Difference between revisions of "Component: Formula AllCode API (AllCode)"

Latest revision as of 09:59, 12 August 2024

Author	Matrix Ltd
Version	1.2
Category	AllCode

Formula AllCode API component

A simulation only component to allow the Formula AllCode robot to be controlled via it's API interface and Bluetooth data connection without having to compile or re-program the robot.

Detailed description

No detailed description exists yet for this component

Examples

No additional examples

Macro reference

Backwards

	Backwards
Drives the robot backwards - waits for the distance to be traversed before returning
- UINT	Distance
Distance in mm
- VOID	Return

CardBitmap

	CardBitmap
Displays a monochrome bitmap read from the card on the LCD
- BYTE	X
Range 0-127
- BYTE	Y
Range 0-31
- STRING	Filename

- BYTE	Return

CardCreate

	CardCreate
Attempts to create a file on the SD card 255=Error, 1=File Already Exists, 0=Create OK
- STRING	Filename

- BYTE	Return

CardErase

	CardErase
Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK
- STRING	Filename

- BYTE	Return

CardInit

	CardInit
Attempts to startup the SD card 255=No Card, 254=Init Fail, 0=Init OK
- BYTE	Return

CardOpen

	CardOpen
Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK
- STRING	Filename

- BYTE	Return

CardPlayback

	CardPlayback
Plays back a .Wav file audio stream from the card
- STRING	Filename

- BYTE	Return

CardReadByte

	CardReadByte
Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end
- BYTE	Return

CardRecordMic

	CardRecordMic
Records an audio stream on the card from the microphone
- BYTE	BitDepth
0=8-bit, 1=16-bit
- BYTE	SampleRate
Sample Rate 0=8KHz, 1=16KHz
- UINT	RecordTime
Time to record for in seconds, Range 0-65535
- STRING	Filename

- BYTE	Return

CardWriteByte

	CardWriteByte
Appends a byte to the end of the currently open file
- BYTE	Data

- VOID	Return

EncoderRead

	EncoderRead
Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit.
- BYTE	index
0=Left, 1=Right
- UINT	Return

EncoderReset

	EncoderReset
Resets the motor encoder counters
- VOID	Return

Forwards

	Forwards
Drives the robot forwards - waits for the distance to be traversed before returning
- UINT	Distance
Distance in mm
- VOID	Return

GetConsoleHandle

	GetConsoleHandle
Gets the handle to the console allowing data displaying on the panel etc.
- HANDLE	Return

GetProp

	GetProp
Allows the property filter for the COM port list to be copied to a parent component.
- STRING	PropName

- STRING	Return

LCDBacklight

	LCDBacklight
Allows the LCD backlight brighntess to be adjusted
- BYTE	Intensity
Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness
- VOID	Return

LCDClear

	LCDClear
Clears the LCD
- VOID	Return

LCDDrawLine

	LCDDrawLine
Allows a single pixel width line to be drawn on the LCD
- BYTE	X1
X Pixel 0-127
- BYTE	Y1
Y Pixel 0-31
- BYTE	X2
X Pixel 0-127
- BYTE	Y2
Y Pixel 0-31
- VOID	Return

LCDDrawPixel

	LCDDrawPixel
Allows a single pixel on the LCD to be set or cleared
- BYTE	X
X Pixel 0-127
- BYTE	Y
Y Pixel 0-31
- BYTE	State
0=White (Off), 1=Black (On)
- VOID	Return

LCDDrawRect

	LCDDrawRect
Allows a rectangle to be drawn on the LCD
- BYTE	X1
X Pixel 0-127
- BYTE	Y1
Y Pixel 0-31
- BYTE	X2
X Pixel 0-127
- BYTE	Y2
Y Pixel 0-31
- VOID	Return

LCDPrintNumber

	LCDPrintNumber
Prints a 16-bit signed number to the LCD
- BYTE	X
X Pixel 0-127
- BYTE	Y
LCD Y coordinate 0-31
- INT	Number
Range -32768 to 32767
- VOID	Return

LCDPrintString

	LCDPrintString
Prints a string to the LCD
- BYTE	X
X Pixel 0-127
- BYTE	Y
LCD Y Coordinate 0-31
- STRING	Data

- VOID	Return

LCDVerbose

	LCDVerbose
Allows the LCD to automatically report the API commands as they get processed. Default - verbose on
- BYTE	State
0=Off 1=On
- VOID	Return

LEDOff

	LEDOff
Clears a single LED 0-7
- BYTE	index
Range: 0-7
- VOID	Return

LEDOn

	LEDOn
Sets a single LED 0-7
- BYTE	index
Range: 0-7
- VOID	Return

LEDWrite

	LEDWrite
Sets the value of the LEDs as an 8-bit output
- BYTE	Value
LED value 0=All Off, 255 = All On
- VOID	Return

Left

	Left
Rotates the robot left - waits for the angle to be traversed before returning
- UINT	Angle
Angle to turn in degrees
- VOID	Return

PlayNote

	PlayNote
Plays a note using the speaker on the FA
- UINT	Note
Range 1 to 65535 in Hz
- UINT	Delay
Number of milliseconds to play the note for
- VOID	Return

ReadAllSensors

	ReadAllSensors
Samples all of the robot's sensors at once, storing the values locally
- VOID	Return

ReadAllValue

	ReadAllValue
Reads a single value stored from the read all command Index dictates which sensor value to read
- BYTE	Index
0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel
- UINT	Return

ReadAxis

	ReadAxis
Reads a single X/Y/Z axis from the accelerometer sensor.
- BYTE	index
0=X, 1=Y, 2=Z
- INT	Return

ReadBearing

	ReadBearing
Reads the compass bearing based on the degrees clockwise from magnetic north.
- INT	Return

ReadIR

	ReadIR
Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft
- BYTE	index
0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft
- UINT	Return

ReadLight

	ReadLight
Reads the light sensor 0-4095 - 4095 = Max Brightness
- UINT	Return

ReadLine

	ReadLine
Reads one of the IR line sensors 0-1 0=Left, 1=Right
- BYTE	index
0=Left, 1=Right
- UINT	Return

ReadMic

	ReadMic
Reads the microphone sensor 0 - 4095
- UINT	Return

ReadSwitch

	ReadSwitch
Read the switch value
- BYTE	index
0 (left) or 1 (right)
- BYTE	Return

