* (special variable).
*start/stop-program-timeout* (special variable).
*status-values* (special variable).
*usb-timeout* (special variable).
+& (function).
+angle+ (constant).
+anglestep-mode+ (constant).
+boolean-mode+ (constant).
+celsius-mode+ (constant).
+continuous+ (constant).
+custom+ (constant).
+default-i2c-address+ (constant).
+fahrenheit-mode+ (constant).
+light-active+ (constant).
+light-inactive+ (constant).
+lowspeed+ (constant).
+lowspeed-9v+ (constant).
+mode-mask+ (constant).
+no-sensor+ (constant).
+nxc-delay+ (constant).
+pct-full-scale-mode+ (constant).
+period-counter-mode+ (constant).
+raw-mode+ (constant).
+reflection+ (constant).
+single-shot+ (constant).
+slope-mask+ (constant).
+sound-db+ (constant).
+sound-dba+ (constant).
+state-command+ (constant).
+switch+ (constant).
+temperature+ (constant).
+transition-cnt-mode+ (constant).
+usb-configuration+ (constant).
+usb-interface+ (constant).
+usb-maximum-frame-size+ (constant).
+usb-recv-endpoint+ (constant).
+usb-send-endpoint+ (constant).
argnames-from-args (function).
buf (generic reader).
(setf buf) (generic writer).
call-with-motor-delays (function).
check-motor-control-ports (function).
check-offsets (function).
clear-all (function).
command-timestamp (generic reader).
(setf command-timestamp) (generic writer).
compute-bluetooth-timeout (generic function).
compute-motor-timeout (function).
compute-timeout (function).
connection (generic reader).
(setf connection) (generic writer).
copy-file-from-nxt (function).
copy-file-to-nxt (function).
create-nxt-command-form (function).
data-parameter (class).
data-parameter/fixed-length (class).
data-parameter/implicit-length (class).
data-parameter/specified-length (class).
decode-parameter (generic function).
def-nxt-command (macro).
def-reply-package (macro).
defcfun (macro).
encode-frame (function).
encode-motor-control-ports (function).
encode-parameter (generic function).
ensure-frame-pair (function).
ensure-libusb-initialized (function).
ensure-libusb-loaded (function).
ensure-message-read (function).
exit-libusb (function).
fi-explicit-parameters (generic reader).
(setf fi-explicit-parameters) (generic writer).
fi-nbytes (function).
fi-parameters (generic reader).
(setf fi-parameters) (generic writer).
find-all-files (function).
find-all-modules (function).
fixed-length-parameter (type).
fp-command-code (generic reader).
(setf fp-command-code) (generic writer).
fp-name (generic reader).
(setf fp-name) (generic writer).
fp-reply (generic reader).
(setf fp-reply) (generic writer).
fp-request (generic reader).
(setf fp-request) (generic writer).
fp-type-code (generic reader).
(setf fp-type-code) (generic writer).
frame-info (class).
frame-pair (class).
get-calibrated-value (function).
get-file (function).
get-normalized-value (function).
get-scaled-value (function).
get-valid-input-values (function).
handle (generic reader).
(setf handle) (generic writer).
libusb_bulk_transfer (function).
libusb_claim_interface (function).
libusb_close (function).
libusb_exit (function).
libusb_init (function).
libusb_open_device_with_vid_pid (function).
libusb_release_interface (function).
libusb_set_configuration (function).
link-size-parameters! (function).
lookup-command-code (function).
ls-read (function).
motor-state (class).
motor-states (generic reader).
(setf motor-states) (generic writer).
n-static-bytes (function).
nbytes-mixin (class).
note-data-read (function).
note-data-written (function).
note-motor-commanded (function).
numeric-parameter (class).
parameter-info (class).
parse-frame-info (function).
parse-parameter-spec (function).
parse-parameter-specs (function).
pi-adjust-size (generic reader).
(setf pi-adjust-size) (generic writer).
pi-end (function).
pi-last-byte (function).
pi-name (generic reader).
(setf pi-name) (generic writer).
pi-nbytes (generic function).
(setf pi-nbytes) (generic writer).
pi-offset (generic reader).
