Difference between revisions of "Component: Control (AllCode)"

Latest revision as of 13:09, 7 February 2023

Author	Matrix TSL
Version	1.0
Category	AllCode

Control component

Drives the Matrix Control hardware via the AllCode API.

Component Source Code

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

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

Detailed description

No detailed description exists yet for this component

Examples

No additional examples

Macro reference

CheckErrorStatus

	CheckErrorStatus
Returns the Error status value indicating if there has been any errors. 0 = No Error 1 = Timeout Error
- BYTE	Return

GetAPI

	GetAPI
Gets the API version number
- BYTE	Return

GetDataArray

	GetDataArray
Collects a data array from the Control board. Returns number of samples collected.
- FLOAT	data

- BYTE	Return

GetFeedback

	GetFeedback
Gets the feedback as a value in real world units
- FLOAT	Return

GetOutput

	GetOutput
Gets the output value as an integer value betwen 0 and 100 representing the output PWM duty
- BYTE	Return

GetPIDComponent

	GetPIDComponent
Gets one of the PID controller output components in real world units
- BYTE	Index
Range 0-2, 0=P, 1=I, 2=D
- FLOAT	Return

GetWifiIP

	GetWifiIP
Collects the IP address of the robot arm WIFI connection.
- STRING	Return

Initialise

	Initialise

- VOID	Return

ResetToBoot

	ResetToBoot
Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro,
- VOID	Return

SetAutoOnOff

	SetAutoOnOff
Enable the auto PID control using the on-board microcontroller
- BYTE	Channel
Range: 0-1
- BYTE	Enable
0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz
- VOID	Return

SetAutoOnOffParam

	SetAutoOnOffParam
Sets the Hysteresis parameter for the Auto on-board On/Off
- FLOAT	Hysteresis
Hysterists in real world units
- VOID	Return

SetAutoPID

	SetAutoPID
Enable the auto PID control using the on-board microcontroller
- BYTE	Channel
Range: 0-1
- BYTE	Enable
0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz
- VOID	Return

SetAutoPIDFlip

	SetAutoPIDFlip
Controls if the PID response is flipped, a negative response vs a positive
- BOOL	Flip
Default: 0=Not Flipped, 1=Flipped
- VOID	Return

SetAutoPIDParam

	SetAutoPIDParam
Sets one of the P, I, D parameters for the Auto on-board PID
- BYTE	Index
Range: 0-5 Where 0=P, 1=I, 2=D, 3=IntClamp, 4=DFilt, 5=FiltCo
- FLOAT	Value
Range: 0.0 to 65.535
- VOID	Return

SetAutoPrescaler

	SetAutoPrescaler
Configures the automatic mode prescaler, for running really slowly. Defaults off so no need to call this unless you are using it.
- BYTE	Prescaler
0=Off, 2=Div by 2, 3=Div By 3 etc
- VOID	Return

SetBluetoothDetails

	SetBluetoothDetails
Configures the Bluetooth device name and pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.
- STRING	Name
Bluetooth Device String, Max 20 Characters
- STRING	Pin
Pin String, 4 Numeric Characters e.g. "1234"
- VOID	Return

SetBluetoothMode

	SetBluetoothMode
Configures the Bluetooth mode.
- BOOL	Mode
0=Disabled, 1=Enabled
- VOID	Return

SetCANID

	SetCANID
Stores the specified CAN ID into an internal none volatile memory location.
- UINT	ID

- VOID	Return

SetCANMode

	SetCANMode
Configures if the CAN API mde is enabled or disabled.
- BYTE	Mode
0=Disabled / 1=Enabled
- VOID	Return

SetEthernetIP

	SetEthernetIP
Configures the Ethernet IP Address.
- STRING	IP
IP Address string e.g. "192.168.1.100"
- VOID	Return

SetEthernetMode

	SetEthernetMode
Configures the Ethernet mode.
- BYTE	Mode
0=Disabled, 1=Enabled
- VOID	Return

