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Several open-source, third-party replacements for the offical Lego firmware have been developed. These support many well known programming languages, such as Java, C/C++, Python, Lua, etc. In the following we will use KIELER SCCharts to program Mindstorms running the Lego Java Operating System (leJOS). Therefore we will first install leJOS and leJOS NXJ and flash its firmware. Afterwards we will create a simple SCCharts project in KIELER that we will compile and deploy to the NXT brick.

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Download and install leJOS

The Eclipse plugin for leJOS

Todo

Flash the leJOS firmware

Todo

Known issues

Flash firmware issue on Linux: sudo rmmod cdc_acm

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Download and extract the newest archives for your Operating System from Sourceforce.

The further installation is explained in detail at http://www.lejos.org/nxt/nxj/tutorial/Preliminaries/GettingStarted.htm.

Known issues

On Linux there is an issue when uploading the firmware because of a kernel module (http://ubuntuforums.org/showthread.php?t=1123633). If you can't upload the firmware with your Linux OS, add blacklist cdc_acm at the very end of the file /etc/modprobe.d/blacklist.conf. Afterwards execute sudo rmmod cdc_acm. This will remove the cdc_acm module from the kernel and prevent its restart. Now try to flash the firmware again.

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Test the Mindstorm

A simple Hello World application for the Mindstorms is developed as part of the leJOS tutorial http://www.lejos.org/nxt/nxj/tutorial/Preliminaries/FirstProgram.htm

If this works with your device, you are able to start using KIELER to develop applications for the NXT brick.

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The Eclipse plugin for leJOS

Todo

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Configure KIELER

Environment setup. Sample project creation. Project launch.

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