View source for Lego Mindstorms

{{Short description|Hardware and software platform by Lego}}
{{Redirect|Robolab|the inclusive festival in Cologne|RoboLAB (festival)}}
{{More citations needed|date=December 2017}}
{{Use dmy dates|date=July 2020}}
{{Infobox Lego theme
|name=Lego Mindstorms
|image=Lego Mindstorms Sound Finder.jpg
|caption=Robot based on the NXT platform
|subthemes=
|parentthemes=
|subject=[[Robotics]]
|licensedfrom=[[The Lego Group]]
|from={{start date|1998|09|01|df=yes}}
|to={{end date|2022|12|31|df=yes}}
|sets=91<ref name=BrickLink>{{Cite web|title=BrickLink Reference Catalog - Sets - Category Lego Mindstorms|url=https://www.bricklink.com/catalogList.asp?catID=59&catXrefLevel=0&catType=S&catLike=W|access-date=2021-04-12|website=www.bricklink.com}}</ref>
|characters=
|website= https://www.lego.com/themes/mindstorms/about
}}

'''Lego Mindstorms''' (sometimes stylized as '''''LEGO MINDSTORMS''''') is a discontinued line of educational kits for building programmable robots based on [[Lego]] bricks. It was introduced on 1 September 1998 and discontinued on 31 December 2022.

Mindstorms kits allow users to build creations that interact with the physical world. All Mindstorms kits consist of a selection of Lego Elements, a "Smart Brick" (internally known as a programmable brick or "pbrick"), which serves as the "brain" for a Mindstorms machine. Each set also includes a few attachments for the smart brick (such as motors and sensors) and programming software. Unlike conventional Lego sets, Mindstorms kits do not have a main model to build. Sample builds are included with each version of Mindstorms, but the kit is open-ended with the intent of the user creating and programming their own designs.

In addition to at-home use, Mindstorms products are popularly used in schools and in robotics competitions such as the [[FIRST Lego League]]. Versions of Mindstorms kits specifically intended for use in educational settings are sold by Lego Education.

Children are the intended audience of Lego Mindstorms, but a significant number of Mindstorms hobbyists are adults. The latter have developed many alternative [[programming language]]s and [[operating system]]s for the smart brick, allowing for more complex functions.

While originally conceptualized and launched as a tool to support [[Constructivism (philosophy of education)|educational constructivism]], Mindstorms has become the first home robotics kit available to a wide audience. It has developed a community of adult hobbyists and hackers as well as students and general Lego enthusiasts following the product's launch in 1998. In October 2022, the Lego Group announced that it would discontinue the Lego Mindstorms line while continuing to support the [[Scratch (programming language)|Scratch]]-based SPIKE controller.<ref>{{cite web |url=https://www.brickfanatics.com/lego-discontinuing-mindstorms-end-of-2022/ |title=Lego is discontinuing Mindstorms in 2022 |website=Brick Fanatics |date=26 October 2022 |access-date=26 October 2022}}</ref>

==Lego Mindstorms and Robotics Invention System (1998)==
{{See also|Lego Education}}
[[File:Lego Roverbot.JPG|thumb|A robot created using Robotics Invention System parts]] 
The Robotics Invention System (RIS) was the flagship product of the first generation of the Lego Mindstorms line. It is a commercialization of technology produced by the MIT Media Lab in collaboration with the LEGO group. The RIS featured the programmable Robotic Command eXplorer (RCX) microcontroller, as well as 9V Lego-compatible motors and sensors and a selection of Lego parts. The original RIS was launched fall of 1998. It was replaced by a second version, RIS 1.5, in the summer of 1999; and a third version, RIS 2.0, in 2001.

===Development of Mindstorms Brand===

The Lego Mindstorms product line was the first project of "Home Education", a division of [[Lego Education]] established by employee Tormod Askildsen in 1995. Askildsen, who had previously spent ten years working for Lego Education, had grown frustrated working with teaching professionals and wanted to create an improved educational experience that was delivered directly towards children. Home Education decided to incorporate technology into their products based on [[market research]] that concluded that children found learning that involved technology interesting.<ref name="39years">{{cite web |last1=Heiseldal |first1=Are |title=Tormod Askildsen: One Last Chat with LEGO's AFOL Advocate |url=https://bricknerd.com/home/tormod-askildsen-one-last-chat-with-legos-afol-advocate-11-16-22 |website=brickner.com |date=16 November 2022 |publisher=Brick Nerd |access-date=5 November 2023}}</ref> Lego Mindstorms started development in April 1996.<ref name=Oliver>{{cite journal |last1=Oliver |first1=David |last2=Roos |first2=Johnathan |date=2003 |title=Dealing with the unexpected: Critical incidents in the Lego Mindstorms team |journal=Human Relations |volume=56 |issue=9 |pages=1057–1082 |doi=10.1177/0018726703569002 |s2cid=145417935 |url=https://www.researchgate.net/publication/247717649 |access-date=26 March 2019 |archive-date=27 January 2021 |archive-url=https://web.archive.org/web/20210127130821/https://www.researchgate.net/publication/247717649_Dealing_with_the_Unexpected_Critical_Incidents_in_the_LEGO_Mindstorms_team |url-status=live}}</ref>{{rp|1061}} The concept for the set was based on technology created in partnership with the MIT Media Lab. MIT Media Lab had been experimenting with combining Lego and programming since the early 1980s, and Lego had previously commercialized some of this technology as classroom products in the [[Lego Education|Lego Dacta]] line. The programmable brick (or pbrick<ref name=GoldenRCX/>) was a refinement of these early concepts, which had limited range because they had to be tethered to a computer to run.<ref name=Beland>{{cite thesis |last=Beland |first=Cristopher |date=15 December 2000 |title=Lego Mindstorms: The Structure of an Engineering (R)evolution |type=conference paper |docket=6.399J Structure of Engineering Revolutions |url=https://www.researchgate.net/publication/221436867 |access-date=25 March 2019 |archive-date=27 January 2021 |archive-url=https://web.archive.org/web/20210127130858/https://www.researchgate.net/publication/221436867_LEGO_Mindstorms |url-status=live}}</ref>{{rp|24}}

Lego had been interested in mass-producing the pbrick since its creation in the 1980s, but at the time it was considered unfeasible due to the lack of computers in schools and households and the relative expense of electrical components.<ref name=Beland/>{{rp|25}} in the early 1990s Technology began to become more of a child's life, and the toy market accordingly began shifting more towards computerized toys.<ref name=Robertson/>{{rp|37}} Many of Lego's attempts at producing electronic toys had languished at the point that Lego began developing MIT's programmable brick into a consumer product.<ref name=Oliver/>{{rp|1061}} MIT continued developing the pbrick concept, creating a "Red Brick" version between 1994 and 1996 that improved the previous version. 
By the mid-1990s personal computers were relatively common in households and the components required to produce the pbrick went down in price, making mass production feasible.<ref name=Beland/>{{rp|25}} Development on what would later be known as the Robotics Invention System started in 1996 as the flagship product of the newly created home-learning division of Lego Education (Lego Dacta). The product line's name "Mindstorms" was intended to express the user experience of the product, it is named after Papert's book [[Mindstorms (book)|Mindstorms]], as the user experience was similar to the [[Constructivism (philosophy of education)|educational constructivism]] concepts described in his book.<ref name=Tormod>{{cite web |url=https://lan.lego.com/news/overview/lego-mindstorms-reflections-%E2%80%93-what-happened-before-the-announcement-in-january-1998-r173/ |title=Lego Mindstorms reflections – What happened before the announcement in January 1998 |last=Askildsen |first=Tormod |date=4 December 2018 |website=lan.Lego.com |publisher=The Lego Group |access-date=26 March 2019 |archive-date=26 March 2019 |archive-url=https://web.archive.org/web/20190326211452/https://lan.lego.com/news/overview/lego-mindstorms-reflections-%25E2%2580%2593-what-happened-before-the-announcement-in-january-1998-r173/ |url-status=live}}</ref>