Right

	Right
Rotates the robot right - waits for the angle to be traversed before returning
- UINT	Angle
Angle to turn in degrees
- VOID	Return

SampleAccel

	SampleAccel
Samples the accelerometer 0 = no new data, 1 = new data available
- BYTE	Return

SampleMag

	SampleMag
Samples the magnetometer 0 = no new data, 1 = new data available
- BYTE	Return

ServoAutoMoveToPosition

	ServoAutoMoveToPosition
Allows one of the servo positions to move gradually to a new position
- BYTE	Channel
Range 0-3
- BYTE	Position
Range 0-255
- VOID	Return

ServoDisable

	ServoDisable
Allows one of the servo outputs 0-3 to be disabled
- BYTE	Channel
Range 0-3
- VOID	Return

ServoEnable

	ServoEnable
Allows one of the servo outputs 0-3 to be enabled
- BYTE	Channel
Range 0-3
- VOID	Return

ServoSetAutoMoveSpeed

	ServoSetAutoMoveSpeed
Changes the speed of the auto movements Default - 1
- BYTE	Speed
Range 1-50
- VOID	Return

ServoSetPosition

	ServoSetPosition
Allows one of the servo positions to be assigned
- BYTE	Channel
Range 0-3
- BYTE	Position
Range 0-255
- VOID	Return

SetLogoSpeed

	SetLogoSpeed
Sets the speed of logo movements
- BYTE	Speed
Logo Speed 1-100 - Default 40
- VOID	Return

SetMotors

	SetMotors
Sets the motor speeds without feedback Range -100 to 100
- INT	Left
Range -100 to 100
- INT	Right
Range -100 to 100
- VOID	Return

SetProp

	SetProp
Allows the COM port property to be set from a parent component.
- STRING	PropName

- ULONG	PropVal

- VOID	Return

Property reference

	Properties
	COM Port
Selects which port to communicate with, only lists ports which are currently available.
	Refresh COM Ports
When set to yes the COM port list is rescanned for newly connected or available ports. Note that refreshing the ports list may take a few seconds depending on the number of connected ports.
	Baud
Baud rate passed to the COM port to control the rate of data.
	Label

Component Source Code

Please click here to download the component source project: FC_Comp_Source_FormulaAllCode_API.fcsx

Please click here to view the component source code (Beta): FC_Comp_Source_FormulaAllCode_API.fcsx

