Love the way this is written with "questions" interspersed throughout to explain more about the steps taken. Adds good context that makes it very easy to follow.

Oh man, I had both the NXT and the original Mindstorms Lego robotics kit as a kid, brings back so many memories. I mostly made robots that tried to chase the cat around while trying to avoid falling down the stairs (half the time unsuccessfully). I even tried at one point using Java to develop programs for them, as there was a small community of people doing so online, and even some books at the local library.

Reading this article provides some great insights into the innards of the NXT which I never knew of back them (and probably also could not entirely comprehend back when I was young). This article also reminded me that I still have the NXT and all the parts sitting around in a box somewhere; maybe I should try and dig them out and make something with them, though I don't have any ideas for what I should make exactly.

Neat article, well written, and easy to understand (mostly) by a non-embedded engineer.