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So, thanks to Kirby00216 and Xander, I was able to create a simple program that can be launched on several NXT units at the same time, allowing to control multiple units over Bluetooth with a control pad connected to your PC. The program uses the unique ID of each NXT unit to allow unit-specific commands. In other words, you can control up to 7 NXT units at the same time this way, and each of them independently.

Video:

Control program & more: http://sariel.pl/2012/10/nxt-multiple-units-simple-control/

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