@@ Line 15: / Line 15: @@
 A simulation only component to allow the Formula AllCode robot to be controlled via it's  API interface and Bluetooth data connection without having to compile or re-program the robot.
-==Component Source Code==
+==Detailed description==
-Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_FormulaAllCode_API.fcsx FC_Comp_Source_FormulaAllCode_API.fcsx]
-Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_FormulaAllCode_API.fcsx FC_Comp_Source_FormulaAllCode_API.fcsx]
-==Detailed description==
@@ Line 69: / Line 65: @@
-The COM port for the Formula AllCode can be set via the panel properties which can be exposed to the SCADA runtime user.
-===LED Control===
-Controls the LEDs on the Formula AllCode by collecting the analogue value of a potentiometer on the simulation panel and sending the value to the robot.
-{{Fcfile|LEDcontrol.fcfx|LED Control Example}}
-===Motor Control Using Keypad===
-Uses the keypad on the simulation panel to control the speed and direction of the motors. Key 2 drives the robot forwards, 8 drives backwards, 4 and 6 turn the robot on the spot.
-{{Fcfile|MotorControl.fcfx|Motor Control Example}}
-===Motor Control Using Joystick===
-A simple example showing how to drive the Formula AllCode robot around in API mode using a panel based joystick control.
-{{Fcfile|Formula_AllCode_Bluetooth.fcsx|Formula AllCode Bluetooth}}
-===Proximity Alarm===
-Reads the front IR sensor on the Formula AllCode from the Flowcode simulation. If a near object is sensed then the Flowcode simulation will speak the word "Hello" using the Speech component.
+''<span style="color:red;">No additional examples</span>''
-{{Fcfile|ProximityAlarm.fcfx|Proximity Alarm Example}}
-===Driving Simulation using the API component===
-An example showing how to use the API component to drive the Formula AllCode robot component on the simulation panel.
-{{Fcfile|FA_API_Sim_Demo.fcfx|FA API Sim Demo}}
-===JCB Bot Blog===
-Blog with example code showing how to drive the Formula AllCode robot using Key Mappings and how to add extra features such as a 3D printed cover and servo motors to operate a digger arm and bucket.
-[https://www.matrixtsl.com/blog/jcbbot-customising-the-formula-allcode-robot/ JCB Bot]
 ==Macro reference==
+===Backwards===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PlayNote'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Backwards'''
 |-
-| colspan="2" | Plays a note using the speaker on the FA&nbsp;
+| colspan="2" | Drives the robot backwards - waits for the distance to be traversed before returning&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Note
+| width="90%" | Distance
 |-
-| colspan="2" | Range 1 to 65535 in Hz&nbsp;
+| colspan="2" | Distance in mm&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Delay
-|-
-| colspan="2" | Number of milliseconds to play the note for&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 138: / Line 101: @@
+===CardBitmap===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardBitmap'''
 |-
-| colspan="2" | Sets a single LED 0-7&nbsp;
+| colspan="2" | Displays a monochrome bitmap read from the card on the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | Range: 0-7&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintString'''
-|-
-| colspan="2" | Prints a string to the LCD&nbsp;
 |-
 |-
@@ Line 167: / Line 113: @@
 | width="90%" | X
 |-
-| colspan="2" | X Pixel 0-127&nbsp;
+| colspan="2" | Range 0-127&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" | Y
 |-
-| colspan="2" | LCD Y Coordinate 0-31&nbsp;
+| colspan="2" | Range 0-31&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Data
+| width="90%" | Filename
 |-
 | colspan="2" | &nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===CardCreate===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLight'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardCreate'''
 |-
-| colspan="2" | Reads the light sensor 0-4095 - 4095 = Max Brightness&nbsp;
+| colspan="2" | Attempts to create a file on the SD card 255=Error, 1=File Already Exists, 0=Create OK&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | Filename
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===CardErase===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Right'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardErase'''
 |-
-| colspan="2" | Rotates the robot right - waits for the angle to be traversed before returning&nbsp;
+| colspan="2" | Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Angle
+| width="90%" | Filename
 |-
-| colspan="2" | Angle to turn in degrees&nbsp;
+| colspan="2" | &nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===CardInit===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLogoSpeed'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardInit'''
 |-
-| colspan="2" | Sets the speed of logo movements&nbsp;
+| colspan="2" | Attempts to startup the SD card  255=No Card, 254=Init Fail, 0=Init OK&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Speed
-|-
-| colspan="2" | Logo Speed 1-100 - Default 40&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===CardOpen===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllSensors'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardOpen'''
 |-
-| colspan="2" | Samples all of the robot's sensors at once, storing the values locally&nbsp;
+| colspan="2" | Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | Filename
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===CardPlayback===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SampleMag'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardPlayback'''
+|-
+| colspan="2" | Plays back a .Wav file audio stream from the card&nbsp;
+|-
 |-
-| colspan="2" | Samples the magnetometer 0 = no new data, 1 = new data available&nbsp;
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | Filename
 |-
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
@@ Line 259: / Line 220: @@
+===CardReadByte===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardCreate'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardReadByte'''
 |-
-| colspan="2" | Attempts to create a file on the SD card 255=Error, 1=File Already Exists, 0=Create OK&nbsp;
+| colspan="2" | Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
 |-
-| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
@@ Line 277: / Line 234: @@
+===CardRecordMic===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNumber'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardRecordMic'''
 |-
-| colspan="2" | Prints a 16-bit signed number to the LCD&nbsp;
+| colspan="2" | Records an audio stream on the card from the microphone&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
+| width="90%" | BitDepth
 |-
-| colspan="2" | X Pixel 0-127&nbsp;
+| colspan="2" | 0=8-bit, 1=16-bit&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
+| width="90%" | SampleRate
+|-
+| colspan="2" | Sample Rate 0=8KHz, 1=16KHz&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | RecordTime
 |-
-| colspan="2" | LCD Y coordinate 0-31&nbsp;
+| colspan="2" | Time to record for in seconds, Range 0-65535&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Number
+| width="90%" | Filename
 |-
-| colspan="2" | Range -32768 to 32767&nbsp;
+| colspan="2" | &nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===CardWriteByte===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardWriteByte'''
 |-
-| colspan="2" | Clears a single LED 0-7&nbsp;
+| colspan="2" | Appends a byte to the end of the currently open file &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
+| width="90%" | Data
 |-
-| colspan="2" | Range: 0-7&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 323: / Line 287: @@
+===EncoderRead===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderRead'''
 |-
-| colspan="2" | Sets the value of the LEDs as an 8-bit output&nbsp;
+| colspan="2" | Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Value
+| width="90%" | index
 |-
-| colspan="2" | LED value 0=All Off, 255 = All On&nbsp;
+| colspan="2" | 0=Left, 1=Right&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===EncoderReset===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAxis'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset'''
 |-
-| colspan="2" | Reads a single X/Y/Z axis from the accelerometer sensor. &nbsp;
+| colspan="2" | Resets the motor encoder counters&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" | index
-|-
-| colspan="2" | 0=X, 1=Y, 2=Z&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===Forwards===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetAutoMoveSpeed'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forwards'''
 |-
-| colspan="2" | Changes the speed of the auto movements  Default - 1&nbsp;
+| colspan="2" | Drives the robot forwards - waits for the distance to be traversed before returning&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Speed
+| width="90%" | Distance
 |-
-| colspan="2" | Range 1-50&nbsp;
+| colspan="2" | Distance in mm&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 377: / Line 339: @@
+===GetConsoleHandle===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardPlayback'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetConsoleHandle'''
 |-
-| colspan="2" | Plays back a .Wav file audio stream from the card&nbsp;
+| colspan="2" | Gets the handle to the console allowing data displaying on the panel etc.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-h32-icon.png]] - HANDLE
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===GetProp===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadMic'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetProp'''
+|-
+| colspan="2" | Allows the property filter for the COM port list to be copied to a parent component.&nbsp;
+|-
 |-
-| colspan="2" | Reads the microphone sensor 0 - 4095&nbsp;
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | PropName
 |-
+| colspan="2" | &nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===LCDBacklight===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
