Java for Lego Mindstorms NXT

Java for Lego Mindstorms NXT    Send article as PDF   
LeJOS (sometimes pronounced like the Spanish word “lejos” for “far”) is a tiny Java-based operating system. 
LeJOS was originally forked out of the TinyVM project. It contains a VM for Java bytecodes and additional software to load and run Java programs.
This ebook is a project by Juan Antonio Breña Moral, to spread the knowledge about LeJOS project and Java techniques to develop software for Lego Robots. This ebook is a live project which every 3-6 months,is update with new ideas and techniques from the project and the readers of the eBook.

A easy way to learn to develop robots with Java and leJOS project..

This brilliant 250 page ebook is totally free and very comprohensive, aimed at the absolute beginner. There is step-by-step instruction on installing Sun’s Java Development Kit and LeJOS NXJ, the Java Virtual Machine & API.

These are some of the features offered by LeJOS:

  • Object oriented language (Java)
  • Preemptive threads (tasks)
  • Arrays, including multi-dimensional ones
  • Recursion
  • Synchronization
  • Exceptions
  • Java types including float, double, long and String
  • Math class
  • Well-documented Robotics API

Juan Antonio says: “I allways say that every hour with LeJOS is a training hour of Java. Currently Java is used in Servers, Desktop, Mobile phones and Embbeded systems.”

Juan Antonio in conjunction with Suat Basaran also has LeJOS Training website dedicated to NXT users who develop NXT robots with Java LeJOS. If you want to learn  Java LeJOS Step-by-Step, this is your website.

eBook Table of contents

The ebook has been organized in the following chapters:

Chapter 1: Introduction
This chapter explains what Lego Mindstors NXT is and the context in the market. The chapter explains the origins, history and milestones with the product Lego Mindstorms NXT.

Chapter 2: LeJOS project
This chapter explains the LeJOS Project, API, Tools, Project structure, etc.

Chapter 3: Getting started with leJOS project
This chapter explains how to install LeJOS Project to execute the , API, Tools, Project structure, etc.

Chapter 4: Basic concepts about Java
This chapter explains basic concepts about Java.

Chapter 5: Sensors
This chapter explains how to use sensors from NXT Kit or sensors from NXT providers as Mindsensor, Hitechnic, CANCAN and others.

Chapter 6: Actuators
This chapter explains how to use actuators. This chapter includes NXT Motors, PF Motors, Servos, DC Motors and RCX Legacy Motors.

Chapter 6: GUI
This chapter explains how to use LCD in NXT brick

Chapter 7-11: Communications
These sets of chapters explain how to use Bluetooth, USB, RS485 & I2C Protocols.

Chapter 12: Sumsubption architecture
This chapter explains how to use sumsubption architecture

Chapter 13: Multithreading
This chapter explains how to manage a java feature which allow your robot manage in parallel multiple tasks.

Chapter 14: LeJOS and mobile phones
This chapter explains how to use some leJOS with mobile phones.

Chapter 15: LeJOS Tools
This chapter explains how to use some tools which are included in every leJOS release and others from leJOS community.


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