The project's at-first low profile allowed the Mindstorms team the freedom to develop the product using operating procedures then-unorthodox to the Lego Group.<ref name=Oliver/>{{rp|1062}} Unlike traditional Lego sets, the Mindstorms Robotics Invention System did not come with step-by-step instructions.<ref name=39years/> The kit also did not have a main model, nor was the play driven by storytelling.{{Citation needed|date=August 2021}} To bridge the gap between this new play experience and pre-existing Lego ones, the Mindstorms team created a lot of opportunities for users to engage with each other, such as the creation of Mindstorms.com, Mindstorms Discovery Centers, and the [[FIRST Lego League]].<ref name=Tormod/> The creation of these experiences was done through partnerships with external groups that the Mindstorms team interacted with as equal partners, something that was uncommon for the Lego group at the time.<ref name=Oliver/>{{rp|1063}} To ease tensions between Mindstorms and more conventional products, the project team was given autonomy from Lego's product development process and instead reported directly to the company's senior management.<ref name=Oliver/>{{rp|1064}}

===Development of RCX Brick===
[[File:Lego Mindstorms prototypes 1.jpg|thumb|MIT Media Lab's "Red Brick" served as the prototype for Lego Mindstorms' RCX.]] 
The Lego Mindstorms team used the insights that MIT researchers discovered from testing the 3rd Generation Logo Brick ("Red Brick") in schools as the basis for the development of the mass-produced programmable brick.<ref name=Magical>{{Cite web|url=http://www.cs.uml.edu/~fredm/papers/magical-machines.pdf|title=To Mindstorms and Beyond: Evolution of a Construction Kit for Magical Machines|publisher=MIT Media Laboratory|access-date=2017-12-15|archive-date=22 August 2017|archive-url=https://web.archive.org/web/20170822041518/http://www.cs.uml.edu/~fredm/papers/magical-machines.pdf|url-status=live}}</ref>{{rp|5}} The physical programmable brick was re-engineered from the ground up, as the experimental programmable bricks were not designed for robustness or cost-effective manufacturing.<ref name=Beland/>{{rp|19,26}} The [[programming language]] of the product was developed with help from members of the MIT Media lab. Lego decided to use a [[visual programming language]] for Mindstorms, inspired by the LOGOBlocks language previously used with programmable brick experiments, in order to make the product accessible to children who might be unfamiliar with programming.<ref name=Beland/>{{rp|29}} While the technology that Mindstorms was based on was aimed towards "all children", the chosen target demographic of Lego Mindstorms was intentionally narrow, in order to garner positive press by outselling expectations. The decision was made to aim the product towards 10 to 14-year-old boys, partly because it was Lego's main target demographic, and partly based on market research (not substantiated by the findings of the MIT Media Lab) which concluded that this demographic would be most attracted to computerized toys. This choice of target demographic directly informed the color of the RCX brick (which was made yellow and black to resemble construction equipment) and the sample uses for the Mindstorms kit (such as making autonomous robots).<ref name=Beland/>{{rp|28}}

===Launch===
Promotion of the Lego Mindstorms Robotics Invention System began 6 months before the product was planned to launch.<ref name=Tormod/> The product was first soft launched with the opening of the Mindstorms Discovery Center at the [[Museum of Science and Industry (Chicago)|Museum of Science and Industry]], where children could interact with the Mindstorms Robotics Invention System to complete set tasks, getting them familiar with the product.<ref name=BBpart3>{{cite web |url=https://www.brothers-brick.com/2020/02/03/a-history-of-lego-education-part-3-mindstorms-over-matter-feature/ |title=A History of Lego Education, Part 3: Mindstorms over matter [Feature] |last=Hocker |first=Matt |date=3 February 2020 |website=The Brothers Brick |access-date=15 August 2021}}</ref> The Mindstorms product was launched concurrently with the Cybermaster, another Lego product spun off from the MIT programmable brick technology that was more in line with the traditional product philosophies of the Lego group.<ref name=Oliver/>{{rp|1067}}

The Lego Mindstorms Robotics Invention System (RIS) was released September 1998<ref>{{cite press release |url=http://www.legomindstorms.com:80/press/releases.html |title=Retailers Brace for Overwhelming Consumer Demand for Lego Mindstorms Robotics Invention System |location=[[Enfield, Connecticut]] |access-date=3 July 2022 |date=26 August 1998 |publisher=[[The Lego Group]] |archive-url=https://web.archive.org/web/19981206001507/http://www.legomindstorms.com:80/press/releases.html |archive-date=6 December 1998 |url-status=dead}}<br>"Lego Mindstorms announced today that the very first units...will arrive...during the first week of September."</ref> at a retail price of $199. Instead of being sold at toy stores, the product was sold at electronics stores like [[Best Buy]] and [[CompUSA]], due to the relatively high cost of the set.<ref name=Tormod/>
The entire production run (of between 60,000 and 100,000 units<ref name=Note01>The exact number of sets in the first production run varies between sources</ref>) sold out within 3 months.<ref name=Robertson>{{cite book |last=Robertson |first=David |date=2013 |title=Brick by Brick: How Lego rewrote the rules of innovation and conquered the global toy industry |url=http://www.RobertsonInnovation.com/books/Brick-by-Brick |location=United States |publisher=Crown Publishing |pages=184–185 |isbn=9780307951618 |access-date=27 January 2021 |archive-date=29 November 2020 |archive-url=https://web.archive.org/web/20201129005055/https://robertsoninnovation.com/books/Brick-by-Brick |url-status=live}}</ref>{{rp|181}}<ref name=Beland/>{{rp|30}}

The second edition of the RIS, Robotics Invention System 1.5, was released in the summer of 1999,<ref name=Robertson/>{{rp|187}}<ref name=GoldenRCX>{{cite web
| title = Going for Gold: The Story of the Golden RCX and NXT
| url = https://bricknerd.com/home/going-for-gold-the-story-of-the-golden-lego-rcx-and-nxt-9-9-21
| website = Bricknerd.com
| date = 9 September 2021
| access-date = 23 October 2023}}</ref> with a third edition, RIS 2.0, launched in 2001.<ref>{{cite web
| title = 3804: Robotics Invention System V2.0
| url = https://brickset.com/sets/3804-1/Robotics-Invention-System-V2-0
| website = Brickset.com
| date = n.d.
| access-date = 23 October 2023}}</ref>

