.TH LEGOCTL 1
.SH NAME    \" Section header
.PP
 
legoctl - Lego robot communication and control utility

\" Underline anything that is typed verbatim - commands, etc.
.SH SYNOPSIS
.PP
.nf 
.na 
legoctl [flags] command [arguments]
    
Enter "legoctl" with no arguments for a brief list of flags.
.ad
.fi

\" Optional sections
.SH "PURPOSE"

The
.B legoctl
command is a utility for communicating with and controlling Lego robotics
bricks, such as the RCX, and NXT.

.SH "DESCRIPTION"

.B Legoctl
is used to perform basic operations such as uploading files, displaying
status information about the brick, starting and stopping programs, etc.

.B Legoctl
is based on the Lego Control library (-llegoctl), and is intended to
run on all POSIX compatible platforms.  It was developed under FreeBSD,
and is also known to work on Mac OS X.

Since the default security settings of most Unix systems are fairly
restrictive, it may be necessary to adjust device permissions to allow
non root users to use
.B legoctl.

On FreeBSD 5.x and later, this requires altering the
.B devfs
configuration.

For Lego NXT USB devices, the simplest solution (for those who aren't
concerned about the security of their USB devices) is adding the following
lines to /etc/devfs.rules:

.nf
.na
    add path 'ugen*' mode 666 group operator
    add path 'usb*' mode 666 group operator
.ad
.fi

and then running

.nf
.na
    /etc/rc.d/devfs restart
.ad
.fi

USB device nodes are created according to these rules when the device
is plugged in.
Note that these rules make all generic USB devices writable to all users.
Adjust the rules according to your security needs, or use an alternative
strategy such as usbd.conf.

For static devices (i.e. those created at boot time) on FreeBSD, use chmod
to change the permissions on /dev/cuaa*, and edit /etc/defvs.conf to
make the changes survive the next reboot.
For RCX serial devices, the following rules would do the trick:

.nf
.na
    perm    /dev/cuaa0  0666
    perm    /dev/cuaa1  0666
.ad
.fi

Note again that these rules make all serial devices plugged into com1 and
com2 writable to all users.  Consider the consequences before setting up
such rules.

.SH FILES
.nf
.na
/dev/usb*, /dev/ugen*, /etc/devfs.conf, /etc/devfs.rules, /etc/usbd.conf
.ad
.fi

.SH ENVIRONMENT
There are currently no environment setting that directly affect
.B legoctl.
.nf
.na
.ad
.fi

.SH "SEE ALSO"
nbc, nxc, nqc

.SH BUGS
Many commands are not yet implemented.

.SH AUTHOR
.nf
.na
Jason W. Bacon