Jump to content

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

From Flowcode Help
← Older edit

SteveT (talk | contribs)

4 user groups
6,422 edits
No edit summary
m Text replacement - "width="90%" style="background-color:#D8C9D8; color:#4B008D;"" to "width="90%" class="mtx-class-macrohead""
 
(10 intermediate revisions by 3 users not shown)
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.
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 68: Line 64:




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.


{{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===
''<span style="color:red;">No additional examples</span>''
 
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==
==Macro reference==


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===Backwards===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PlayNote'''
| width="90%" class="mtx-class-macrohead" | '''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="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
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 138: Line 101:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardBitmap===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
| width="90%" class="mtx-class-macrohead" | '''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="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | index
| 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" | Range: 0-7&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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardCreate===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintString'''
| width="90%" class="mtx-class-macrohead" | '''CardCreate'''
|-
|-
| colspan="2" | Prints a string to the LCD&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" | [[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="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Data
| width="90%" | Filename
|-
|-
| colspan="2" | &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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardErase===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLight'''
| width="90%" class="mtx-class-macrohead" | '''CardErase'''
|-
|-
| colspan="2" | Reads the light sensor 0-4095 - 4095 = Max Brightness&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-string-icon.png]] - STRING
| width="90%" | Filename
|-
|-
| 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-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardInit===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Right'''
| width="90%" class="mtx-class-macrohead" | '''CardInit'''
|-
|-
| colspan="2" | Rotates the robot right - waits for the angle to be traversed before returning&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-u16-icon.png]] - UINT
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| 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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardOpen===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLogoSpeed'''
| width="90%" class="mtx-class-macrohead" | '''CardOpen'''
|-
|-
| colspan="2" | Sets the speed of logo movements&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" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Speed
| width="90%" | Filename
|-
|-
| colspan="2" | Logo Speed 1-100 - Default 40&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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardPlayback===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllSensors'''
| width="90%" class="mtx-class-macrohead" | '''CardPlayback'''
|-
|-
| colspan="2" | Samples all of the robot's sensors at once, storing the values locally&nbsp;
| colspan="2" | Plays back a .Wav file audio stream from the card&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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardReadByte===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SampleMag'''
| width="90%" class="mtx-class-macrohead" | '''CardReadByte'''
|-
|-
| colspan="2" | Samples the magnetometer 0 = no new data, 1 = new data available&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;
|-
|-
|-
|-
Line 259: Line 234:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardRecordMic===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''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
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| colspan="2" | 0=8-bit, 1=16-bit&nbsp;
| 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-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="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
Line 277: Line 268:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardWriteByte===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNumber'''
| width="90%" class="mtx-class-macrohead" | '''CardWriteByte'''
|-
|-
| colspan="2" | Prints a 16-bit signed number to the LCD&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="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
| width="90%" | Data
|-
|-
| colspan="2" | X Pixel 0-127&nbsp;
| colspan="2" | &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="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 305: Line 287:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===EncoderRead===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
| width="90%" class="mtx-class-macrohead" | '''EncoderRead'''
|-
|-
| colspan="2" | Clears a single LED 0-7&nbsp;
| colspan="2" | Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit.&nbsp;
|-
|-
|-
|-
Line 316: Line 299:
| width="90%" | index
| width="90%" | index
|-
|-
| colspan="2" | Range: 0-7&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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===EncoderReset===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
| width="90%" class="mtx-class-macrohead" | '''EncoderReset'''
|-
|-
| colspan="2" | Sets the value of the LEDs as an 8-bit output&nbsp;
| colspan="2" | Resets the motor encoder counters&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="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 341: Line 320:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===Forwards===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAxis'''
| width="90%" class="mtx-class-macrohead" | '''Forwards'''
|-
|-
| colspan="2" | Reads a single X/Y/Z axis from the accelerometer sensor. &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%" | index
| width="90%" | Distance
|-
|-
| colspan="2" | 0=X, 1=Y, 2=Z&nbsp;
| colspan="2" | Distance in mm&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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetConsoleHandle===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetAutoMoveSpeed'''
| width="90%" class="mtx-class-macrohead" | '''GetConsoleHandle'''
|-
|-
| colspan="2" | Changes the speed of the auto movements  Default - 1&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="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-h32-icon.png]] - HANDLE