===Fanbase and "Right-to-Hack"===
Despite being aimed towards children, the Robotics Invention System quickly found an audience with adults and hackers of all ages; Lego company surveys conducted a few months after launch determined that seventy percent of Lego Mindstorms Hobbyists were adults. Shortly following the product's launch, adult hobbyists began sharing reverse-engineered versions of the RCX brick's [[Microcode]] and [[Firmware]] on the internet, leading to the development of alternative programming languages for the RCX such as "Not Quite C" (NQC) and alternative operating systems for the brick like lejOS. The Lego Group briefly considered sending cease-and-desist letters to websites sharing the RCX's proprietary code.<ref name=Robertson/>{{rp|183}} However, The Mindstorms team successfully argued that the embrace of the product by the hacking community proved that the product was worth developing. In order to foster this burgeoning community, an official forum was established on the Lego website and a "right to hack" clause was added to end user license agreement of the Lego Mindstorms software. An official software developers kit for the RCX would later be released on the Mindstorms website. A number of products focusing on the RIS were released by adult hobbyists, including how-to books, and unofficial sensors and hardware. A convention for Lego Mindstorms hobbyists, named Mindfest, started in 1999.<ref name=Robertson/>{{rp|181–184}}

Despite strong sales, the Mindstorms development team was neglected by upper management. As a [[Cost reduction|cost-cutting]] measure, the Mindstorms office was shut down in 2001, and team members were laid-off or assigned to other projects.<ref name=GoldenRCX/> The Lego Group continued to produce the Robotics Invention System 2.0, selling around 40,000 units per year without advertising <ref name=Robertson/>{{rp|189}} until the set was discontinued in 2006.<ref>{{cite web
| title = 3804: Robotics Invention System V2.0
| url = https://brickset.com/sets/8527-1/Mindstorms-NXT
| website = Brickset.com
| date = n.d.
| access-date = 23 October 2023}}</ref>

==RCX==
[[File:LegoMindstormsRCX.jpg|thumb|First-generation RCX programmable brick]] 
The RCX is based on the 8-bit [[Renesas Technology|Renesas]] [[Hitachi H8|H8/300]] [[microcontroller]], including 32&nbsp;kB of ROM for low-level IO functions, along with 32&nbsp;kB of RAM to store high-level firmware and user programs. The RCX is programmed by [[upload]]ing a program using a dedicated [[infrared]] interface. After the user uploads a program, the RCX can run it on its own without the need for computer access. Programs may make use of three sensor input ports and three 9&nbsp;V output ports, in addition to the IR interface, enabling RCX bricks to communicate with one another. A built-in [[LCD]] can display information including the battery level, the status of the input/output ports, and the program currently running.<ref>{{cite web|url=http://www.mralligator.com/rcx/|title=RCX Internals|author=Kekoa Proudfoot|date=1999|website=mralligator.com|access-date=14 December 2018|archive-date=11 November 2018|archive-url=https://web.archive.org/web/20181111210416/http://www.mralligator.com/rcx/|url-status=live}}</ref>

Version 1.0 RCX bricks feature a power adapter jack in addition to batteries. In version 2.0 (as well as later 1.0s included in the RIS 1.5), the power adapter jack was removed. Power adapter-equipped RCX bricks were popular for stationary robotics projects (such as robot arms) or for controlling [[Lego train|Lego model trains]]. In the latter context, the RCX might be programmed with [[Digital Command Control]] (DCC) software to operate multiple wired trains.

The IR interface on the RCX is able to communicate with [[Lego Spybotics|Spybots]], [[#Scout|Scout Bricks]], [[Lego Trains]], and the NXT (using a third-party infrared link sensor). The RCX 1.0 IR receiver [[carrier frequency]] is 38.5&nbsp;kHz, while the RCX 2.0 IR carrier frequency is 76&nbsp;kHz. Both versions can transmit on either frequency. The RCX communicates with a computer using a [[Serial port|Serial]] or [[Universal Serial Bus|USB]] IR tower. As the RCX is discontinued, support for the interface is limited on more recent operating systems than Windows XP.

All RCX versions have a unique number printed on them, which could be registered on the now-defunct Lego Mindstorms RCX website. This was necessary to obtain technical support. The first RCX produced is marked "000001," and was on display at the Mindstorms 10th Anniversary event.<ref name="First_RCX">{{cite web|url=https://www.flickr.com/photos/brickjournal/3079324996/in/set-72157610670686416/|title=DSC03489.jpg|website=flickr.com|date=20 November 2008|access-date=4 April 2018|archive-date=17 November 2016|archive-url=https://web.archive.org/web/20161117030143/https://www.flickr.com/photos/brickjournal/3079324996/in/set-72157610670686416/|url-status=live}}</ref>

The Lego RCX was available in new sets from 1998 (Lego Set 9719: Robotics Invention System 1.0) through 2003 (Lego Set 9786: Robo Technology Set, with USB cable). The original RCX 1.0 worked with existing Lego power supply products from the Lego Train theme, Lego Product 70931: Electric Train Speed Regulator 9&nbsp;V Power Adaptor for 120&nbsp;V 60&nbsp;Hz - US version (Years: 1991-2004), Lego Product 70938: Electric Train Speed Regulator 9&nbsp;V Power Adaptor for 230&nbsp;V 50&nbsp;Hz - European version (Years: 1991-1996). Both of these products converted wall power to 12VAC {{Dubious|date=September 2024}}, through a [[Coaxial power connector|coaxial power connector (also called a "barrel connector")]], 5.5&nbsp;mm outside, 2.1&nbsp;mm inside. These were sometimes sold alone and sometimes available as part of other sets such as Lego Set 4563: Load N' Haul Railroad (Year: 1991) and Lego Set 10132: Motorized Hogwarts Express (Year: 2004).<ref>{{cite web |title=Peeron Lego Inventories - Lego Product 884: Electric Mindstorms RCX - Complete Assembly (Years: 1998-2003) |url=http://peeron.com/inv/parts/884 |access-date=10 October 2021 |website=peeron.com |publisher=Peeron Lego Inventories}}</ref><ref>{{cite web |url=https://clark.cementhorizon.com/RCX-web-page-2013-09-29.html |title=Lego RCX presentation - Clark Wood - BrickCon 2013 |publisher=BrickCon|website=cementhorizon.com|access-date=10 October 2021}}</ref><ref>{{cite web |url=http://boardsailor.com/first/MindStormRobotIdeas.html#Power |title=FIRST Lego League Programming and Design Suggestions - Power |publisher=The Los Altos Robotics Community|website=boardsailor.com|access-date=10 October 2021}}</ref><ref>{{cite web |url=http://crynwr.com/lego-robotics/ |title=Lego Mindstorms Internals |publisher=Crynwr Software|website=crynwr.com|access-date=10 October 2021}}</ref>

==Robotics Discovery Set, Droid Developer Kit, and Dark Side Developer Kit==
The Robotics Discovery Set was a more affordable and simpler package than the Robotics Invention Set. Instead of being based on the RCX, it had its own programmable brick called the Scout. An even simpler version of the Scout would be featured in two ''Star Wars''-themed Mindstorms sets.

===Scout===
Lego also released a blue computer called the Scout, which has 2 sensor ports, 2 motor ports (plus one extra if linked with a Micro Scout using a [[fiber-optic cable]]), and a built-in light sensor, but no PC interface. It comes with the Robotics Discovery Set. The Scout can be programmed from a collection of built-in program combinations. In order to program the Scout, a user must enable "power mode" on it. The Scout can store one program.

