I recently received a comment on my post on controlling NXT robots with Matlab that pointed me to the RWTH – Mindstorms NXT Toolbox for MATLAB®, which is a public domain Matlab package that enables one to interface with and control LEGO mindstorms.
The RWTH – Mindstorms NXT Toolbox for MATLAB® was developed as a student project in the Institute of Imaging and Computer Vision at RWTH Aachen University in Aachen Germany. It provides a Matlab interface with the NXT brick that includes Bluetooth communication, sensor interface and motor interface. It requires a working Matlab license, of course.
The package is very easy to set up. It took me less than ten minutes to successfully test the example programs over Bluetooth.
There are some very nice motor features, such as motor synchronization and speed ramp-up and ramp-down.
I have yet to explore how easy it is to modify or extend the code, but it ought to be a straightforward matter.
The package can be downloaded from