 |-
-| colspan="2" | Read the switch value&nbsp;
+| colspan="2" | Allows the LCD backlight brighntess to be adjusted&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
+| width="90%" | Intensity
 |-
-| colspan="2" | 0 (left) or 1 (right)&nbsp;
+| colspan="2" | Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===LCDClear===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SampleAccel'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
 |-
-| colspan="2" | Samples the accelerometer 0 = no new data, 1 = new data available&nbsp;
+| colspan="2" | Clears the LCD&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===LCDDrawLine===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Left'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
 |-
-| colspan="2" | Rotates the robot left - waits for the angle to be traversed before returning&nbsp;
+| colspan="2" | Allows a single pixel width line to be drawn on the LCD&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Angle
+| width="90%" | X1
 |-
-| colspan="2" | Angle to turn in degrees&nbsp;
+| colspan="2" | X Pixel 0-127&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
+| width="90%" | Y1
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| colspan="2" | Y Pixel 0-31&nbsp;
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIR'''
 |-
-| colspan="2" | Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight,  6=Rear, 7=RearLeft&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | X2
 |-
+| colspan="2" | X Pixel 0-127&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
+| width="90%" | Y2
 |-
-| colspan="2" | 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft&nbsp;
+| colspan="2" | Y Pixel 0-31&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===LCDDrawPixel===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
@@ Line 503: / Line 468: @@
+===LCDDrawRect===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetPosition'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawRect'''
 |-
-| colspan="2" | Allows one of the servo positions to be assigned&nbsp;
+| colspan="2" | Allows a rectangle to be drawn on the LCD&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
+| width="90%" | X1
 |-
-| colspan="2" | Range 0-3&nbsp;
+| colspan="2" | X Pixel 0-127&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Position
+| width="90%" | Y1
+|-
+| colspan="2" | Y Pixel 0-31&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | X2
+|-
+| colspan="2" | X Pixel 0-127&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Y2
 |-
-| colspan="2" | Range 0-255&nbsp;
+| colspan="2" | Y Pixel 0-31&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 526: / Line 502: @@
+===LCDPrintNumber===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardBitmap'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNumber'''
 |-
-| colspan="2" | Displays a monochrome bitmap read from the card on the LCD&nbsp;
+| colspan="2" | Prints a 16-bit signed number to the LCD&nbsp;
 |-
 |-
@@ Line 537: / Line 514: @@
 | width="90%" | X
 |-
-| colspan="2" | Range 0-127&nbsp;
+| colspan="2" | X Pixel 0-127&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" | Y
 |-
-| colspan="2" | Range 0-31&nbsp;
+| colspan="2" | LCD Y coordinate 0-31&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Filename
+| width="90%" | Number
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Range -32768 to 32767&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===LCDPrintString===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardRecordMic'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintString'''
 |-
-| colspan="2" | Records an audio stream on the card from the microphone&nbsp;
+| colspan="2" | Prints a string to the LCD&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | BitDepth
+| width="90%" | X
 |-
-| colspan="2" | 0=8-bit, 1=16-bit&nbsp;
+| colspan="2" | X Pixel 0-127&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | SampleRate
+| width="90%" | Y
 |-
-| colspan="2" | Sample Rate 0=8KHz, 1=16KHz&nbsp;
+| colspan="2" | LCD Y Coordinate 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | RecordTime
-|-
-| colspan="2" | Time to record for in seconds, Range 0-65535&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
+| width="90%" | Data
 |-
 | colspan="2" | &nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===LCDVerbose===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardOpen'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDVerbose'''
 |-
-| colspan="2" | Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK&nbsp;
+| colspan="2" | Allows the LCD to automatically report the API commands as they get processed. Default - verbose on&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Filename
+| width="90%" | State
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | 0=Off 1=On&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===LEDOff===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forwards'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
 |-
-| colspan="2" | Drives the robot forwards - waits for the distance to be traversed before returning&nbsp;
+| colspan="2" | Clears a single LED 0-7&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Distance
+| width="90%" | index
 |-
-| colspan="2" | Distance in mm&nbsp;
+| colspan="2" | Range: 0-7&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 623: / Line 598: @@
+===LEDOn===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBearing'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
+|-
+| colspan="2" | Sets a single LED 0-7&nbsp;
+|-
 |-
-| colspan="2" | Reads the compass bearing based on the degrees clockwise from magnetic north.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | index
 |-
+| colspan="2" | Range: 0-7&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===LEDWrite===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetConsoleHandle'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
+|-
+| colspan="2" | Sets the value of the LEDs as an 8-bit output&nbsp;
+|-
 |-
-| colspan="2" | Gets the handle to the console allowing data displaying on the panel etc.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Value
 |-
+| colspan="2" | LED value 0=All Off, 255 = All On&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-h32-icon.png]] - HANDLE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===Left===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Left'''
 |-
-| colspan="2" | Allows a single pixel width line to be drawn on the LCD&nbsp;
+| colspan="2" | Rotates the robot left - waits for the angle to be traversed before returning&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | X1
+| width="90%" | Angle
+|-
+| colspan="2" | Angle to turn in degrees&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+===PlayNote===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| colspan="2" | X Pixel 0-127&nbsp;
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PlayNote'''
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| colspan="2" | Plays a note using the speaker on the FA&nbsp;
-| width="90%" | Y1
 |-
-| colspan="2" | Y Pixel 0-31&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | X2
+| width="90%" | Note
 |-
-| colspan="2" | X Pixel 0-127&nbsp;
+| colspan="2" | Range 1 to 65535 in Hz&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Y2
+| width="90%" | Delay
 |-
-| colspan="2" | Y Pixel 0-31&nbsp;
+| colspan="2" | Number of milliseconds to play the note for&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 682: / Line 679: @@
+===ReadAllSensors===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoAutoMoveToPosition'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllSensors'''
 |-
-| colspan="2" | Allows one of the servo positions to move gradually to a new position&nbsp;
+| colspan="2" | Samples all of the robot's sensors at once, storing the values locally&nbsp;
 |-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Position
-|-
-| colspan="2" | Range 0-255&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 705: / Line 693: @@
+===ReadAllValue===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
@@ Line 723: / Line 712: @@
+===ReadAxis===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAxis'''
 |-
-| colspan="2" | Allows the LCD backlight brighntess to be adjusted&nbsp;
+| colspan="2" | Reads a single X/Y/Z axis from the accelerometer sensor. &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Intensity
+| width="90%" | index
 |-
-| colspan="2" | Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness&nbsp;
+| colspan="2" | 0=X, 1=Y, 2=Z&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===ReadBearing===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawRect'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBearing'''
 |-
-| colspan="2" | Allows a rectangle to be drawn on the LCD&nbsp;
+| colspan="2" | Reads the compass bearing based on the degrees clockwise from magnetic north.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | X1
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|-
+|}
-| colspan="2" | X Pixel 0-127&nbsp;
+===ReadIR===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIR'''
+|-
+| colspan="2" | Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight,  6=Rear, 7=RearLeft&nbsp;
+|-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y1
+| width="90%" | index
 |-
-| colspan="2" | Y Pixel 0-31&nbsp;
+| colspan="2" | 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | X2
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+===ReadLight===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| colspan="2" | X Pixel 0-127&nbsp;
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLight'''
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| colspan="2" | Reads the light sensor 0-4095 - 4095 = Max Brightness&nbsp;
-| width="90%" | Y2
 |-
-| colspan="2" | Y Pixel 0-31&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===ReadLine===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
