The NXT platform has a rather limited number of inputs and outputs but we have extended these somewhat by using multiple NXT bricks as well as input and output multiplexers. (not shown)
The NXT hardware can be assembled and modified in much the same way that we assemble and modify system software. A good reference is: From Bricks to Brains, M. Dawson, et al, AU Press, 2010 (also available free electronically on line). My software is, of course, built around Asa H 2.0
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