About:
NXT_USB is a C++ library used to control a LEGO Mindstorms NXT robot over a USB device.

Reqirements:
1.  This code can be used only on a Linux distribution with root access.  Remember to run any software utilizing this code as root.
2.  libusb: http://libusb.sourceforge.net/

Instructions:

Download libusb from:
http://sourceforge.net/project/downloading.php?groupname=libusb&filename=libusb-0.1.12.tar.gz&use_mirror=internap

Then run:
tar zxvf libusb-0.1.12.tar.gz
cd libusb-0.1.12/
./configure CFLAGS=-funsigned-char --prefix=<your libusb directory> --exec-prefix=<your libsub directory>
make
make install

Then add the libusb directory to your $LD_LIBRARY_PATH variable.

The simplest way to use NXT_USB is to keep the four NXT_USB files (NXT_USB.h, NXT_USB.cxx, NXT_USB_linux.h, and NXT_USB_linux.cxx) in the same directory as your program.  Simply #include "NXT_USB.h" and compile as usual.

Contact information:
I would be more than happy to reply to any questions and comments emailed to dpace@bwh.harvard.edu.