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()

nxt_connect(struct nxt_remote *nxt_user)
Description:
Connects to the Mindstorms NXT using bluetooth returns 1 if sucessfull, 0 if fail (bluetooth acts as a Com port)
Inputs:
*nxt_user: the address of the structure nxt_remote that the user created in the main function
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nxt_motor(int port, int speed, int brake)
Description:
This function sets the motor output for NXT Motor rotation is continuous returns 1 if sucessfull, 0 if fail
Inputs:
port: (motor connection to NXT) port_A..........0 port_B..........1 port_C..........2
speed: (value between -100 and 100) -100 is fullspeed Counter Clockwise 100 is full speed Clockwise 0 is no speed
brake: (motor mode) run/idle........0 run/brake.......1 motor off.......2
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nxt_motor_rotate(int port, int speed, int degrees)
Description:
This function sets the motor output for NXT Motor rotation is limited by tachometer returns 1 if sucessfull, 0 if fail
Inputs:
port: (motor connection to NXT) port_A..........0 port_B..........1 port_C..........2
speed: (value between -100 and 100) -100 is fullspeed Counter Clockwise 100 is full speed Clockwise 0 is no speed
degrees: number of degrees that motor will turn from current position.
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nxt_setsensor(int port, int sensortype, int sensormode)
Description:
This function sets up the sensor to collect data for the NXT returns 1 if sucessfull, 0 if fail
Inputs:
port: (motor connection to NXT) port_1..........0 port_2..........1 port_3..........2 port_4..........3
sensortype: switch...........1 temperature......2 Light (Active)...5 Light (Inactive).6 Sound(dB)........7 Sound(dBa).......8 Ultrasonic.......11
sensormode: raw..............0 Boolean.........32
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nxt_getsensor(int port)
Description:
This function gets the sensor data from the NXT. returns 1 if sucessfull, 0 if fail

Inputs:
port: (motor connection to NXT) port_1..........0 port_2..........1 port_3..........2 port_4..........3
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nxt_printmess()
Description:
This function prints the last message sent to or recieved from the NXT. returns 1 if sucessfull, 0 if fail
Inputs:
None
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nxt_disconnect()
Description:
Disconnects to the Mindstorms NXT using bluetooth tunrs all motors to off/idle turns all sensors to none returns 1 if sucessfull, 0 if fail (bluetooth acts as a Com port)
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nxt_gettacho(int port)
Description:
This function gets the the techometer count for the motor. result is stored it in nxt_motor_pos_raw[port] and nxt_motor_pos_cum[port]. returns 1 if sucessfull, 0 if fail
Inputs:
port: (motor connection to NXT) port_A..........0 port_B..........1 port_C..........2
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nxt_motor_zero()
Description:
This function resets the the techometer count for all the motors. returns 1 if sucessfull, 0 if fail NOTE: this function will change the tachometer count and thus breat the cumulative count kept by tacho limit
Inputs:
port: (motor connection to NXT) port_A..........0 port_B..........1 port_C..........2
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