SetEthernetPort

	SetEthernetPort
Configures the Ethernet Port number. Default 1245.
- UINT	Port
Default 1245
- VOID	Return

SetFeedbackMethod

	SetFeedbackMethod
Sets feedback method to dictate which control application we are running
- BYTE	FBMethod
Range: 0-3 Where 0=Level, 1=Flow, 2=Pressure, 3=Temp
- FLOAT	InputScaler
Feedback scaling factor used to convert the feedback reading into a meaningful value
- FLOAT	OutputScaler
Value used to convert input to 0-100% duty
- VOID	Return

SetLogDivider

	SetLogDivider
Configures the rate of the PID logging.
- BYTE	Divider
Divides the rate by the selected value
- VOID	Return

SetManualDuty

	SetManualDuty
Sets duty parameter for one of the manual controlled outputs
- BYTE	Channel
Range: 0-1
- FLOAT	Duty
Duty Cycle Output in Percentage Range 0 - 100%
- VOID	Return

SetSetpoint

	SetSetpoint
Sets Setpoint parameter for the Auto on-board PID
- FLOAT	Setpoint
Required Output in Real World Units
- VOID	Return

SetWIFIPort

	SetWIFIPort
Configures the WIFI Port number. Default 1245.
- UINT	Port
Default 1245
- VOID	Return

SetWifiDetails

	SetWifiDetails
Configures the WIFI SSID and Password strings and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.
- STRING	SSID
Netword ID String, Max 32 Characters
- STRING	Password
Password String, Max 32 Characters
- VOID	Return

SetWifiMode

	SetWifiMode
Configures the WIFI mode. When enabled the control system can either create its own WIFI network or join an existing WIFI network,
- BYTE	Mode
0=Disabled, 1=Host Network, 2=Join Network
- VOID	Return

ZeroSensor

	ZeroSensor
Zeros the attached sensor reading. Useful for Pressure and Level control applications.
- VOID	Return

Property reference

	Properties
	Comms Method
Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth. CAN connection does not simulate and works on embedded hardware e.g. the MIAC.
	COM Port Settings
	Autodetect
Autodetects the COM port, only works for USB AllCode connection.
	COM Port
Selects which port to communicate with, only lists ports which are currently available.
	Text Colour

