User Functions:

nxt_connect(struct nxt_remote *nxt_user)
nxt_motor(int port, int speed, int brake)
nxt_motor_rotate(int port, int speed, int degrees)
nxt_setsensor(int port, int sensortype, int sensormode)
nxt_getsensor(int port)
nxt_printmess()
nxt_disconnect()
nxt_gettacho(int port)
nxt_motor_zero()

Internal functions:

NXT_send(unsigned char *message, int length)
NXT_receive(unsigned char *rcbuf, unsigned long length)
NXT_open(char *portname)
NXT_updateinputtypemode(unsigned char inputnr)
NXT_setultrasonic(unsigned char inputnr)
NXT_stopultrasonic(unsigned char inputnr)
NXT_getultrasonicvalue(unsigned char inputnr)
NXT_getultrasonicvaluefast(unsigned char inputnr)
NXT_initinput(unsigned char inputnr)
NXT_pollinput(unsigned char inputnr)

Variables:

Internal:
Type:	Name:	Description:
char	portname[6]	Holds COM port name used to connect.
unsigned char	mess[256]	Holds message sent to or recieved from NXT.
unsigned char	nxtname[15]	Holds name of the NXT.
unsigned char	btaddress[8]	Holds Buletooth adress.
int	i_ready	Not used?
int	NXT_stop	Not used?
int	NXT_error	Holds Error returned my NXT.
Motor:
int	NXT_motoron[3]	Holds Motor state (1 or 0).
double	NXT_motor_pos_raw[3]	Holds Motor tachometer position.
double	NXT_motor_pos_cum[3]	Holds Motor tachometer count since program start.
Sensor:
int	NXT_sensoron[4]	Holds Sensor state(1 or 0).
int	NXT_sensortype[4]	Holds new Sensor type.
int	i_sensortype[4]	Holds last set Sensor type.
int	NXT_sensormode[4]	Holds new Sensor mode.
int	i_sensormode[4]	Holds last set Sensor mode.
int	NXT_sensorvalraw[4]	Holds last Sensor reading.
int	NXT_sensorvalnorm[4]	Not implimented

Enumerations:

Motor:
Name:	Value:	Description:
Motor Port:
PORT_A	0
PORT_B	1
PORT_C	2
Motor Mode:
RUN_IDLE	0	Sets operation to run, idle.
RUN_BRAKE	1	Sets operation to run, brake.
OFF_IDLE	3	Sets operation to off, idle.
Sensor:
Sensor Ports:
PORT_1	0
PORT_2	1
PORT_3	2
PORT_4	3
Sensor Types
TOUCH	1	Sets to Touch sensor.
TEMPERATURE	2	Sets to Temerature Sensor.
LIGHT_ACTIVE	5	Sets to Light Sensor in active mode(LED on).
LIGHT_INACTIVE	6	Sets to Light Sensor in inactive mode(LED off).
SOUND_DB	7	Sets to Sound Sensor in dB.
SOUND_DBA	8	Sets to Sound Sensor in dBa.
ULTRASONIC	11	Sets to Ultrasonic Sensor.
Sensor Mode:
RAWMODE	0
BOOLEANMODE	50