The Scout is based on a [[Toshiba]] microcontroller with 32&nbsp;KB of ROM and 1&nbsp;KB of RAM, where about 400 bytes are available for user programs. Due to the extremely limited amount of RAM, many predefined subroutines were provided in ROM. The Scout only supports passive external sensors, which means that only touch, temperature and other unpowered sensors can be used. The [[analog-to-digital converter]]s used in the Scout only have a resolution of 8 bits, in contrast to the 10-bit converters of the RCX.<ref>{{cite web|url=http://mindstorms.lego.com/products/rds/hackers.asp|archive-url=https://web.archive.org/web/20010210104326/http://mindstorms.lego.com/products/rds/hackers.asp|url-status=dead|archive-date=10 February 2001|title=Robotics Discovery Set: Info for Hackers|date=10 February 2001}}</ref>

There was a plan for Lego to create a booster set that allows programming the Scout from a computer with software such as RCX code. However, due to the complexity of this project, it was abandoned.

The RCX can control the Scout brick using the "Send IR Message" program block. The RCX does all of the controlling, and therefore can be programmed with the PC, while the Scout accepts commands. The Scout brick must have all of its options set to "off" during this process.

===Micro Scout===
The Micro Scout was added as an entry-level to Lego robotics. It is a very limited Pbrick with a single built-in light sensor and a single built-in motor. It has seven built-in programs and can be controlled by a Scout, Spybotics or RCX unit using VLL. Like the Scout, the Micro Scout is also based on a microcontroller from [[Toshiba]].

The unit was sold as part of the Droid Developer Kit (featuring [[R2-D2]]) and later the Dark Side Developer Kit (featuring an [[AT-AT|AT-AT Imperial Walker]]).

==Lego Mindstorms NXT (2006)==
[[File:Lego Mindstorms NXT Kit.jpg|thumb|Lego Mindstorms NXT Kit]]
[[File:Lego MindStorms NXT - Alpha Rex.jpg|thumb|Robot built from the NXT kit]]
{{Main|Lego Mindstorms NXT}}

Lego Mindstorms NXT was a programmable [[robotics]] kit released by [[Lego]] in August 2006, replacing the first-generation Lego Mindstorms kit.<ref>{{cite web|url=http://www.lego.com/eng/info/default.asp?page=pressdetail&contentid=17278&countrycode=2057&yearcode=&archive=false|archive-url=https://web.archive.org/web/20090708131613/http://www.lego.com/eng/info/default.asp?page=pressdetail&contentid=17278&countrycode=2057&yearcode=&archive=false|archive-date=2009-07-08 |title=What's NXT? Lego Group Unveils Lego Mindstorms NXT Robotics Toolset at Consumer Electronics Show |work=Press Release |publisher=Lego Company |location=LAS VEGAS |date=4 January 1986 |access-date=3 December 2008}}</ref>
The kit consists of 577 pieces, including: 3 servo motors, 4 sensors ([[Ultrasonic sensors|ultrasonic]], sound, [[Touch switch|touch]], and [[Photodetector|light]]), 7 connection cables, a [[USB]] interface cable, and the NXT Intelligent Brick. It lets the robot autonomously perform different operations. The kit also includes NXT-G, a graphical programming environment that enables the creation and downloading of programs to the NXT. The software also has instructions for 4 robots: Alpha-Rex (a humanoid), Tri-Bot (a car), Robo-Arm T-56 (a robotic arm), and Spike (a scorpion)

== Development ==
The Development of Lego Mindstorms NXT began in 2004. At the time, The Lego group was in the middle of a financial crisis. As part of the turn-around effort, the product line developed for release in 2006 would feature relatively few products that were guaranteed to be profitable. A revival of The Mindstorms Robotics Invention System was chosen as of these products, as Lego Mindstorms had a strong fan following and kits continued to sell well without advertising.<ref name=Robertson/>{{rp|187–188}}

Fans were extensively involved in the development and promotion of Mindstorms NXT. The development team collaborated with four hobbyists considered experts in Lego Mindstorms fan community. These fans were collectively known as the Mindstorms Users Panel (MUP). They were shipped early prototypes of the Mindstorms kit and communicated to Mindstorms team members on a private internet forum. MUP gave extensive feedback on the hardware and design of the NXT kit. Features of NXT directly based on requests of the MUP include the use 32-bit processor, more powerful motors, and Bluetooth compatibility.<ref name=Robertson/>{{rp|194}}

== Launch ==
Promotion of Lego Mindstorms NXT was largely word-of-mouth based, because the company was in the middle of a financial crisis and did not have enough money for a large marketing campaign.<ref name=Robertson/>{{rp|189}} Mindstorms NXT was unveiled in January 2006 at the 2006 Consumer Electronics Show. At the show, Lego requested applications for a beta-testing phase, where 100 users, known as Mindstoms Community Partners (MCP)s would receive NXT kits at a discounted price months before launch. The intention of the MCP program was to build support for the product prior to launch, and receive feedback on the near-final kit.<ref name=Robertson/>{{rp|196–198}}<ref name=GoldenRCX/> Fans involved in the MCP program provided a significant amount of PR for the set upon launch, such as alternate models, finished book drafts, and web content like blog posts.<ref name=GoldenRCX/> News outlets like Wired and CNN also provided free publicity for Mindstorms NXT by reporting on the inclusion of fans in its development process.<ref name=Robertson/>{{rp|199}} The launch of Mindstorms NXT, measured in airtime hours, web content and magazine pages; generated more public interest than the entire company had previously accumulated in its entire lifetime.<ref name=GoldenRCX/>

Lego Mindstorms NXT (Product no. 8527) was released August 1 of 2006.<ref name=GoldenRCX/> $30 million worth of kits were sold in the first year.<ref name=Robertson/>{{rp|199}}

==Lego Mindstorms NXT 2.0==
{{Main|Lego Mindstorms NXT 2.0}}
The [[Lego Mindstorms NXT 2.0]] was launched on 5 August 2009. It contains 619 pieces and four sensors; two touch sensors, a new light sensor that added a color sensor, and an ultrasonic distance sensor. The NXT 2.0 uses Floating Point operations whereas earlier versions use Integer operation.<ref>{{cite web
 |url=http://www.lego.com/education/school/default.asp?locale=2057&pagename=fqnxt&l2id=3_2&l3id=3_2_5&l4id=3_2_5_1#h
 |archive-url=https://web.archive.org/web/20100808075444/http://www.lego.com/education/school/default.asp?locale=2057&pagename=fqnxt&l2id=3_2&l3id=3_2_5&l4id=3_2_5_1#h
 |archive-date=2010-08-08
 |title=Lego Robotics FAQ
 |year=2009
 |access-date=2 March 2010
}}</ref> The kit costs around US$280.

==Lego Mindstorms EV3==
[[File:Lego Mindstorms EV3 brick.jpg|thumb|Brick of Lego Mindstorms EV3]]
{{Main|Lego Mindstorms EV3}}
EV3, the third generation Mindstorms product, is a further development of the NXT.<ref>{{Cite web |url=http://roberta-home.de/de/was-bietet-roberta/roberta-reihe/lego-mindstorms-ev3-ein-erster-%C3%BCberblic |title=EV3-Overview |archive-url=https://web.archive.org/web/20130624062041/http://roberta-home.de/de/was-bietet-roberta/roberta-reihe/lego-mindstorms-ev3-ein-erster-%C3%BCberblic |archive-date=2013-06-24}}</ref><ref>{{Cite web|title=Lego Mindstorms EV3: The Better, Faster, Stronger Generation of Robotic Programming|url=https://techcrunch.com/2013/01/06/lego-mindstorms-ev3-the-better-faster-stronger-generation-of-robotic-programming/|website=TechCrunch|access-date=2015-05-22|first=Jordan|last=Crook|date=7 January 2013 |archive-date=23 October 2017|archive-url=https://web.archive.org/web/20171023095610/https://techcrunch.com/2013/01/06/lego-mindstorms-ev3-the-better-faster-stronger-generation-of-robotic-programming/|url-status=live}}</ref> The system was released on 1 September 2013. There are three versions of the Lego Mindstorms EV3:

* '''LEGO MINDSTORMS EV3 31313'''

This set contains 601 pieces and includes 3 servo motors (2 large and 1 medium), 3 sensors (touch sensor, infrared sensor and colour sensor), the EV3 programmable brick and a remote control (the Infrared Beacon, which is only on Home/Retail mode).