@@ Line 1: / Line 1: @@
+{| style="width:50%"
-{| width="50%"
 |-
-| width="20%" style="color: gray;" | Author
+| width="20%" style="color:gray;" | Author
 | Matrix TSL
 |-
-| width="20%" style="color: gray;" | Version
+| width="20%" style="color:gray;" | Version
-| 1.0 (Release)
+| 1.0
 |-
-| width="20%" style="color: gray;" | Category
+| width="20%" style="color:gray;" | Category
 | AllCode
 |}
+==Control component==
-==[[File:Component Icon bd23228f_b173_4135_ab3b_a4c3c4caa7a8.png|Image]] Control component==
 Drives the Matrix Control hardware via the AllCode API.
-==Examples==
+==Component Source Code==
-''<span style="color:red;">No additional examples</span>''
+Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_Control_ComponentSource.fcsx FC_Comp_Source_Control_ComponentSource.fcsx]
-==Downloadable macro reference==
+Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_Control_ComponentSource.fcsx FC_Comp_Source_Control_ComponentSource.fcsx]
-''This component does not contain any downloadable macros''
+==Detailed description==
-==Simulation macro reference==
-===<span style="font-weight: normal;"><u><tt>SetAutoPrescaler</tt></u></span>===
-Configures the automatic mode prescaler, for running really slowly.
-Defaults off so no need to call this unless you are using it.
-'''Parameters'''
-:[[Variable Types|BYTE]] ''Prescaler''
-::0=Off, 2=Div by 2, 3=Div By 3 etc
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>GetOutput</tt></u></span>===
-Gets the output value as an integer value betwen 0 and 100 representing
-the output PWM duty
-'''Parameters'''
-:''This macro has no parameters''
-'''Return value'''
-:[[Variable Types|BYTE]]
+''No detailed description exists yet for this component''
-===<span style="font-weight: normal;"><u><tt>SetAutoOnOff</tt></u></span>===
+==Examples==
-Enable the auto PID control using the on-board microcontroller
-'''Parameters'''
-:[[Variable Types|BYTE]] ''Channel''
-::Range: 0-1
-:[[Variable Types|BYTE]] ''Enable''
-::0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>SetWIFIPort</tt></u></span>===
-Configures the WIFI Port number.
-Default 1245.
-'''Parameters'''
-:[[Variable Types|UINT]] ''Port''
-::Default 1245
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>SetAutoPIDFlip</tt></u></span>===
-Controls if the PID response is flipped, a negative response vs a positive
-'''Parameters'''
-:[[Variable Types|BOOL]] ''Flip''
+''<span style="color:red;">No additional examples</span>''
-::Default: 0=Not Flipped, 1=Flipped
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>SetBluetoothDetails</tt></u></span>===
-Configures the Bluetooth device name and pin and stores into the none volatie memory onboard the robot arm.
-Call the SetBluetoothMode macro after this to action the change.
-'''Parameters'''
-:[[Variable Types|<- STRING]] ''Name''
-::Bluetooth Device String, Max 20 Characters
-::''This parameter may be returned back to the caller''
-:[[Variable Types|<- STRING]] ''Pin''
-::Pin String, 4 Numeric Characters e.g. "1234"
-::''This parameter may be returned back to the caller''
-'''Return value'''
-:''This call does not return a value''
+==Macro reference==
+===CheckErrorStatus===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckErrorStatus'''
+|-
+| colspan="2" | Returns the Error status value indicating if there has been any errors. 0 = No Error 1 = Timeout Error&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''
+|}
-===<span style="font-weight: normal;"><u><tt>GetDataArray</tt></u></span>===
-Collects a data array from the Control board.
-Returns number of samples collected.
+===GetAPI===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAPI'''
+|-
+| colspan="2" | Gets the API version number&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''
+|}
-'''Parameters'''
-:[[Variable Types|FLOAT]] ''data''
+===GetDataArray===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetDataArray'''
+|-
+| colspan="2" | Collects a data array from the Control board. Returns number of samples collected.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | data
+|-
+| 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''
+|}
-'''Return value'''
+===GetFeedback===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetFeedback'''
+|-
+| colspan="2" | Gets the feedback as a value in real world units&nbsp;
+|-
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
-:[[Variable Types|BYTE]]
+===GetOutput===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetOutput'''
+|-
+| colspan="2" | Gets the output value as an integer value betwen 0 and 100 representing the output PWM duty&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''
+|}
-===<span style="font-weight: normal;"><u><tt>GetWifiIP</tt></u></span>===
-Collects the IP address of the robot arm WIFI connection.
-'''Parameters'''
+===GetPIDComponent===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetPIDComponent'''
+|-
+| colspan="2" | Gets one of the PID controller output components in real world units&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Index
+|-
+| colspan="2" | Range 0-2, 0=P, 1=I, 2=D&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
-:''This macro has no parameters''
+===GetWifiIP===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetWifiIP'''
+|-
+| colspan="2" | Collects the IP address of the robot arm WIFI connection.&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''
+|}
-'''Return value'''
-:[[Variable Types|STRING]]
+===Initialise===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
+|-
+| 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''
+|}
-===<span style="font-weight: normal;"><u><tt>SetWifiDetails</tt></u></span>===
+===ResetToBoot===