@@ Line 792: / Line 797: @@
+===ReadMic===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoDisable'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadMic'''
 |-
-| colspan="2" | Allows one of the servo outputs 0-3 to be disabled&nbsp;
+| colspan="2" | Reads the microphone sensor 0 - 4095&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===ReadSwitch===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoEnable'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
 |-
-| colspan="2" | Allows one of the servo outputs 0-3 to be enabled&nbsp;
+| colspan="2" | Read the switch value&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
+| width="90%" | index
 |-
-| colspan="2" | Range 0-3&nbsp;
+| colspan="2" | 0 (left) or 1 (right)&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===Right===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardReadByte'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Right'''
+|-
+| colspan="2" | Rotates the robot right - waits for the angle to be traversed before returning&nbsp;
+|-
 |-
-| colspan="2" | Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end&nbsp;
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Angle
 |-
+| colspan="2" | Angle to turn in degrees&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===SampleAccel===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardErase'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SampleAccel'''
 |-
-| colspan="2" | Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK&nbsp;
+| colspan="2" | Samples the accelerometer 0 = no new data, 1 = new data available&nbsp;
 |-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
@@ Line 859: / Line 863: @@
+===SampleMag===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardWriteByte'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SampleMag'''
 |-
-| colspan="2" | Appends a byte to the end of the currently open file &nbsp;
+| colspan="2" | Samples the magnetometer 0 = no new data, 1 = new data available&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Data
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===ServoAutoMoveToPosition===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderRead'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoAutoMoveToPosition'''
+|-
+| colspan="2" | Allows one of the servo positions to move gradually to a new position&nbsp;
+|-
 |-
-| colspan="2" | Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
 |-
+| colspan="2" | Range 0-3&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
+| width="90%" | Position
 |-
-| colspan="2" | 0=Left, 1=Right&nbsp;
+| colspan="2" | Range 0-255&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===ServoDisable===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoDisable'''
 |-
-| colspan="2" | Sets the motor speeds without feedback Range -100 to 100&nbsp;
+| colspan="2" | Allows one of the servo outputs 0-3 to be disabled&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Left
+| width="90%" | Channel
 |-
-| colspan="2" | Range -100 to 100&nbsp;
+| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Right
-|-
-| colspan="2" | Range -100 to 100&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 918: / Line 920: @@
+===ServoEnable===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Backwards'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoEnable'''
 |-
-| colspan="2" | Drives the robot backwards - waits for the distance to be traversed before returning&nbsp;
+| colspan="2" | Allows one of the servo outputs 0-3 to be enabled&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Distance
+| width="90%" | Channel
 |-
-| colspan="2" | Distance in mm&nbsp;
+| colspan="2" | Range 0-3&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 936: / Line 939: @@
+===ServoSetAutoMoveSpeed===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetAutoMoveSpeed'''
+|-
+| colspan="2" | Changes the speed of the auto movements  Default - 1&nbsp;
+|-
 |-
-| colspan="2" | Resets the motor encoder counters&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Speed
 |-
+| colspan="2" | Range 1-50&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 949: / Line 958: @@
+===ServoSetPosition===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDVerbose'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetPosition'''
+|-
+| colspan="2" | Allows one of the servo positions to be assigned&nbsp;
+|-
 |-
-| colspan="2" | Allows the LCD to automatically report the API commands as they get processed. Default - verbose on&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
 |-
+| colspan="2" | Range 0-3&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | State
+| width="90%" | Position
 |-
-| colspan="2" | 0=Off 1=On&nbsp;
+| colspan="2" | Range 0-255&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 967: / Line 982: @@
+===SetLogoSpeed===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetProp'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLogoSpeed'''
 |-
-| colspan="2" | Allows the COM port property to be set from a parent component.&nbsp;
+| colspan="2" | Sets the speed of logo movements&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | PropName
+| width="90%" | Speed
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Logo Speed 1-100 - Default 40&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
-| width="90%" | PropVal
-|-
-| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 990: / Line 1,001: @@
+===SetMotors===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardInit'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
 |-
-| colspan="2" | Attempts to startup the SD card  255=No Card, 254=Init Fail, 0=Init OK&nbsp;
+| colspan="2" | Sets the motor speeds without feedback Range -100 to 100&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
+| width="90%" | Left
+|-
+| colspan="2" | Range -100 to 100&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
+| width="90%" | Right
+|-
+| colspan="2" | Range -100 to 100&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===SetProp===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetProp'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetProp'''
 |-
-| colspan="2" | Allows the property filter for the COM port list to be copied to a parent component.&nbsp;
+| colspan="2" | Allows the COM port property to be set from a parent component.&nbsp;
 |-
 |-
@@ Line 1,016: / Line 1,039: @@
 | colspan="2" | &nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
+| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
+| width="90%" | PropVal
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
-|-
-| colspan="2" | Clears the LCD&nbsp;
 |-
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
@@ Line 1,063: / Line 1,076: @@
 |-
 | colspan="2" | &nbsp;
-|}==Macro reference==
+|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+==Component Source Code==
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PlayNote'''
-|-
-| colspan="2" | Plays a note using the speaker on the FA&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Note
-|-
-| colspan="2" | Range 1 to 65535 in Hz&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Delay
-|-
-| colspan="2" | Number of milliseconds to play the note for&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
+Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_FormulaAllCode_API.fcsx FC_Comp_Source_FormulaAllCode_API.fcsx]
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_FormulaAllCode_API.fcsx FC_Comp_Source_FormulaAllCode_API.fcsx]
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
-|-
-| colspan="2" | Sets a single LED 0-7&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | Range: 0-7&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintString'''
-|-
-| colspan="2" | Prints a string to the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | LCD Y Coordinate 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Data
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLight'''
-|-
-| colspan="2" | Reads the light sensor 0-4095 - 4095 = Max Brightness&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Right'''
-|-
-| colspan="2" | Rotates the robot right - waits for the angle to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Angle
-|-
-| colspan="2" | Angle to turn in degrees&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLogoSpeed'''
-|-
-| colspan="2" | Sets the speed of logo movements&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Speed
-|-
-| colspan="2" | Logo Speed 1-100 - Default 40&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllSensors'''
-|-
-| colspan="2" | Samples all of the robot's sensors at once, storing the values locally&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SampleMag'''
-|-
-| colspan="2" | Samples the magnetometer 0 = no new data, 1 = new data available&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardCreate'''
-|-
-| colspan="2" | Attempts to create a file on the SD card 255=Error, 1=File Already Exists, 0=Create OK&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNumber'''
-|-
-| colspan="2" | Prints a 16-bit signed number to the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | LCD Y coordinate 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Number
-|-
-| colspan="2" | Range -32768 to 32767&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
-|-
-| colspan="2" | Clears a single LED 0-7&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | Range: 0-7&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
-|-
-| colspan="2" | Sets the value of the LEDs as an 8-bit output&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Value
-|-
-| colspan="2" | LED value 0=All Off, 255 = All On&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAxis'''
-|-
-| colspan="2" | Reads a single X/Y/Z axis from the accelerometer sensor. &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=X, 1=Y, 2=Z&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetAutoMoveSpeed'''
