In the Realtime- and Embedded-Systems-Group we use brickOS most for our Lego Mindstorms RCXs. If you encounter problems with brickOS and/or our patches for LNP or the ultra-sonic positioning system, please refer to the brickOS ?-HOWTO.

Facts about the LEGO motors are here

NXT

For the Lego NXT roboters the C compiler  nxc and the tool  t2n to upload programs are installed in /home/lego/bin.

To compile standart C program, we us  nxtOSEK.