Nxt lego remote (appinventor.ai_anuckolls8.nxtlegoremote) on Google Play

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Control your lego mindstorm robot via Bluetooth. Unlike most apps this uses a accelerometer to control your robot. Get feedback of how much power is being applied to each motor (C and B).All you need to do is connect your NXT to your phones bluetooth. Launch the app. Then press connect. Before you know it you will be driving your robot by the movements of your phone.