-|-
-| colspan="2" | Changes the speed of the auto movements  Default - 1&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Speed
-|-
-| colspan="2" | Range 1-50&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardPlayback'''
-|-
-| colspan="2" | Plays back a .Wav file audio stream from the card&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadMic'''
-|-
-| colspan="2" | Reads the microphone sensor 0 - 4095&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
-|-
-| colspan="2" | Read the switch value&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0 (left) or 1 (right)&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SampleAccel'''
-|-
-| colspan="2" | Samples the accelerometer 0 = no new data, 1 = new data available&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Left'''
-|-
-| colspan="2" | Rotates the robot left - waits for the angle to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Angle
-|-
-| colspan="2" | Angle to turn in degrees&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIR'''
-|-
-| colspan="2" | Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight,  6=Rear, 7=RearLeft&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawPixel'''
-|-
-| colspan="2" | Allows a single pixel on the LCD to be set or cleared&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | State
-|-
-| colspan="2" | 0=White (Off), 1=Black (On)&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetPosition'''
-|-
-| colspan="2" | Allows one of the servo positions to be assigned&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Position
-|-
-| colspan="2" | Range 0-255&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardBitmap'''
-|-
-| colspan="2" | Displays a monochrome bitmap read from the card on the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | Range 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | Range 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardRecordMic'''
-|-
-| colspan="2" | Records an audio stream on the card from the microphone&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | BitDepth
-|-
-| colspan="2" | 0=8-bit, 1=16-bit&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | SampleRate
-|-
-| colspan="2" | Sample Rate 0=8KHz, 1=16KHz&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | RecordTime
-|-
-| colspan="2" | Time to record for in seconds, Range 0-65535&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardOpen'''
-|-
-| colspan="2" | Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forwards'''
-|-
-| colspan="2" | Drives the robot forwards - waits for the distance to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
-|-
-| colspan="2" | Distance in mm&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBearing'''
-|-
-| colspan="2" | Reads the compass bearing based on the degrees clockwise from magnetic north.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetConsoleHandle'''
-|-
-| colspan="2" | Gets the handle to the console allowing data displaying on the panel etc.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-h32-icon.png]] - HANDLE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
-|-
-| colspan="2" | Allows a single pixel width line to be drawn on the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X1
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y1
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X2
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y2
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoAutoMoveToPosition'''
-|-
-| colspan="2" | Allows one of the servo positions to move gradually to a new position&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Position
-|-
-| colspan="2" | Range 0-255&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllValue'''
-|-
-| colspan="2" | Reads a single value stored from the read all command Index dictates which sensor value to read&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Index
-|-
-| colspan="2" | 0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
-|-
-| colspan="2" | Allows the LCD backlight brighntess to be adjusted&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Intensity
-|-
-| colspan="2" | Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawRect'''
-|-
-| colspan="2" | Allows a rectangle to be drawn on the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X1
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y1
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X2
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y2
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLine'''
-|-
-| colspan="2" | Reads one of the IR line sensors 0-1 0=Left, 1=Right&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=Left, 1=Right&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoDisable'''
-|-
-| colspan="2" | Allows one of the servo outputs 0-3 to be disabled&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoEnable'''
-|-
-| colspan="2" | Allows one of the servo outputs 0-3 to be enabled&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardReadByte'''
-|-
-| colspan="2" | Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardErase'''
-|-
-| colspan="2" | Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardWriteByte'''
-|-
-| colspan="2" | Appends a byte to the end of the currently open file &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Data
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderRead'''
-|-
-| colspan="2" | Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=Left, 1=Right&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
-|-
-| colspan="2" | Sets the motor speeds without feedback Range -100 to 100&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Left
-|-
-| colspan="2" | Range -100 to 100&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Right
-|-
-| colspan="2" | Range -100 to 100&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Backwards'''
-|-
-| colspan="2" | Drives the robot backwards - waits for the distance to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
-|-
-| colspan="2" | Distance in mm&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset'''
-|-
-| colspan="2" | Resets the motor encoder counters&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDVerbose'''
-|-
-| colspan="2" | Allows the LCD to automatically report the API commands as they get processed. Default - verbose on&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | State
-|-
-| colspan="2" | 0=Off 1=On&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetProp'''
-|-
-| colspan="2" | Allows the COM port property to be set from a parent component.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | PropName
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
-| width="90%" | PropVal
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardInit'''
-|-
-| colspan="2" | Attempts to startup the SD card  255=No Card, 254=Init Fail, 0=Init OK&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetProp'''
-|-
-| colspan="2" | Allows the property filter for the COM port list to be copied to a parent component.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | PropName
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
-|-
-| colspan="2" | Clears the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-==Property reference==
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | COM Port
-|-
-| colspan="2" | Selects which port to communicate with, only lists ports which are currently available. &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
-| width="90%" | Refresh COM Ports
-|-
-| colspan="2" | When set to yes the COM port list is rescanned for newly connected or available ports. Note that refreshing the ports list may take a few seconds depending on the number of connected ports.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
-| width="90%" | Baud
-|-
-| colspan="2" | Baud rate passed to the COM port to control the rate of data.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
-| width="90%" | Label
-|-
-| colspan="2" | &nbsp;
-|}==Macro reference==
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PlayNote'''
-|-
-| colspan="2" | Plays a note using the speaker on the FA&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Note
-|-
-| colspan="2" | Range 1 to 65535 in Hz&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Delay
-|-
-| colspan="2" | Number of milliseconds to play the note for&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
-|-
-| colspan="2" | Sets a single LED 0-7&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | Range: 0-7&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintString'''
-|-
-| colspan="2" | Prints a string to the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | LCD Y Coordinate 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Data
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLight'''
-|-
-| colspan="2" | Reads the light sensor 0-4095 - 4095 = Max Brightness&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Right'''
-|-
-| colspan="2" | Rotates the robot right - waits for the angle to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Angle
-|-
-| colspan="2" | Angle to turn in degrees&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLogoSpeed'''
-|-
-| colspan="2" | Sets the speed of logo movements&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Speed
-|-
-| colspan="2" | Logo Speed 1-100 - Default 40&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllSensors'''
-|-
-| colspan="2" | Samples all of the robot's sensors at once, storing the values locally&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SampleMag'''
-|-
-| colspan="2" | Samples the magnetometer 0 = no new data, 1 = new data available&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardCreate'''
-|-
-| colspan="2" | Attempts to create a file on the SD card 255=Error, 1=File Already Exists, 0=Create OK&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNumber'''
-|-
