jaraco.nxt /

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jaraco.nxt - LEGO Mindstorms NXT Bluetooth API in Python

Status and License

jaraco.nxt implements the LEGO Mindstorms NXT Bluetooth API in Python.

jaraco.nxt is written by Jason R. Coombs. It is licensed under an MIT-style permissive license.

You can install it with easy_install jaraco.nxt, or from the bitbucket repository with easy_install jaraco.nxt==dev.

The jaraco.nxt library also can take advantage of the jaraco input package. To include it as part of the install, use the command easy_install jaraco.nxt[input].

Getting Started

jaraco.nxt provides a message class for sending and receiving messages with the Lego NXT device. First pair the device with your PC by following the instructions included with the device. Then, determine the COM port to which it is connected. The hello world example is to retrieve the battery voltage. You can download the source for that example. You may also browse the other examples.

For more information, read the docstrings of the modules in the packages.

Modules of interest are

  • jaraco.nxt.messages: implements the messages defined by the NXT Bluetooth protocol.
  • jaraco.nxt.controller: demonstrates how to link input from a joystick to messages controlling the motors. Uses jaraco.input.



  • Fixed issue in discovery when PyBluez is not installed.
  • Added a writeTimeout to the device discovery.
  • Now requires pyserial 2.4 or later.
  • Fixed read_input example. Fixes #1.


  • Move to Mercurial repository and bitbucket hosting.
  • Added example of reading from a sensor port.


  • Bug fixes in messages.MessageWrite.


  • Added device discovery and support for Bluetooth Sockets using the PyBluez package.


  • Removed dependence on enum and jaraco.util


  • Added this documentation
  • Updated the project website to use PYPI directly.
  • Moved joystick functionality to its own project - jaraco.input


  • Updated dependency on jaraco.util, removing many secondary dependencies.


  • Initial release
  • Implements complete protocol
  • Includes support for XBox 360 controller on Windows