| 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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetProp===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardPlayback'''
| width="90%" class="mtx-class-macrohead" | '''GetProp'''
|-
|-
| colspan="2" | Plays back a .Wav file audio stream from the card&nbsp;
| 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="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
| width="90%" | PropName
|-
|-
| colspan="2" | &nbsp;
| 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-string-icon.png]] - STRING
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDBacklight===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''LCDBacklight'''
|-
| colspan="2" | Allows the LCD backlight brighntess to be adjusted&nbsp;
|-
|-
| 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" | [[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-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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDClear===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
| width="90%" class="mtx-class-macrohead" | '''LCDClear'''
|-
|-
| colspan="2" | Read the switch value&nbsp;
| colspan="2" | Clears the LCD&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
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|-
| 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;"
===LCDDrawLine===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''LCDDrawLine'''
|-
| colspan="2" | Allows a single pixel width line to be drawn on the LCD&nbsp;
|-
|-
| 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" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
|-
| colspan="2" | X Pixel 0-127&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| 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;" | '''Left'''
|-
|-
| 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="90%" | X2
|-
|-
| colspan="2" | X Pixel 0-127&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%" | Y2
|-
|-
| colspan="2" | Angle to turn in degrees&nbsp;
| 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-void-icon.png]] - VOID
Line 457: Line 439:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDDrawPixel===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIR'''
| width="90%" class="mtx-class-macrohead" | '''LCDDrawPixel'''
|-
| 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;
| colspan="2" | Allows a single pixel on the LCD to be set or cleared&nbsp;
Line 503: Line 468:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDDrawRect===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetPosition'''
| width="90%" class="mtx-class-macrohead" | '''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="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="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Position
| width="90%" | Y1
|-
| colspan="2" | Y Pixel 0-31&nbsp;
|-
|-
| colspan="2" | Range 0-255&nbsp;
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| colspan="2" | X Pixel 0-127&nbsp;
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|-
|}
| 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;"
===LCDPrintNumber===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardBitmap'''
| width="90%" class="mtx-class-macrohead" | '''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
| 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="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
| 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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDPrintString===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardRecordMic'''
| width="90%" class="mtx-class-macrohead" | '''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="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="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="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
| width="90%" | Data
|-
|-
| colspan="2" | &nbsp;
| 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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDVerbose===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardOpen'''
| width="90%" class="mtx-class-macrohead" | '''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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LEDOff===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forwards'''
| width="90%" class="mtx-class-macrohead" | '''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
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 623: Line 598:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LEDOn===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBearing'''
| width="90%" class="mtx-class-macrohead" | '''LEDOn'''
|-
|-
| colspan="2" | Reads the compass bearing based on the degrees clockwise from magnetic north.&nbsp;
| 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-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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LEDWrite===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''LEDWrite'''
|-
| colspan="2" | Sets the value of the LEDs as an 8-bit output&nbsp;
|-
|-
| 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" | [[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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===Left===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
| width="90%" class="mtx-class-macrohead" | '''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" | X Pixel 0-127&nbsp;
| 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="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''PlayNote'''
|-
| colspan="2" | Plays a note using the speaker on the FA&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="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
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 682: Line 679:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadAllSensors===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoAutoMoveToPosition'''
| width="90%" class="mtx-class-macrohead" | '''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
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 705: Line 693:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadAllValue===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllValue'''
| width="90%" class="mtx-class-macrohead" | '''ReadAllValue'''
|-
|-
| colspan="2" | Reads a single value stored from the read all command Index dictates which sensor value to read&nbsp;
| colspan="2" | Reads a single value stored from the read all command Index dictates which sensor value to read&nbsp;
Line 723: Line 712:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadAxis===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
| width="90%" class="mtx-class-macrohead" | '''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="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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadBearing===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawRect'''
| width="90%" class="mtx-class-macrohead" | '''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''
|}
 