(setf pi-offset) (generic writer).
pi-size-parameter (generic reader).
(setf pi-size-parameter) (generic writer).
put-file (function).
read-from-nxt (generic function).
read-i2c (function).
read-little-endian-short (function).
read-reply (function).
read-reply/checked (function).
read-timestamp (generic reader).
(setf read-timestamp) (generic writer).
read-ubyte-from-reply (function).
read-ulong-from-reply (function).
read-uword-from-reply (function).
sbyte-parameter (class).
send-string-message (function).
show-frame-info (function).
sign-extend (function).
size-parameter-p (generic function).
(setf size-parameter-p) (generic writer).
slong-parameter (class).
status-ok-p (function).
status-parameter (class).
string-parameter (class).
sword-parameter (class).
timeoutp (function).
ub8-vector (function).
ubyte-parameter (class).
ulong-parameter (class).
uword-parameter (class).
value-of (function).
variable-length-data-parameter (class).
variable-length-frame-p (function).
wait-for-bluetooth (function).
with-motor-delays (macro).
write-request (function).
write-timestamp (generic reader).
(setf write-timestamp) (generic writer).
write-to-nxt (generic function).
write-to-nxt-us (function).
write-ubyte-to-command (function).
write-ulong-to-command (function).
write-uword-to-command (function).
Definitions are sorted by export status, category, package, and then by lexicographic order.
Holds the default NXT instance (which functions use by default, if no explicit NXT parameter is given. Replaces the old *connection* variable.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
nxt.
bluetooth-nxt)) ¶frame-info) &key) ¶bluetooth-nxt) stream) ¶parameter-info) stream) ¶Common superclass of BLUETOOTH-NXT and USB-NXT.
Required delay in seconds when switching between reading from and writing to the brick in either direction.
nxt.
Required delay in seconds between successive writes to the brick.
nxt.
Creates the command function ‘name’ which is a nxt command with the
two command identification bytes ‘type-code’ and ‘command-code’.
The ‘args’ contains key value pairs that should be taken by the function together
with a type specifier. Type specifiers are lists of the form (‘type’ ‘position’ rest).
The type is one of
ubyte - unsigned byte
uword - unsigned word (2 bytes)
ulong - unsigned long (4 bytes)
string - has additional parameter, ‘final-position’.
nxt.
Creates a ‘parse-nxt-reply’ specialized ‘(eql code)’ to parse a nxt reply package.
The method ‘(parse-nxt-reply ((code (eql code)) (data vector)) ...)’
...
nxt.
nxt.
Cached length of the frame, excluding variable-length DATA, but including fixed-length DATA (and, of course, also including the length parameter which DATA refers to, if any).
nxt.
The offset of the first byte following the parameter.
Returns :unknown if the end is not known (for a DATA-PARAMETER).
nxt.
The offset of the parameter’s last byte, i.e. the byte preceding PI-END. Returns :unknown if the end is not known (for a DATA-PARAMETER).
nxt.
Read a 16 bit int from the nxt, lsb first.
nxt.
Extract unsigned byte value from the reply vector ‘vector’ at location ‘location’.
nxt.
Write a 16 bit int to the nxt lsb first.
nxt.
Put the value ‘value’ in the command vector ‘vector’ at location ‘location’.
nxt.
nxt.
frame-info)) ¶automatically generated reader method
nxt.
frame-info)) ¶automatically generated writer method
nxt.
motor-state)) ¶automatically generated reader method
nxt.
motor-state)) ¶automatically generated writer method
nxt.
bluetooth-nxt)) ¶automatically generated reader method
nxt.
bluetooth-nxt)) ¶automatically generated writer method
nxt.
ubyte-parameter) vector) ¶sbyte-parameter) vector) ¶status-parameter) vector) ¶string-parameter) vector) ¶uword-parameter) vector) ¶sword-parameter) vector) ¶ulong-parameter) vector) ¶slong-parameter) vector) ¶data-parameter/fixed-length) vector) ¶data-parameter/implicit-length) vector) ¶data-parameter/specified-length) vector) ¶nxt.
