VU-LEGO Real Time Target

A user-friendly Blockset for embedding real time Simulink designs on the LEGO Mindstorms NXT brick.
Updated 23 Apr 2012

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The Villanova University LEGO Real Time Target (VU-LRT) enables rapid implementation of Simulink-based designs on the LEGO Mindstorms NXT platform. It is similar in aim to the Embedded Coder Robot (ECRobot) package by Takashi Chikamasa, but is more consistent with the Real Time Workshop development pathway, and is less constrained by ECRobot's function call / data store architecture. An automated installer is shipped with VU-LRT - see the README.pdf in the download. Examples include motor speed control, a line-following robot, and a re-implementation of the NXTway-GS self-balancing two-wheeled robot.

VU-LRT was developed as an NSF and MathWorks funded project aimed at exploiting Simulink code generation tools and low-cost hardware platforms, (such as the LEGO MindStorms NXT), for educational purposes. In R2012a, the MathWorks added code generation capabilities to core Simulink without the need for additional toolboxes thereby providing a more cost-effective solution for bringing rapid prototyping into the classroom. The MathWorks also provided a free LEGO MindStorms NXT Target support package which delivers similar functionality to VU-LRT, but which is now professionally supported by the MathWorks. As a result, VU-LRT will no longer be actively maintained after the R2011b release and the authors will be transitioning their own courses to the new R2012a Simulink and MathWorks LEGO MindStorms NXT Target support package. The authors wish to thank the many enthusiastic supporters of VU-LRT who have developed so many creative projects with VU-LRT. We hope and expect that this creativity will continue to expand and flourish using the new MathWorks tools that have become available.

Cite As

James Peyton Jones (2024). VU-LEGO Real Time Target (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2010a
Compatible with any release
Platform Compatibility
Windows macOS Linux

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Version Published Release Notes

The Project Description was updated to point new users to the the free MathWorks LEGO MindStorms NXT Target support package.

Version 1.02 includes additional blocks, improved support and documentation for USB and Bluetooth communications, improved installation, and additional examples.

Minor bug fixes; Installer enhancements; Additional ADC and PWM blocks; NXTway example.