1. NXT Basics

A brief overview of the NXT hardware based on information from LEGO [1].
The LEGO Mindstorm NXT consists of following items:

• NXT brick
  • CPU: 32-bit ARM7 micro controller @ 48 MHz
  • Co-Processor: 8-bit AVR micro controller @ 4 MHz
  • 4 input ports / 3 output ports
  • 100 x 64 pixel LCD display
  • USB 2.0 and Bluetooth support
  • Speaker
• Sensors
  • Ultrasonic sensor
  • Touch sensor
  • Sound sensor
  • Light sensor
• Motors
  • 3 motors with integrated rotation sensors