After comparing a number of options, I chose NXC as a pretty good alternative to Robot-C. It supports a lot of things like sensor and motor management, playing of sounds, basic 2D and 3D graphics, etc. Most importantly, you can compile your programs from the command line or from XCode. This tutorial assumes knowledge of XCode 4 and of C. The NXC programming guide is a good reference.
This tutorial provides a step-by-step guide for setting up your Mac or Linux machine and your NXT brick for development with NXC. We will use the enhanced NXC firmware in order to enable extended functions for development.
The main purpose of pyCreeper is to wrap tens of lines of python code, required to produce graphs that look good for a publication, into functions. It takes away your need to understand various quirks of matplotlib and gives you back ready-to-use and well-documented code.
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