* '''LEGO MINDSTORMS Education EV3 Core Set 45544'''

This version contains 541 pieces and always includes 3 servo motors (2 large and 1 medium), 4 sensors (2 touch sensors, ultrasonic sensor, colour sensor and gyro sensor) and the EV3 programmable brick.

* '''LEGO MINDSTORMS Education EV3 Expansion Set 45560'''

This set instead contains 853 Lego Technic elements

The EV3 can be controlled by smart-devices. It can boot an alternative operating system from a microSD card, which makes it possible to run [http://www.ev3dev.org/ ev3dev], a [[Debian]]-based operating system.

==Lego Education Spike Prime==
{{Main|Lego Education}}
Spike Prime was announced in April 2019.<ref>{{Cite web|url=https://www.lego.com/en-us/aboutus/news/2019/august/lego-education-spike-prime-a-new-hands-on-learning-approach-for-classrooms-announced-today/|title=A new hands-on learning approach for classrooms, announced today|website=www.lego.com|date=11 September 2019 |access-date=8 January 2021|archive-date=10 August 2020|archive-url=https://web.archive.org/web/20200810123055/https://www.lego.com/en-us/aboutus/news/2019/august/lego-education-spike-prime-a-new-hands-on-learning-approach-for-classrooms-announced-today|url-status=live}}</ref> While not being part of the Mindstorms product line, the basic set includes three motors (1 large 2 medium) and sensors for distance, force and color<ref>{{Cite web|url=https://www.lego.com/en-us/product/lego-education-spike-prime-set-45678|title=Lego Education SPIKE Prime Set 45678 &#124; Lego Education &#124; Buy online at the Official Lego Shop US|website=www.lego.com|access-date=8 January 2021|archive-date=3 December 2020|archive-url=https://web.archive.org/web/20201203150152/https://www.lego.com/en-us/product/lego-education-spike-prime-set-45678|url-status=live}}</ref> a controller brick based on an [[STM32#STM32 F4|STM32F413]] microcontroller<ref>{{Cite web|url=https://github.com/gpdaniels/spike-prime#lego-hub-hardware|title=gpdaniels/spike-prime|date=25 January 2021|via=GitHub|access-date=8 January 2021|archive-date=25 December 2020|archive-url=https://web.archive.org/web/20201225084519/https://github.com/gpdaniels/spike-prime#lego-hub-hardware|url-status=live}}</ref> and 520+ Lego Technic elements.<ref>{{cite web |url=https://www.theverge.com/2020/6/15/21291596/lego-mindstorms-robot-inventor-kit-bluetooth-educational-programming-scratch-python |title=Lego's new Mindstorms kit lets kids build their own walking, talking robots |first=Jon |last=Porter |date=June 15, 2020 |access-date=September 7, 2021 |work=[[The Verge]]}}</ref> Majority of these motors and sensors, including the hub, would serve as the electric components for the then-upcoming Robot Inventor set.

==Lego Mindstorms Robot Inventor==
Lego Mindstorms Robot Inventor was announced in June 2020<ref>{{Cite web|url=https://www.lego.com/en-us/aboutus/news/2020/june/lego-mindstorms-robot-inventor/|title=New Lego Mindstorms Robot Inventor lets creators build and bring to life anything they can imagine|website=www.lego.com|date=15 June 2020 |access-date=8 January 2021|archive-date=15 January 2021|archive-url=https://web.archive.org/web/20210115064933/https://www.lego.com/en-us/aboutus/news/2020/june/lego-mindstorms-robot-inventor/|url-status=live}}</ref> and released later in autumn. It is the last commercially available Mindstorms set before the discontinuation of the theme announced in October 2022. It has four medium motors from Spike Prime, two sensors (distance sensor and color/light sensor) also from Spike Prime, a Spike Prime hub with a six-axis gyroscope, an accelerometer, and support for controllers and phone control. It also has 902+ Lego Technic elements. This set was discontinued in 2022 with Lego promising app support through 2024.<ref>{{cite web |url=https://brickset.com/article/84219/lego-mindstorms-to-be-discontinued |title=LEGO Mindstorms to be discontinued |date=26 October 2022}}</ref>

