RWTH - Mindstorms NXT Toolbox

Toolbox for controlling LEGO® MINDSTORMS® NXT robots via a Bluetooth or USB connection.
Updated 19 Oct 2011

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The RWTH - Mindstorms NXT Toolbox provides several MATLAB functions for controlling LEGO® MINDSTORMS® NXT robots, including NXT system features, sensors, and motors via a Bluetooth or USB connection. Also some helper functions for an effective programming are implemented.

The development of the RWTH - Mindstorms NXT Toolbox was motivated by a RWTH Aachen University student project - MATLAB meets LEGO Mindstorms - for electrical engineering students and therefore designed mainly for education purposes.
In winter 2008 over 380 students and 80 supervisors participated in this project and developed and programmed 200 robots based on the RWTH - Mindstorms NXT Toolbox for MATLAB.

Because of license issues the sources of the RWTH - Mindstorms NXT Toolbox (GPL) are hosted at project page

Cite As

Alexander Behrens (2024). RWTH - Mindstorms NXT Toolbox (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2008b
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes

Updated examples for new toolbox release v4.06 with full 64Bit Win support (USB and Bluetooth)

update toolbox examples

New Toolbox Version 2.03 New Features: Motor class (MATLAB 7.6) for better motor control (using also NXC); Improved Multi-NXT Support; Better Performance; Color, Gyroscopic, RFID Sensors Support, BugFixes

add required files for toolbox optimization