Get 25% more efficielt Ultrasonic sensor readings with MindSqualls v2.2 - 5 September 2011


  • Optimized code for reading the Ultrasonic sensor (and other I2C based sensors like e.g. the HiTechnic sensors). 25% more efficient!
  • Speed optimization for USB.
  • Added method for sending a byte-array to the NXT via MessageWrite().
  • Bugfixes for USB.
  • Bugfixes for MotorControl.
  • General bugfixes.

Full support for the MotorControl-program with MindSqualls v2.1 - 2 August 2011


  • More precise control of the motors than the direct-commands will give you - down to 1 degree of precision.
  • Either use it directly through MotorControlProxy.
  • Or "under the hood" via the new McNxtMotor, McNxtMotorSync and McNxtBrick classes.
  • Read more about it here.

MotorControl is developed by these guys:

MindSqualls v2.0 is here - 19 July 2011


  • Full support for NXT 2.0, including the NXT 2.0 color sensor.
  • USB support (as an alternative to Bluetooth).
  • Verified to work with at least some of the RCX sensors.
  • Can be used with .Net 2.0 through .Net 4.0 and VS 2010.
  • Bug fixes.
  • Now licensed under LGPL v3.0.

Forum added - 14 July 2011

Join up to the new MindSqualls forum here.

Reviving MindSqualls - 13 July 2011

Version 2.0 soon to be released:

  • Full support for NXT 2.0.
  • (possible) Support for RCX sensors.
  • Going away from nullable types.
  • Compatible with .Net 4.0 and Visual Studio 2010.
  • Changing license to LGPL.

Coming website updates:

  • Add forum where users can discuss MindSqualls framework and -solutions with each other.
  • General cleanup and update.

Reviving MindSqualls - 13 July 2011

Reviving the MindSqualls project after a far to long pause...
Reclaiming the MindSqualls website from the loathsome spammers!
Stay tuned!

NXT 2.0 - 10 July 2011

Just ordered the NXT 2.0 set. Very exited!

Edward Nutting adds support for the NXT 2.0 color sensor - 25 June 2011

Get his code here.

Version 1.2 beta is released - 5 June 2007

It has been far too long since my last release! Though I finished most of it during the easter vacation, work has kept me too busy to put the finishing touches on it. Well, now I'm going ahead and releasing a beta with what I have for now.

So, whats new? Support for the HiTechnic NXT Acceleration / Tilt Sensor obviously. Also the code is now able to run under the Compact Framework (i.e. on a PDA).

But beside that I have tried to address various stability problems. As a result the code should have hardened considerably. It is not quite there now, but I hope it is getting there eventually.

One design decision I had made early on was to move to using nullable types whenever logically consistent. However this will make the endusers (that's you!) code a bit more complicated as you now has to check for HasValue == true and get the value from the Value property. I'm not certain that I will not regret my decision and revert to the syntax of 1.1. Please let me know what you feel about the new syntax.

HiTechnic NXT Acceleration Sensor code - 6 April 2007

HiTechnic has released it, but I haven't gotten around to supporting it in the API yet:
The NXT Acceleration / Tilt Sensor.

Fortunately Ronny H. has sent me his solution for a HiTechnicAccelerationSensor-class:

namespace NKH.MindSqualls
    public class HiTechnicAccelerationSensor : NxtDigitalSensor
        public HiTechnicAccelerationSensor() : base() { }

        #region I2C protocol

        // X
        public byte Roll
            get { return ReadByteFromAddress(0x42); }

        // Y
        public byte Pitch
            get { return ReadByteFromAddress(0x43); }

        // Z
        public byte Yaw
            get { return ReadByteFromAddress(0x44); }


Thanks Ronny!

Version 1.1 is released - 28 January 2007

Besides support for the new HiTechnic NXT Color Sensor, it is now possible to read the tacho count of a motor. Throw in a few minor bugfixes, and a lot of work on the documentation, and I give you v1.1. :^)

Special thanks goes to Giorgio T and Rui G for independently trying it out on the compact framework. It requires that the System.Timers.Timer, in the NxtPollable class, is replaced with either System.Threading.Timer or Windows.Forms.Timer. I can not help wondering why Microsoft has included at least 3 different timers in the .Net framework?! Unfortunately I have not been able to implement it myself without getting all sorts of nasty multi-threading errors. It will have to wait for v1.2.

Thanks to all that has mailed me with your comments and questions so far. I wish I had the time to answer you all in a more timely manner.

It is in the Mail! - 15 January 2007

Ah, finally... My HiTechnic NXT Color Sensor is in the mail, and should arrive within the week. Stay tuned for v. 1.1 of the MindSqualls API. :^)

TriBot Compass - 31 December 2006

While I am waiting impatiently for the release of the new and shiny HiTechnic NXT Color Sensor:

"... orders will be accepted in about a week and shipments will start around Jan 15th."

I decided to play around with their compass sensor instead: Your NXT compass?

The inspiration came from these two cool videos on YouTube: here and here.

Happy New Year!

Remote Control Application, Take 2 - 23 December 2006

Inspired by a mail from David J, I have made another example on a TriBot remote control application. You can find it here.

Seasons greetings to everybody, and may there be something special beneath the tree for you! :^)

Documentation Updated - 14 December 2006

The documentation is now available as a compiled HTML help file.

Remote Control Application - 12 December 2006

Added a simple remote control application for the TriBot.

MindSqualls v1.0 - 7 December 2006

Introducing MindSqualls v 1.0, a .Net library for remote controlling your LEGO MINDSTORMS NXT via bluetooth. Downloads.

MindSqualls is a .Net 2.0 library written in C#. It can be used with any of the .Net programming languages. I haven't tried it yet, but it should be possible to use with the Compact .Net framework as well.

I've been working on this project since I discovered release 0.2 of Bram Fokkes excellent NXT# project. It's been very inspiring. :^)

Niels K. Handest


Quick Start v1.1 (C#)
Quick Start v1.2 (C#)
Quick Start v2.0 (C#)
Samples (C#)
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You People Using It
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