==Programming languages==
{{Further|Lego Mindstorms NXT#Programming}}
<!-- This table should include Spike Prime/Robot Inventor Programming languages -->
{{mw-datatable}}{{sort-under}}{{table alignment}}
{{sticky table start}}
{| class="wikitable sortable mw-datatable sticky-table-head sort-under col1left col2left"
|-
! rowspan="2" | Name
! colspan="3" | Device
! colspan="2" | Program type
! rowspan="2" | Language type(s)
! rowspan="2" | Notes
! rowspan="2" | Links
|-
!RCX
!NXT
!EV3
!Runs on Brick
!Remote control
|-
| [[Actor-Lab]]
|
|
|
|
|
| Custom flowchart-like language
|
|
|-
| Ada
|
|{{Yes}}
|
|
|
| [[Ada (programming language)|Ada]]
| Requires nxtOSEK
|
|-
| Ada Interface to Mindstorms
|
|
|
|
|
| [[Ada (programming language)|Ada]]
|
|
|-
| App Inventor
|
|{{Yes}}
|
|
|
| [[App Inventor]]
| Specific support for Lego Mindstorms NXT sensors and motors 
|
|-
| brickOS
| {{Yes}}
| {{No}}
| {{No}}
|
|
| [[C (programming language)|C]], [[C++]]
|
| [https://brickos.sourceforge.net/ website]
|-
| Ch
|
|
|
|
|
| C, C++ interpreter
| Control Lego Mindstorms in C/C++ interactively without compiling
|
|-
| clang
|
|
|
|
|
| C, C++
|
|
|-
|CoderZ
|
|
|{{Yes}}
|{{Yes}}
|{{No}}
|[[Java (programming language)|Java]]
|Works with Blockly or with Java (using LejOS). Also includes an online 3D simulator<ref>{{Cite web|url=http://www.thenxtstep.com/2017/04/coderz-online-learning-environment-for.html|title=CoderZ, an online learning environment for Mindstorms robotics|website=www.thenxtstep.com|access-date=2017-05-30|archive-date=14 June 2017|archive-url=https://web.archive.org/web/20170614002503/http://www.thenxtstep.com/2017/04/coderz-online-learning-environment-for.html|url-status=usurped}}</ref>
|[http://gocoderz.com website]
|-
|Cpp4Robots
|{{No}}
|{{No}}
|{{Yes}}
|{{Yes}}
|
|C/C++
|Cpp4Robots is extension (plug-in) for Microsoft Visual Studio environment; allows programming Lego EV3 in native C/C++ language and in Microsoft Visual Studio development environment; works with default firmware in EV3 Brick
|[http://www.cpp4robots.cz/ website]
|-
| [[DialogOS]]
|
|
|
|
|
| Graphical flowchart for voice controlled robots
| DialogOS combines speech recognition and speech synthesis with robotics, enabling building talking robots that react to voice commands
|
|-
| [[Enchanting (programming language)|Enchanting]]
|
|{{Yes}}
|
|
|
| Drag and drop, similar to NXT-G
| Program robots simply by dragging the line of functions
|
|-
|EV3Basic
|{{No}}
|{{No}}
|{{Yes}}
|{{Yes}}
|{{Yes}}
|Microsoft Small Basic
|
|[https://robogenius.in/shop/ website] {{Webarchive|url=https://web.archive.org/web/20170922211045/https://robogenius.in/shop/ |date=22 September 2017 }}
|-
| [[Scratch (programming language)#Features and derivatives|ev3_scratch]]
|
|
|{{Yes}}
|{{No}}
|{{Yes}}
| [[Scratch (programming language)]]
| Code runs in the browser relaying commands to EV3 robot over [[Bluetooth]]
|
|- 
| FLL NXT Navigation
|
|{{Yes}}
|
|
|
| Uses NXT-G and .txt files
|
|
|-
| [[GNU Compiler Collection]] (GCC)
|
|
|
|
|
| [[C (programming language)|C]], [[C++]], [[Objective-C]], [[Fortran]], Java, Ada, others
|
|
|-
| Gnikrap
| {{No}}
| {{No}}
| {{Yes}}
| {{Yes}}
| {{Yes}}
| [[JavaScript]], [[Scratch (programming language)|Scratch]]-like programming
| 
| [https://jbenech.github.io/gnikrap/ website]
|-
| GNU Toolchain for h8300
|
|
|
|
|
| C, C++, [[Assembly language]] (ASM)
|
|
|-
|HVM
|
|
|{{Yes}}
|
|
|Development environment for the [[Java (programming language)|Java]] language for the Mindstorms EV3, Eclipse-based
|Works with Java 1.7; works with standard Lego firmware; needs no microSD card; needs a wireless bluetooth dongle for the EV3
|[http://www.icelab.dk/ website]
|-
|Interactive C
|
|
|
|
|
|C-style language
|Language developed for the MIT Lego Robot Design Contest
|
|-
| jaraco.nxt
|
|{{Yes}}
|
|
|{{Yes}}
| [[Python (programming language)|Python]]
| Python modules providing low-level interfaces for controlling a Lego NXT brick via Bluetooth; includes code to control motors with an Xbox 360 controller using pyglet
|
|-
| [[LabVIEW]]
|
|{{Yes}}
|{{Yes}}
|{{Yes}}
|{{Yes}}
| National Instruments [[LabVIEW]] [[visual programming language]] (G code)
| Core language used to develop Mindstorms NXT software, and is language for EV3; available add-on kit can be used to create and download programs to NXT and create original NXT blocks or control robots directly via [[USB]] or [[Bluetooth]] using NXT fantom.dll
|
|-
|Lego Mindstorms EV3 API for [[.NET]]
|{{No}}
|{{No}}
|{{Yes}}
|{{No}}
|{{Yes}}
|.NET, WinJS and C++
|[[.NET]] API for the Lego Mindstorms EV3 brick, usable from desktop, Windows Phone, and WinRT; can connect, control, and read sensor data from Lego EV3 bricks over Bluetooth, [[Wi-Fi]], or USB
|[https://robogenius.in/shop/ website] {{Webarchive|url=https://web.archive.org/web/20170922211045/https://robogenius.in/shop/ |date=22 September 2017 }}
|-
| Lego.NET
|
|
|
|
|
| Anything that can compile to [[Common Intermediate Language|CIL]], works best with [[C Sharp (programming language)|C#]]
| Includes no compiler, converts CIL to [[machine code]]
|
|-
| Lego::NXT
|
|{{Yes}}
|
|{{No}}
|{{Yes}}
| [[Perl]]
| Set of Perl modules providing [[real-time computing]] low-level control of a Lego NXT brick over Bluetooth
|
|-
| LegoLog
|
|
|
|
|
| [[Prolog]]
| Uses an NQC program to interpret commands send from the PC running the Prolog code
|
|-
| LegoNXTRemote
|
|{{Yes}}
|
|{{No}}
|{{Yes}}
| Objective-C
| Remote control program for remotely operating and programming a Lego NXT Brick. Supports NXT 2.0 and 1.0, sensors, all 3 motors, automatic "steering" control, and running preloaded programs.
|
|-
| [[leJOS]]
|{{Yes}}
|{{Yes}}
|{{Yes}}
|{{Yes}}
|{{Yes}}
| [[Java (programming language)|Java]]
| A java based system for advanced programmers can handle most sensors and things like GPS, speech recognition and mapping technology. Can be interfaced with the [[Eclipse (software)|Eclipse]] IDE or run from the command line
|
|-
| Lestat
|
|
|
|
|
| C++
| Allows controlling the NXT directly from any C++ program in Linux
|
|-
| librcx
|
|
|
|
|
| C/C++
| [[Library (computing)|Library]] for [[GNU Compiler Collection]] (GCC)
|
|-
| Logitech SDK
|
|
|
|
|
| [[Visual Basic]], [[Visual C++]]
| Can be combined with an RCX control library such as spirit.ocx from the MindStorms SDK to make use of the Lego Cam
|
|-
| Microsoft Visual Programming Language (VPL)
|
|{{Yes}}
|
|{{No}}
|{{Yes}}
| Graphical flowchart, based on [[.NET]]
| With the [[Microsoft Robotics Studio]], it uses a native NXT program ''msrs'' to send and receive messages to and from a controlling program on a computer via Bluetooth
|
|-
| Mindstorms SDK
|
|
|
|
|
| Visual Basic, Visual C++, MindScript, LASM
| Does not need VB to use the VB features as MS Office comes with a cut down version of VB to make macros
|
|-
|Monobrick
|
|
|{{Yes}}
|{{Yes}}
|{{Yes}}
|C#
|[[.NET]] 4.5. Firmware running from SD card.
|[http://www.monobrick.dk/ website]
|-
| NQC
|{{Yes}}
|
|
|{{Yes}}
|
| NQC, a C-like language
| 
|
|-
| NXT++
|
|
|
|
|
| C++
| Allows controlling the NXT directly from any C++ program, in Visual Studio, Windows.
|
|-
| NXT_Python
|
|{{Yes}}
|
|{{No}}
|{{Yes}}
| [[Python (programming language)|Python]]
| Package to control a Lego NXT robot using Python language; can communicate via USB or Bluetooth
|
|-
| NXT-Python
|
|{{Yes}}
|
|{{No}}
|{{Yes}}
| [[Python (programming language)|Python]]
| Based on NXT_Python, includes added advanced features, support for around 30 sensors, and multiple brick connection backends. Works on Windows, Linux, Mac.
|
|-
| NXTGCC
|
|
|
|
|
| [[Assembly language|Assembly]], [[C (programming language)|C]], makefiles, [[Eclipse (software)|Eclipse]], etc.
| The first GCC toolchain for programming the Lego Mindstorms NXT firmware.
|
|-
| [[nxtOSEK]]
|
|
|
|
|
| [[C (programming language)|C]], [[C++]]
|
|
|-
| [[OCaml]]-mindstorm
|
|
|
|
|
| [[OCaml]]
| Module to control Lego NXT robots using OCaml through the Bluetooth and USB interfaces.
|
|-
| OnScreen
|
|
|
|
|
| A custom language which can be programmed directly on the RCX
|
|
|-
| pbForth
|{{Yes}}
|
|
|
|
| [[Forth (programming language)|Forth]]
|Discontinued
|
|-
|pbLua
|
|{{Yes}}
|
|
|
|API for the [[Lua (programming language)|Lua]] language for the Mindstorms NXT, text-based
|pBLua: ... is written in portable C, with minimal runtime requirements; can be compiled on the fly on NXT; is a small, easy to read, and easy to write language; has extensive documentation available online and in dead-tree format, and a very friendly newsgroup
|[https://web.archive.org/web/20160129011601/http://hempeldesigngroup.com/lego/pbLua/ website]
|-
| PBrickDev
|
|
|
|
|
| PBrickDev, a flowchart based language
| Has more function than the RIS language, such as datalogs and subroutines, multithreading
|
|-
| PRO-BOT
|
|
|
|
|
| A kind of Visual Basic/spirit.ocx-based language
| Designed for robots which are in contact with the workstation at all times
|
|-
| Processing
|
|{{Yes}}
|
|
|
| Java (simplified, programmed C-style)
| [[Processing (programming language)|Processing]] is an open source language and environment to program images, animation, and interactions. It is used by students, artists, designers, researchers, and hobbyists for learning, prototyping, and production; the NXTComm Processing library developed by Jorge Cardoso can control the NXT with Processing
|
|-
| QuiteC
|
|
|
|
|
| C
| [[Library (computing)|Library]] for use with [[GNU Compiler Collection]], comes with GCC for Windows
|
|-
| RCX Code
|{{Yes}}
|
|
|
|
| RCX Code, a custom flowchart-based language
| Included in the Mindstorms consumer version sold at toystore
|
|-
| ROBOLAB
|{{Yes}}
|
|
|
|
| A flowchart language based on LabVIEW
| This is the programming environment offered to schools who use MindStorms, supports the Lego Cam. The programming structure simulates a flowchart design structure almost icon by icon. Therefore, it helps users a great deal in terms of translating from a flowchart design to Robolab icons. 
|
|-
| [[RoboMind]]
|
|
|
|
|
| Simple educational scripting language available from Arabic to Ukrainian.
| The RoboMind learning environment allows to quickly develop and test scripts for a virtual robot environment. The scripts can then directly be transferred to a Lego Mindstorms NXT robot. It works on the standard firmware.
|
|-
| RoboRealm
|
|
|
|
|
| A multi-platform language that works with IRobot Roomba, NXT, RCX, VEX, and many other popular robotic sets; can also process video using a webcam, this gives a robot excellent vision since it can filter out certain colors, lock-on to a certain area of color, display variables from the robot or computer, and much more; software works with keyboard, joystick, mouse
|
|
|-
|Robot JavaScript
|
|{{No}}
|{{Yes}}
|{{Yes}}
|{{Yes}}
|JavaScript
|A compiler that compiles JavaScript code for EV3 robots. Includes syntax highlighting, code sharing, over 100 example programs, and verbose compiler messages. Object oriented language. Free.
|[https://RobotJavaScript.com website]
|-
| [[ROBOTC]]
|{{Yes}}
|{{Yes}}
|{{Yes}}
|{{Yes}}
|
| [[Integrated development environment]] for students, used to program and control [[Lego Mindstorms NXT|Lego NXT]], [[Vex Robotics Design System|VEX]], [[#RCX|RCX]] and Arduino robots using a language based on [[C (programming language)|C]] language
| ROBOTC gives ability to use a text-based language based on C language; includes built-in debugger tools, (but not limited to) code templates, math/trigonometry operations (sin, cos, tan, asin, acos... etc.), user-friendly auto-complete function built into the interface, built-in sample programs. This deserves a special note for its debugging tool; a good debugging tool is very important; of robotics programming languages which support Mindstorms platform, RobotC's debugging environment is noteworthy, but is not free
|
|-
| Robotics.NXT
|
|{{Yes}}
|
|
|{{Yes}}
| [[Haskell]]
| Haskell interface over Bluetooth; supports direct commands, messages, and many sensors (also unofficial), and a simple message-based control of a NXT brick via remotely executed program (basic NXC code included)
|
|-
| [[Robot Operating System]] (ROS)
|
|
|
|
|
| A [[Linux]] based [[Library (computing)|library]] for writing robots; the stack <code>nxt</code> provides interface with the NXT
|
|
|-
| ruby-nxt
|
|{{Yes}}
|
|
|{{Yes}}
| [[Ruby (programming language)|Ruby]]
| Provides low-level access to the NXT via Bluetooth and some preliminary high-level function
|
|-
| RWTH – Mindstorms NXT Toolbox
|
|{{Yes}}
|
|
|{{Yes}}
| [[MATLAB]]
| Interface to control the NXT from MATLAB via Bluetooth or USB; open-source
|
|-
| Simulink (Lego Mindstorms NXT Support)
|
|{{Yes}}
|
|
|
| [[Simulink]]
| Provides a one-click [[rapid application development]] (RAD) tool for the NXT; C code is automatically generated from a graphical Simulink model; code is then deployed and downloaded onto the NXT, from where it can be run; the Mathworks provides an array of graphical blocks that represent various sensors and actuators that the NXT uses
|
|-
| SqLego
|
|
|
|
|
| [[Squeak]]
|
|
|-
| [[Swift (programming language)|Swift]], Robotary
|
|
|{{Yes}}
|{{Yes}}
|
|[[Swift (programming language)|Swift]]
|Robotary is a Mac robotics studio that uses the Swift language
|[https://robotaryapp.com website] {{Webarchive|url=https://web.archive.org/web/20160913100611/https://robotaryapp.com/ |date=13 September 2016 }}
|-
| TclRCX
|{{Yes}}
|
|
|
|
| [[Tcl]]
|
|
|-
| Terrapin Logo
|
|
|
|
|
| [[Logo (programming language)|Logo]]
|
|
|-
| TinySoar
|
|
|
|
|
| [[Soar (cognitive architecture)|Soar]]
| An implementation of the Soar artificial intelligence architecture that runs on the RCX brick; Soar incorporates acting, planning, and learning in a rule-based framework
|
|-
| TinyVM
|{{Yes}}
|
|
|
|
| Java
| A predecessor to the lejos language. An open source [[Java (programming language)|Java]] based replacement firmware for the Lego Mindstorms RCX microcontroller.
|
|-
| Transterpreter (The)
|
|
|
|
|
| [[Occam (programming language)|Occam]]
|
|
|-
| TuxMinds
|
|
|
|
|
| (Linux) GUI for various distributions, an open source IDE based on Qt. Supports a lot of bots. RCX, NXT and Asuro are predefined.
| With the XML-based configuration file almost any kind of bot (or microcontroller) can be added. Own equipment can be added in the same manner.
|
|-
| [[URBI]] by Gostai for [[Lego Mindstorms NXT]]
|
|
|
|
|
| [[URBI]], C++, Java, Matlab
| Easy to use parallel and event-driven script language with a component architecture and opensource interfaces to many programming languages. It also offers voice/speech recognition/synthesis, face recognition/detection, [[Simultaneous localization and mapping]], etc.
|
|-
| Vision Command
|{{Yes}}
|
|
|
|
| RCX Code
| Official language for use with the Lego Cam, allows control of robots with color, motion, and light flashes
|
|-
| XS
|
|
|
|
|
| [[Lisp (programming language)|Lisp]]
|
|
|-
|}
{{sticky table end}}

