brickOS is an open-source operating system created by Markus Noga as firmware to operate as an alternative software environment for the Lego Mindstorms Robotic Invention System [14]. brickOS is the first open-source software made for Lego Mindstorms robots. It is embedded with a C/C++-based and a Java-based environment for RCX program through utilizing g++ and jack toolchain. It uses a Hitachi H8 cross compiler assembler as its primary toolchain. The operating system comprises demonstration programs implemented in C and C++ and an alternative operating system for the Lego Mindstorms. It provides users with utilities that allows them to download compiled programs and install the operating system for RCX. Features BrickOS was designed and developed using Linux as a replacement for the previous operating system for Lego Mindstorms, which is also known as LegOS. It is capable of being implemented on the Windows system and most Unices [6]. It allows for a more flexible and higher performances system that is much superior to LegOS [3]. The current version of the system's main features includes [3]: BrickOS programs are executed natively instead of interpreted bytes code [12] like that of a standard firmware which in terms makes the program faster. BrickOS is flexible with controlling outputs [2], for instance, it can alter 255 value of motor speed. Another feature is that brickOS contains a LegOS Network Protocol (LNP) which allows for more than one driver to communicate. This protocol will broadcast message to any RCXs component within the receiving area. By adding layers to the command, the message can filter out the recipient to arrive at the addressed RCX. BrickOS provides a development environment that allows users to freely implement the provided RCX drivers, such as sensors and motors, using C or C++ programming languages. It can be used alongside libre simulators LegoSim and Emmulegos, which provide graphical interfaces to create a virtual machine that eases the users in the debugging process. The success of the system is built upon the community that constructed it. The system library and resources at any moment can be modified and updated freely with new functionalities and solutions from the programming community, separating the system from the limited tools provided by the manufacturer. With the help of the Internet, solutions are made accessible to everyone. Application Robotics The implementation of robots has become a crucial asset in this current industrial world. In robotics, libre software (or