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Cell[CellGroupData[{
Cell[TextData[{
 "Controling the NXT from within ",
 StyleBox["Mathematica:",
  FontSlant->"Italic"],
 " First steps."
}], "Title",
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Cell["A How-to guide.", "Subsubtitle",
 CellChangeTimes->{{3.524778253109375*^9, 3.5247782618125*^9}}],

Cell[CellGroupData[{

Cell["The first time you connext a NXT to this computer", "Section",
 CellChangeTimes->{{3.5247732335625*^9, 3.524773235*^9}, {
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Cell["First step", "Subsection",
 CellChangeTimes->{{3.52518638534375*^9, 3.525186386859375*^9}}],

Cell[TextData[{
 "If not already done, copy the package SerialIO in one directory used by ",
 StyleBox["Mathematica",
  FontSlant->"Italic"],
 ", e.g. C:\\Program Files\\Wolfram \
Research\\Mathematica\\7.0\\AddOns\\Packages. Rename the program SerialIO \
found in Microsoft as SerialIO.exe, so that it can run on your operating \
system."
}], "Text",
 CellChangeTimes->{{3.524773248515625*^9, 3.5247733374375*^9}}]
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Cell[CellGroupData[{

Cell["Second step", "Subsection",
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Cell["\<\
Turn on the NXT, activate Bluetooth using the Settings option. On your PC, \
open the Bluetooth panel and look for devices. Find the NXT device, and \
activate a connection, choose the DEV service offered by the NXT (the only \
service anyway). If you need an appariement code, use the default of the NXT, \
\"1234\". The connection should be established and a virtual communication \
(COM) port created.\
\>", "Text",
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Cell[CellGroupData[{

Cell["Third step", "Subsection",
 CellChangeTimes->{{3.52477354634375*^9, 3.5247735503125*^9}, {
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Cell["\<\
Get the port number used to communicate between the computer and the NXT. It \
is written between parenthesis in the Bluetooth panel (e.g. \"COM12\"). \
Alternativaly, on Windows, you can go to Accesories/System tools/System \
information. To to the section Summary/Components/Port/Serial. The com ports \
currently in used are listed there with their properties. The port number is \
arbitrary but will remains constant for that NXT and that computer. You can \
now close the connection (disconnect).\
\>", "Text",
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}, Open  ]],

Cell[CellGroupData[{

Cell[TextData[{
 "Connecting ",
 StyleBox["Mathematica",
  FontSlant->"Italic"],
 " to a NXT"
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Cell[CellGroupData[{

Cell["First step: Load a Serial communication package", "Subsection",
 CellChangeTimes->{{3.525186484671875*^9, 3.52518648596875*^9}, {
  3.52518663425*^9, 3.525186643203125*^9}}],

Cell[TextData[{
 "In ",
 StyleBox["Mathematica",
  FontSlant->"Italic"],
 ", you must start the package that can communicate with the serial ports of \
your computer, SerialIO, installed above:"
}], "Text",
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Cell["\<\
This program needs to start the .exe relevant to you computer that will \
handle the communications. When the \[OpenCurlyDoubleQuote]Choose a mathlink \
program to start\[CloseCurlyDoubleQuote] dialog appears, locate the program \
corresponding to your operation system under the SerialIO folder.\
\>", "Text",
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Cell["To know what commands are available from this package, use", "Text",
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Cell[CellGroupData[{

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Cell["\<\
Sadly, the author of this package hasn't provided any usage information with \
these commands:\
\>", "Text",
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Cell["\<\
All these commands works on characters. If a number is sent, it is first \
converted into an expression, then each individual character of that \
expressions are sent. The letter, coded with the ASCII character encoding \
(0..255) is sent by is numeric position in the ASCII standard. For example, \
when you send the letter A, you send its code, 65, as a byte\
\[CloseCurlyDoubleQuote]\
\>", "Text",
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Cell[BoxData[
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 CellChangeTimes->{3.527720591074296*^9}]
}, Open  ]],

Cell["\<\
All these commands have an internal timeout (default 10 seconds) in case the \
connection is broken or you are attempting to read from the brick when it isn\
\[CloseCurlyQuote]t sending information.\
\>", "Text",
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Cell["Second step: Establish a connection", "Subsection",
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Cell["You are ready to use the brick! Start a link:", "Text",
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Cell["\<\
SerialOpen returns an object \"SerialPort\". It is used in all SerialIO \
commands. Don't forget to close the link when finished (see below).\
\>", "Text",
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Cell["\<\
If you go on the \"Status\" (left click) of the bluetooth connection, you \
will see the number of bytes sent and received.\
\>", "Text",
 CellChangeTimes->{{3.52478005128125*^9, 3.524780086890625*^9}}],

Cell["\<\
This should ckeck that the serial port is working, but does not seems to be \
working...:\
\>", "Text",
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Cell["Third step: Send commands to the NXT and receive replies", "Subsection",
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Cell["\<\
Control the brick by sending valid \[OpenCurlyDoubleQuote]direct commands\
\[CloseCurlyDoubleQuote]. One is PlayTone. It must be preceeded by the length \
of the message (here 6 bytes). (0x denotes a one byte information 0..255 \
whereas UWORD denotes a two-byte information).\
\>", "Text",
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Cell["\<\
From the Appendix 2 of the Mindstorm Bluetooth developer kit, to send a \
PlayTone direct command, send the following bytes, PRECEEDED by the length of \
the message UWORD (here 6):
\tbyte 0: 0x00 or 0x80
\tbyte 1: 0x03
\tbyte 2-3: frequency UWORD (between 200 and 14000)
\tbyte 4-5: duration UWORD in ms
If byte 0 is zero, a reply is expected PRECEEDED by the length of the \
returned message. For this command, the reply message is composed of three \
bytes:
\tbyte 0: 0x02
\tbyte 1: 0x03
\tbyte 2: status (0 if succeeded).
If byte 0 is 0x80 in your command, no reply is sent by the brick\
\>", "Text",
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Cell["\<\
In order to know the most significant and the least significant byte of a \
UWORD, use the following\
\>", "Text",
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