== Use in education ==
[[File:Robotics_Camp_2018_(41276792080).jpg|thumb|A Mindstorms EV3 robot is used to navigate a First Lego League (FLL) course as part of a summer camp.]]
Mindstorms kits are also sold and used as an educational tool, originally through a partnership between Lego and the [[MIT Media Laboratory]].<ref name="mit_2005">{{cite web|url=http://lcs.www.media.mit.edu/groups/el/projects/programmable-brick/|title=The MIT Programmable Brick|date=13 February 1998|work=Epistemology and Learning Group|publisher=Massachusetts Institute of Technology|archive-url=https://web.archive.org/web/20051025132815/http://lcs.www.media.mit.edu/groups/el/projects/programmable-brick/|archive-date=2005-10-25|access-date=1 October 2013}}</ref><ref>{{cite web|url=http://llk.media.mit.edu/projects.php?id=135|title=Programmable Bricks|work=Projects|publisher=MIT Media Lab|archive-url=https://web.archive.org/web/20131021090205/http://llk.media.mit.edu/projects.php?id=135|archive-date=2013-10-21|access-date=2008-12-03}}</ref> The educational version of the products is called ''Mindstorms for Schools'' or ''Mindstorms Education'', and later versions come with the ROBOLAB [[graphical user interface|GUI]]-based programming software, developed at [[Tufts University]]<ref name="tufts_robolab">{{cite journal |last1=Erwin |first1=Ben |last2=Cyr |first2=Martha |last3=Rogers |first3=Chris |year=2000 |title=Lego Engineer and RoboLab: Teaching Engineering with LabVIEW from Kindergarten to Graduate School |url=http://ceeo.tufts.edu/documents/journal/1999bemccr.pdf |journal=International Journal of Engineering Education |volume=16 |issue=3 |pages=181–192 |quote=For the past 6 years, faculty members at Tufts University have developed two different software packages between LabVIEW and Lego data acquisition systems. These packages allow us to teach engineering with both Lego bricks and LabVIEW to students from 5 to 50 years old. The versatility of the hardware and software allow a wide variety of possibilities in what students can build and program, from robots and remote sensing devices to kinetic sculptures. As students design and build their projects, they are motivated to learn the math and science needed to optimize their project. Both college students and kindergartners respond to this motivator. In the paper, we explain how we designed software to complement these projects in allowing automation and animation. The software uses LabVIEW, extending its capabilities to kindergartners and Lego bricks. Finally, we will show how we have used LabVIEW and Lego data acquisition to teach elementary school science, freshman engineering, instrumentation and experimentation, and how college seniors and graduate students have used both the hardware and software to solve various data acquisition problems |access-date=1 October 2013 |url-status=live |archive-url=https://web.archive.org/web/20130923180829/http://ceeo.tufts.edu/documents/journal/1999bemccr.pdf |archive-date=23 September 2013}}</ref> using the [[National Instruments]] [[LabVIEW]] as an engine.