ubyte-parameter) val vector) ¶sbyte-parameter) val vector) ¶status-parameter) val vector) ¶string-parameter) val vector) ¶uword-parameter) val vector) ¶sword-parameter) val vector) ¶ulong-parameter) val vector) ¶data-parameter/fixed-length) val vector) ¶data-parameter/implicit-length) val vector) ¶data-parameter/specified-length) val vector) ¶nxt.
frame-info)) ¶automatically generated reader method
nxt.
frame-info)) ¶automatically generated writer method
nxt.
frame-info)) ¶automatically generated reader method
nxt.
frame-info)) ¶automatically generated writer method
nxt.
frame-pair)) ¶automatically generated reader method
nxt.
frame-pair)) ¶automatically generated writer method
nxt.
frame-pair)) ¶automatically generated reader method
name.
nxt.
frame-pair)) ¶automatically generated writer method
name.
nxt.
frame-pair)) ¶automatically generated reader method
nxt.
frame-pair)) ¶automatically generated writer method
nxt.
frame-pair)) ¶automatically generated reader method
nxt.
frame-pair)) ¶automatically generated writer method
nxt.
frame-pair)) ¶automatically generated reader method
nxt.
frame-pair)) ¶automatically generated writer method
nxt.
data-parameter/specified-length)) ¶automatically generated reader method
nxt.
data-parameter/specified-length)) ¶automatically generated writer method
nxt.
parameter-info)) ¶automatically generated reader method
name.
nxt.
parameter-info)) ¶automatically generated writer method
name.
Returns the length in bytes occupied this parameter. The exception is if a ’data’ spec is present. The data is variable length and is not accounted for. However, if the size of the data is stored in the frame, the ubyte where the length of the data is stored IS taken into account.
nxt.
status-parameter)) ¶ubyte-parameter)) ¶uword-parameter)) ¶ulong-parameter)) ¶sbyte-parameter)) ¶sword-parameter)) ¶slong-parameter)) ¶data-parameter/implicit-length)) ¶data-parameter/specified-length)) ¶nbytes-mixin)) ¶automatically generated reader method
nxt.
nbytes-mixin)) ¶automatically generated writer method
nxt.
parameter-info)) ¶automatically generated reader method
nxt.
parameter-info)) ¶automatically generated writer method
nxt.
data-parameter/specified-length)) ¶automatically generated reader method
nxt.
data-parameter/specified-length)) ¶automatically generated writer method
nxt.
bluetooth-nxt)) ¶Read a reply from the nxt. It returns the content of the bluetooth or USB ’frame’, i.e. without length bytes.
nxt.
bluetooth-nxt)) ¶automatically generated reader method
nxt.
bluetooth-nxt)) ¶automatically generated writer method
nxt.
numeric-parameter)) ¶automatically generated reader method
parameter-info)) ¶nxt.
numeric-parameter)) ¶automatically generated writer method
nxt.
bluetooth-nxt)) ¶automatically generated reader method
nxt.
bluetooth-nxt)) ¶automatically generated writer method
nxt.
bluetooth-nxt) data-vector) ¶Writes the raw data vector prefixed by its length. This is to wrap the command in the bluetooth ’frame’ and send it over the wire, eh, air.
A data parameter which is specified as fixed-length in the protocol. This kind of parameter does not have a size field on the wire.
nxt.
A data parameter which is variable-length, but does not have a size field on the wire. This type of parameter can occur only at the end of a frame.
nxt.
A data parameter which is variable-length, but and stores its size
(plus the value of adjust-size) in a second parameter, the size-parameter,
which must precede the data.
nxt.
:name
:type-code
:command-code
:request
:reply
| Jump to: | %
(
+
A B C D E F G H I L M N O P Q R S T U V W |
|---|
| Jump to: | %
(
+
A B C D E F G H I L M N O P Q R S T U V W |
|---|
| Jump to: | *
+
A B C E H M N O P R S T W |
|---|
| Jump to: | *
+
A B C E H M N O P R S T W |
|---|
| Jump to: | B C D F M N P S T U V |
|---|
| Jump to: | B C D F M N P S T U V |
|---|