-| colspan="2" | Prints a 16-bit signed number to the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | LCD Y coordinate 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Number
-|-
-| colspan="2" | Range -32768 to 32767&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
-|-
-| colspan="2" | Clears a single LED 0-7&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | Range: 0-7&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
-|-
-| colspan="2" | Sets the value of the LEDs as an 8-bit output&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Value
-|-
-| colspan="2" | LED value 0=All Off, 255 = All On&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAxis'''
-|-
-| colspan="2" | Reads a single X/Y/Z axis from the accelerometer sensor. &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=X, 1=Y, 2=Z&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetAutoMoveSpeed'''
-|-
-| colspan="2" | Changes the speed of the auto movements  Default - 1&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Speed
-|-
-| colspan="2" | Range 1-50&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardPlayback'''
-|-
-| colspan="2" | Plays back a .Wav file audio stream from the card&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadMic'''
-|-
-| colspan="2" | Reads the microphone sensor 0 - 4095&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
-|-
-| colspan="2" | Read the switch value&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0 (left) or 1 (right)&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SampleAccel'''
-|-
-| colspan="2" | Samples the accelerometer 0 = no new data, 1 = new data available&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Left'''
-|-
-| colspan="2" | Rotates the robot left - waits for the angle to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Angle
-|-
-| colspan="2" | Angle to turn in degrees&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIR'''
-|-
-| colspan="2" | Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight,  6=Rear, 7=RearLeft&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawPixel'''
-|-
-| colspan="2" | Allows a single pixel on the LCD to be set or cleared&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | State
-|-
-| colspan="2" | 0=White (Off), 1=Black (On)&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetPosition'''
-|-
-| colspan="2" | Allows one of the servo positions to be assigned&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Position
-|-
-| colspan="2" | Range 0-255&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardBitmap'''
-|-
-| colspan="2" | Displays a monochrome bitmap read from the card on the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | Range 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | Range 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardRecordMic'''
-|-
-| colspan="2" | Records an audio stream on the card from the microphone&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | BitDepth
-|-
-| colspan="2" | 0=8-bit, 1=16-bit&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | SampleRate
-|-
-| colspan="2" | Sample Rate 0=8KHz, 1=16KHz&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | RecordTime
-|-
-| colspan="2" | Time to record for in seconds, Range 0-65535&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardOpen'''
-|-
-| colspan="2" | Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forwards'''
-|-
-| colspan="2" | Drives the robot forwards - waits for the distance to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
-|-
-| colspan="2" | Distance in mm&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBearing'''
-|-
-| colspan="2" | Reads the compass bearing based on the degrees clockwise from magnetic north.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetConsoleHandle'''
-|-
-| colspan="2" | Gets the handle to the console allowing data displaying on the panel etc.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-h32-icon.png]] - HANDLE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
-|-
-| colspan="2" | Allows a single pixel width line to be drawn on the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X1
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y1
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X2
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y2
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoAutoMoveToPosition'''
-|-
-| colspan="2" | Allows one of the servo positions to move gradually to a new position&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Position
-|-
-| colspan="2" | Range 0-255&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllValue'''
-|-
-| colspan="2" | Reads a single value stored from the read all command Index dictates which sensor value to read&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Index
-|-
-| colspan="2" | 0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
-|-
-| colspan="2" | Allows the LCD backlight brighntess to be adjusted&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Intensity
-|-
-| colspan="2" | Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawRect'''
-|-
-| colspan="2" | Allows a rectangle to be drawn on the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X1
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y1
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X2
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y2
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLine'''
-|-
-| colspan="2" | Reads one of the IR line sensors 0-1 0=Left, 1=Right&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=Left, 1=Right&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoDisable'''
-|-
-| colspan="2" | Allows one of the servo outputs 0-3 to be disabled&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoEnable'''
-|-
-| colspan="2" | Allows one of the servo outputs 0-3 to be enabled&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardReadByte'''
-|-
-| colspan="2" | Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardErase'''
-|-
-| colspan="2" | Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardWriteByte'''
-|-
-| colspan="2" | Appends a byte to the end of the currently open file &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Data
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderRead'''
-|-
-| colspan="2" | Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=Left, 1=Right&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
-|-
-| colspan="2" | Sets the motor speeds without feedback Range -100 to 100&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Left
-|-
-| colspan="2" | Range -100 to 100&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Right
-|-
-| colspan="2" | Range -100 to 100&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Backwards'''
-|-
-| colspan="2" | Drives the robot backwards - waits for the distance to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
-|-
-| colspan="2" | Distance in mm&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset'''
-|-
-| colspan="2" | Resets the motor encoder counters&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDVerbose'''
-|-
-| colspan="2" | Allows the LCD to automatically report the API commands as they get processed. Default - verbose on&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | State
-|-
-| colspan="2" | 0=Off 1=On&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetProp'''
-|-
-| colspan="2" | Allows the COM port property to be set from a parent component.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | PropName
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
-| width="90%" | PropVal
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardInit'''
-|-
-| colspan="2" | Attempts to startup the SD card  255=No Card, 254=Init Fail, 0=Init OK&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetProp'''
-|-
-| colspan="2" | Allows the property filter for the COM port list to be copied to a parent component.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | PropName
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
-|-
-| colspan="2" | Clears the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-==Property reference==
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | COM Port
-|-
-| colspan="2" | Selects which port to communicate with, only lists ports which are currently available. &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
-| width="90%" | Refresh COM Ports
-|-
-| colspan="2" | When set to yes the COM port list is rescanned for newly connected or available ports. Note that refreshing the ports list may take a few seconds depending on the number of connected ports.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
-| width="90%" | Baud
-|-
-| colspan="2" | Baud rate passed to the COM port to control the rate of data.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
-| width="90%" | Label
-|-
-| colspan="2" | &nbsp;
-|}==Macro reference==
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PlayNote'''
-|-
-| colspan="2" | Plays a note using the speaker on the FA&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Note
-|-
-| colspan="2" | Range 1 to 65535 in Hz&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Delay
-|-
-| colspan="2" | Number of milliseconds to play the note for&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
-|-
-| colspan="2" | Sets a single LED 0-7&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | Range: 0-7&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintString'''
-|-
-| colspan="2" | Prints a string to the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | LCD Y Coordinate 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Data
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLight'''
-|-
-| colspan="2" | Reads the light sensor 0-4095 - 4095 = Max Brightness&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Right'''
-|-
-| colspan="2" | Rotates the robot right - waits for the angle to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Angle
-|-