==Use in Competition==
[[File:NXTcomp.jpg|thumb|A poster presentation from First Lego League (FLL)]]

Due to its user friendliness towards children, Lego Mindstorms has been used as a platform for several child-oriented robotics competitions, most prominently the [[FIRST Lego League]] (FLL), but also [[World Robot Olympiad]] or [[Robocup Junior]]<ref>{{ cite web | url=http://legolab.daimi.au.dk/Publications/pdf/RoboCupJr_screen.pdf | last1 = Lund | first1 = Henrik Hautop | last2 = Pagliarini | first2 = Luigi | title = RoboCup Jr. with LEGO Mindstorms | publisher=Proceedings of International Conference on Robotics and Automation (ICRA2000), New Jersey: IEEE Press, 2000 | accessdate=2013-07-09}}</ref>

[[FIRST Lego League Challenge]] (founded as FIRST Lego League) is a robotics competition that uses Lego Mindstorms products.{{efn|Lego Education's SPIKE sets are also allowed. SPIKE is the only brand of robotics kits sold by Lego following the discontinuation of the Mindstorms Brand in 2022; but any generation of Lego Mindstorms can be used in FLL.<ref name="FLLTech">{{cite web |title=Technical Resources |url=https://www.firstinspires.org/resource-library/fll/challenge/technical-resources |website=FIRST Inspires |date=19 October 2015 |publisher=FIRST |access-date=5 November 2023}}</ref>}} It was founded in 1998 concurrent with the launch of LEGO Mindstorms and continues to exist to this day. It is a collaboration between [[For Inspiration and Recognition of Science and Technology|FIRST]] and [[The Lego Group]] to involve a lower age bracket than the [[FIRST Robotics Competition]].<ref name="39years" /> FLL teams consist of children between the ages of 9 and 14, and an adult coach.

== See also ==
* [[FIRST Lego League]]
* [[World Robot Olympiad]] (WRO)
* [[Robofest]]
* [[FIRST Tech Challenge]]
* [[RoboCup Junior]]
* [[Lego Education]] (WeDo 2.0)
* [[Big Trak]]
* [[iRobot Create]]
* [[Robotis Bioloid]]
* [[The Robotic Workshop]]
* [[Robotics suite]]
* [[C-STEM Studio]]
* [[Botball]]
* [[CubeStormer II]]
* [[Cubestormer 3]]
* [[Arduino]]
* [[DIY Kindle Scanner]]

==Notes==
{{Notelist}}

== References ==
{{Reflist}}

== Further reading ==
* Bagnall, Brian. ''Maximum Lego NXT: Building Robots with Java Brains''. Variant Press. 2007. {{ISBN|0-9738649-1-5}}.
* Bagnall, Brian. ''Core Lego Mindstorms''. Prentice-Hall PTR. 2002. {{ISBN|0-13-009364-5}}.
* Baum, Dave. ''Definitive Guide to Lego Mindstorms'', 2nd ed. Apress. 2002. {{ISBN|1-59059-063-5}}.
* Erwin, Benjamin. ''Creative Projects with Lego Mindstorms'' (book and CD-ROM). Addison-Wesley. 2001. {{ISBN|0-201-70895-7}}.
* Ferrari et al. ''Building Robots with Lego Mindstorms: The Ultimate Tool for Mindstorms Maniacs''. Syngress. 2001. {{ISBN|1-928994-67-9}}.
* Gindling, J., A. Ioannidou, J. Loh, O. Lokkebo, and A. Repenning., "[http://www.cs.colorado.edu/~ralex/papers/PDF/VL95-LEGOsheets.pdf Legosheets: A Rule-Based Programming, Simulation and Manipulation Environment for the Lego Programmable Brick]", ''Proceeding of Visual Languages'', Darmstadt, Germany, IEEE Computer Society Press, 1995, pp.&nbsp;172–179.
* Breña Moral, Juan Antonio. ''[http://www.juanantonio.info/lejos-ebook/ Develop LeJOS programs Step by Step]''.

== External links ==
{{Commons category|Lego Mindstorms}}
* {{Official website|www.lego.com/themes/mindstorms/about}}
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