libnxter Documentation


libnxter is a collection of robot utilities for lego mindstorms nxt robotics kit, written in NXC, and currently implements: integer matrix algebra (including cofactor and inverse computation), low/high pass filter, PID control and kalman filter. It can be directly used on the standard nxt firmware.

Note: The project started as libnxt, but was renamed to libnxter after discovering an already existing project with similar name. SourceForge doesn't make it easy to move project to different name.


Source repository:

You need to use the library

You also need modified mindstorms nxt firmware flashed. Download it from and flash it normally.

libnxter development is blogged in my blog at:


This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA


Naba Kumar <naba(@)>


Daniele Benedettelli <danielebenedettelli(@)>

Generated on Sat Jun 6 15:09:08 2009 for libnxter by  doxygen 1.5.6