-| colspan="2" | Angle to turn in degrees&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLogoSpeed'''
-|-
-| colspan="2" | Sets the speed of logo movements&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Speed
-|-
-| colspan="2" | Logo Speed 1-100 - Default 40&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllSensors'''
-|-
-| colspan="2" | Samples all of the robot's sensors at once, storing the values locally&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SampleMag'''
-|-
-| colspan="2" | Samples the magnetometer 0 = no new data, 1 = new data available&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardCreate'''
-|-
-| colspan="2" | Attempts to create a file on the SD card 255=Error, 1=File Already Exists, 0=Create OK&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNumber'''
-|-
-| colspan="2" | Prints a 16-bit signed number to the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | LCD Y coordinate 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Number
-|-
-| colspan="2" | Range -32768 to 32767&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
-|-
-| colspan="2" | Clears a single LED 0-7&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | Range: 0-7&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
-|-
-| colspan="2" | Sets the value of the LEDs as an 8-bit output&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Value
-|-
-| colspan="2" | LED value 0=All Off, 255 = All On&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAxis'''
-|-
-| colspan="2" | Reads a single X/Y/Z axis from the accelerometer sensor. &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=X, 1=Y, 2=Z&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetAutoMoveSpeed'''
-|-
-| colspan="2" | Changes the speed of the auto movements  Default - 1&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Speed
-|-
-| colspan="2" | Range 1-50&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardPlayback'''
-|-
-| colspan="2" | Plays back a .Wav file audio stream from the card&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadMic'''
-|-
-| colspan="2" | Reads the microphone sensor 0 - 4095&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
-|-
-| colspan="2" | Read the switch value&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0 (left) or 1 (right)&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SampleAccel'''
-|-
-| colspan="2" | Samples the accelerometer 0 = no new data, 1 = new data available&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Left'''
-|-
-| colspan="2" | Rotates the robot left - waits for the angle to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Angle
-|-
-| colspan="2" | Angle to turn in degrees&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIR'''
-|-
-| colspan="2" | Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight,  6=Rear, 7=RearLeft&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawPixel'''
-|-
-| colspan="2" | Allows a single pixel on the LCD to be set or cleared&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | State
-|-
-| colspan="2" | 0=White (Off), 1=Black (On)&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetPosition'''
-|-
-| colspan="2" | Allows one of the servo positions to be assigned&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Position
-|-
-| colspan="2" | Range 0-255&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardBitmap'''
-|-
-| colspan="2" | Displays a monochrome bitmap read from the card on the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | Range 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | Range 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardRecordMic'''
-|-
-| colspan="2" | Records an audio stream on the card from the microphone&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | BitDepth
-|-
-| colspan="2" | 0=8-bit, 1=16-bit&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | SampleRate
-|-
-| colspan="2" | Sample Rate 0=8KHz, 1=16KHz&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | RecordTime
-|-
-| colspan="2" | Time to record for in seconds, Range 0-65535&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardOpen'''
-|-
-| colspan="2" | Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forwards'''
-|-
-| colspan="2" | Drives the robot forwards - waits for the distance to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
-|-
-| colspan="2" | Distance in mm&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBearing'''
-|-
-| colspan="2" | Reads the compass bearing based on the degrees clockwise from magnetic north.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetConsoleHandle'''
-|-
-| colspan="2" | Gets the handle to the console allowing data displaying on the panel etc.&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-h32-icon.png]] - HANDLE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
-|-
-| colspan="2" | Allows a single pixel width line to be drawn on the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X1
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y1
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X2
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y2
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoAutoMoveToPosition'''
-|-
-| colspan="2" | Allows one of the servo positions to move gradually to a new position&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Position
-|-
-| colspan="2" | Range 0-255&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllValue'''
-|-
-| colspan="2" | Reads a single value stored from the read all command Index dictates which sensor value to read&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Index
-|-
-| colspan="2" | 0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
-|-
-| colspan="2" | Allows the LCD backlight brighntess to be adjusted&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Intensity
-|-
-| colspan="2" | Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawRect'''
-|-
-| colspan="2" | Allows a rectangle to be drawn on the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X1
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y1
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X2
-|-
-| colspan="2" | X Pixel 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y2
-|-
-| colspan="2" | Y Pixel 0-31&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLine'''
-|-
-| colspan="2" | Reads one of the IR line sensors 0-1 0=Left, 1=Right&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=Left, 1=Right&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoDisable'''
-|-
-| colspan="2" | Allows one of the servo outputs 0-3 to be disabled&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoEnable'''
-|-
-| colspan="2" | Allows one of the servo outputs 0-3 to be enabled&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range 0-3&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardReadByte'''
-|-
-| colspan="2" | Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardErase'''
-|-
-| colspan="2" | Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Filename
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardWriteByte'''
-|-
-| colspan="2" | Appends a byte to the end of the currently open file &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Data
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderRead'''
-|-
-| colspan="2" | Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
-|-
-| colspan="2" | 0=Left, 1=Right&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
-|-
-| colspan="2" | Sets the motor speeds without feedback Range -100 to 100&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Left
-|-
-| colspan="2" | Range -100 to 100&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Right
-|-
-| colspan="2" | Range -100 to 100&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Backwards'''
-|-
-| colspan="2" | Drives the robot backwards - waits for the distance to be traversed before returning&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
-|-
-| colspan="2" | Distance in mm&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset'''
-|-
-| colspan="2" | Resets the motor encoder counters&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDVerbose'''
-|-
-| colspan="2" | Allows the LCD to automatically report the API commands as they get processed. Default - verbose on&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | State
-|-
-| colspan="2" | 0=Off 1=On&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetProp'''
-|-
-| colspan="2" | Allows the COM port property to be set from a parent component.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | PropName
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
-| width="90%" | PropVal
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardInit'''
-|-
-| colspan="2" | Attempts to startup the SD card  255=No Card, 254=Init Fail, 0=Init OK&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetProp'''
-|-
-| colspan="2" | Allows the property filter for the COM port list to be copied to a parent component.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | PropName
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
-|-
-| colspan="2" | Clears the LCD&nbsp;
-|-
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
-|}
-==Property reference==
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | COM Port
-|-
-| colspan="2" | Selects which port to communicate with, only lists ports which are currently available. &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
-| width="90%" | Refresh COM Ports
-|-
-| colspan="2" | When set to yes the COM port list is rescanned for newly connected or available ports. Note that refreshing the ports list may take a few seconds depending on the number of connected ports.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
-| width="90%" | Baud
-|-
-| colspan="2" | Baud rate passed to the COM port to control the rate of data.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
-| width="90%" | Label
-|-
-| colspan="2" | &nbsp;
-|}