`nxtdevices` – NXT Devices¶

Use LEGO® MINDSTORMS® NXT motors and sensors with the EV3 brick.

NXT Motor¶

This motor works just like a LEGO MINDSTORMS EV3 Large Motor. You can use it in your programs using the Motor class.

NXT Touch Sensor¶

class TouchSensor(port)¶

LEGO® MINDSTORMS® NXT Touch Sensor.

Parameters: port (Port) – Port to which the sensor is connected.

pressed()¶

Checks if the sensor is pressed.

Returns: True if the sensor is pressed, False if it is not pressed.
Return type: bool

NXT Light Sensor¶

class LightSensor(port)¶

LEGO® MINDSTORMS® NXT Color Sensor.

Parameters: port (Port) – Port to which the sensor is connected.

NXT Color Sensor¶

class ColorSensor(port)¶

LEGO® MINDSTORMS® NXT Color Sensor.

Parameters: port (Port) – Port to which the sensor is connected.

color()¶

Measures the color of a surface.

Returns: Color.BLACK, Color.BLUE, Color.GREEN, Color.YELLOW, Color.RED, Color.WHITE or None.
Return type: Color, or None if no color is detected.

ambient()¶

Measures the ambient light intensity.

Returns: Ambient light intensity, ranging from 0 (dark) to 100 (bright).
Return type: percentage: %

reflection()¶

Measures the reflection of a surface.

Returns: Reflection, ranging from 0 (no reflection) to 100 (high reflection).
Return type: percentage: %

rgb()¶

Measures the reflection of a surface using a red, green, and then a blue light.

Returns: Tuple of reflections for red, green, and blue light, each ranging from 0.0 (no reflection) to 100.0 (high reflection).
Return type: (percentage: %, percentage: %, percentage: %)

Built-in light

This sensor has a built-in light. You can make it red, green, blue, or turn it off.

light.on(color)¶

Turns on the light at the specified color.

Parameters: color (Color) – Color of the light.

light.off()¶: Turns off the light.

NXT Ultrasonic Sensor¶

class UltrasonicSensor(port)¶

LEGO® MINDSTORMS® NXT Ultrasonic Sensor.

Parameters: port (Port) – Port to which the sensor is connected.

NXT Sound Sensor¶

class SoundSensor(port)¶

LEGO® MINDSTORMS® NXT Sound Sensor.

Parameters: port (Port) – Port to which the sensor is connected.

NXT Temperature Sensor¶

class TemperatureSensor(port)¶

LEGO® MINDSTORMS® NXT Temperature Sensor.

Parameters: port (Port) – Port to which the sensor is connected.

NXT Energy Meter¶

class EnergyMeter(port)¶

LEGO® MINDSTORMS® Education NXT Energy Meter.

Parameters: port (Port) – Port to which the sensor is connected.

Vernier Adapter¶

class VernierAdapter(port, conversion=None)¶

LEGO® MINDSTORMS® Education NXT/EV3 Adapter for Vernier Sensors.

Parameters

port (Port) – Port to which the sensor is connected.
conversion (callable) – Function of the format conversion. This function is used to convert the raw analog voltage to the sensor-specific output value. Each Vernier Sensor has its own conversion function. The example given below demonstrates the conversion for the Surface Temperature Sensor.

Example: Using the Surface Temperature Sensor.

#!/usr/bin/env pybricks-micropython
from pybricks.parameters import Port
from pybricks.nxtdevices import VernierAdapter

from math import log


# Conversion formula for Surface Temperature Sensor
def convert_raw_to_temperature(voltage):

    # Convert the raw voltage to the NTC resistance
    # according to the Vernier Adapter EV3 block.
    counts = voltage/5000*4096
    ntc = 15000*(counts)/(4130-counts)

    # Handle log(0) safely: make sure that ntc value is positive.
    if ntc <= 0:
        ntc = 1

    # Apply Steinhart-Hart equation as given in the sensor documentation.
    K0 = 1.02119e-3
    K1 = 2.22468e-4
    K2 = 1.33342e-7
    return 1/(K0 + K1*log(ntc) + K2*log(ntc)**3)


# Initialize the adapter on port 1
thermometer = VernierAdapter(Port.S1, convert_raw_to_temperature)

# Get the measured value and print it
temp = thermometer.value()
print(temp)

nxtdevices – NXT Devices¶