 
===ReadIR===
{| class="mtx-class-macrotable wikitable"
|-
|-
| colspan="2" | X Pixel 0-127&nbsp;
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''ReadIR'''
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| colspan="2" | Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight,  6=Rear, 7=RearLeft&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-u8-icon.png]] - BYTE
| width="90%" | X2
| width="90%" | index
|-
|-
| colspan="2" | X Pixel 0-127&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%" | Y2
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
===ReadLight===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''ReadLight'''
|-
| colspan="2" | Reads the light sensor 0-4095 - 4095 = Max Brightness&nbsp;
|-
|-
| 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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadLine===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLine'''
| width="90%" class="mtx-class-macrohead" | '''ReadLine'''
|-
|-
| colspan="2" | Reads one of the IR line sensors 0-1 0=Left, 1=Right&nbsp;
| colspan="2" | Reads one of the IR line sensors 0-1 0=Left, 1=Right&nbsp;
Line 792: Line 797:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadMic===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoDisable'''
| width="90%" class="mtx-class-macrohead" | '''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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadSwitch===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoEnable'''
| width="90%" class="mtx-class-macrohead" | '''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="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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===Right===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardReadByte'''
| width="90%" class="mtx-class-macrohead" | '''Right'''
|-
|-
| colspan="2" | Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end&nbsp;
| colspan="2" | Rotates the robot right - waits for the angle to be traversed before returning&nbsp;
|-
|-
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| 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;"
===SampleAccel===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''SampleAccel'''
|-
| colspan="2" | Samples the accelerometer 0 = no new data, 1 = new data available&nbsp;
|-
|-
| 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" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
===SampleMag===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''SampleMag'''
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| colspan="2" | Samples the magnetometer 0 = no new data, 1 = new data available&nbsp;
| width="90%" | Filename
|-
|-
| 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-u8-icon.png]] - BYTE
Line 859: Line 877:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ServoAutoMoveToPosition===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardWriteByte'''
| width="90%" class="mtx-class-macrohead" | '''ServoAutoMoveToPosition'''
|-
|-
| colspan="2" | Appends a byte to the end of the currently open file &nbsp;
| 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="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
| width="90%" | Channel
|-
| colspan="2" | Range 0-3&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Position
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | Range 0-255&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-void-icon.png]] - VOID
Line 877: Line 901:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ServoDisable===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderRead'''
| width="90%" class="mtx-class-macrohead" | '''ServoDisable'''
|-
|-
| colspan="2" | Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit.&nbsp;
| 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="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | index
| width="90%" | Channel
|-
|-
| colspan="2" | 0=Left, 1=Right&nbsp;
| colspan="2" | Range 0-3&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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ServoEnable===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
| width="90%" class="mtx-class-macrohead" | '''ServoEnable'''
|-
|-
| 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 enabled&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
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 918: Line 939:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ServoSetAutoMoveSpeed===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Backwards'''
| width="90%" class="mtx-class-macrohead" | '''ServoSetAutoMoveSpeed'''
|-
|-
| colspan="2" | Drives the robot backwards - waits for the distance to be traversed before returning&nbsp;
| colspan="2" | Changes the speed of the auto movements  Default - 1&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%" | Speed
|-
|-
| colspan="2" | Distance in mm&nbsp;
| colspan="2" | Range 1-50&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-void-icon.png]] - VOID
Line 936: Line 958:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ServoSetPosition===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset'''
| width="90%" class="mtx-class-macrohead" | '''ServoSetPosition'''
|-
|-
| colspan="2" | Resets the motor encoder counters&nbsp;
| colspan="2" | Allows one of the servo positions to be assigned&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%" | 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''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetLogoSpeed===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDVerbose'''
| width="90%" class="mtx-class-macrohead" | '''SetLogoSpeed'''
|-
|-
| colspan="2" | Allows the LCD to automatically report the API commands as they get processed. Default - verbose on&nbsp;
| colspan="2" | Sets the speed of logo movements&nbsp;
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | State
| width="90%" | Speed
|-
|-
| colspan="2" | 0=Off 1=On&nbsp;
| 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="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 967: Line 1,001:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetMotors===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetProp'''
| width="90%" class="mtx-class-macrohead" | '''SetMotors'''
|-
|-
| colspan="2" | Allows the COM port property to be set from a parent component.&nbsp;
| colspan="2" | Sets the motor speeds without feedback Range -100 to 100&nbsp;
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | PropName
| width="90%" | Left
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | Range -100 to 100&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | PropVal
| width="90%" | Right
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | Range -100 to 100&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-void-icon.png]] - VOID
Line 990: Line 1,025:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetProp===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardInit'''
| width="90%" class="mtx-class-macrohead" | '''SetProp'''
|-
|-
| colspan="2" | Attempts to startup the SD card  255=No Card, 254=Init Fail, 0=Init OK&nbsp;
| colspan="2" | Allows the COM port property to be set from a parent component.&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;
|-
|-
|-
|-
Line 1,016: Line 1,039:
| colspan="2" | &nbsp;
| 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="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




==Property reference==
==Property reference==


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-prop-icon.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''  
| width="90%" class="mtx-class-macrohead" | '''Properties'''  
|-
|-
|-
|-
Line 1,063: Line 1,076:
|-
|-
| colspan="2" | &nbsp;
| colspan="2" | &nbsp;
|}==Macro reference==
|}
 
==Component Source Code==


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
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]
|-
| 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 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]
{| 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;
|}==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;
|}

Latest revision as of 14:22, 13 July 2026

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
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

Retrieved from "https://www.flowcode.co.uk/wiki/index.php?title=Component:_Formula_AllCode_API_(AllCode)&oldid=46198"