-Configures the WIFI SSID and Password strings and stores into the none volatie memory onboard the robot arm.
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ResetToBoot'''
+|-
+| colspan="2" | Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro,&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''
+|}
-Call the SetWifiMode macro after this to action the change.
-'''Parameters'''
+===SetAutoOnOff===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoOnOff'''
+|-
+| colspan="2" | Enable the auto PID control using the on-board microcontroller&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Range: 0-1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Enable
+|-
+| colspan="2" | 0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz&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''
+|}
-:[[Variable Types|<- STRING]] ''SSID''
-::Netword ID String, Max 32 Characters
-::''This parameter may be returned back to the caller''
-:[[Variable Types|<- STRING]] ''Password''
+===SetAutoOnOffParam===
-::Password String, Max 32 Characters
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-::''This parameter may be returned back to the caller''
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoOnOffParam'''
+|-
+| colspan="2" | Sets the Hysteresis parameter for the Auto on-board On/Off&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | Hysteresis
+|-
+| colspan="2" | Hysterists in real world units&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''
+|}
-'''Return value'''
+===SetAutoPID===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPID'''
+|-
+| colspan="2" | Enable the auto PID control using the on-board microcontroller&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Range: 0-1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Enable
+|-
+| colspan="2" | 0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz&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''
+|}
-:''This call does not return a value''
+===SetAutoPIDFlip===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPIDFlip'''
+|-
+| colspan="2" | Controls if the PID response is flipped, a negative response vs a positive&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" | Flip
+|-
+| colspan="2" | Default: 0=Not Flipped, 1=Flipped&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''
+|}
-===<span style="font-weight: normal;"><u><tt>ResetToBoot</tt></u></span>===
-Resets the board into bootload mode for reprogramming.
-Comms port will be closed on calling this macro,
+===SetAutoPIDParam===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPIDParam'''
+|-
+| colspan="2" | Sets one of the P, I, D parameters for the Auto on-board PID&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Index
+|-
+| colspan="2" | Range: 0-5 Where 0=P, 1=I, 2=D, 3=IntClamp, 4=DFilt, 5=FiltCo&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | Value
+|-
+| colspan="2" | Range: 0.0 to 65.535&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''
+|}
-'''Parameters'''
-:''This macro has no parameters''
+===SetAutoPrescaler===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPrescaler'''
+|-
+| colspan="2" | Configures the automatic mode prescaler, for running really slowly. Defaults off so no need to call this unless you are using it.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Prescaler
+|-
+| colspan="2" | 0=Off, 2=Div by 2, 3=Div By 3 etc&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''
+|}
-'''Return value'''
+===SetBluetoothDetails===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetBluetoothDetails'''
+|-
+| colspan="2" | Configures the Bluetooth device name and pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | Name
+|-
+| colspan="2" | Bluetooth Device String, Max 20 Characters&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | Pin
+|-
+| colspan="2" | Pin String, 4 Numeric Characters e.g. "1234"&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''
+|}
-:''This call does not return a value''
+===SetBluetoothMode===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetBluetoothMode'''
+|-
+| colspan="2" | Configures the Bluetooth mode.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" | Mode
+|-
+| colspan="2" | 0=Disabled, 1=Enabled&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''
+|}
-===<span style="font-weight: normal;"><u><tt>SetAutoOnOffParam</tt></u></span>===
-Sets the Hysteresis parameter for the Auto on-board On/Off
-'''Parameters'''
+===SetCANID===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCANID'''
+|-
+| colspan="2" | Stores the specified CAN ID into an internal none volatile memory location.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | ID
+|-
+| 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''
+|}
-:[[Variable Types|FLOAT]] ''Hysteresis''
-::Hysterists in real world units
+===SetCANMode===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCANMode'''
+|-
+| colspan="2" | Configures if the CAN API mde is enabled or disabled.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Mode
+|-
+| colspan="2" | 0=Disabled / 1=Enabled&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''
+|}
-'''Return value'''
-:''This call does not return a value''
+===SetEthernetIP===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetEthernetIP'''
+|-
+| colspan="2" | Configures the Ethernet IP Address.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | IP
+|-
+| colspan="2" | IP Address string e.g. "192.168.1.100"&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''
+|}
-===<span style="font-weight: normal;"><u><tt>SetWifiMode</tt></u></span>===
+===SetEthernetMode===
-Configures the WIFI mode.
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetEthernetMode'''
+|-
+| colspan="2" | Configures the Ethernet mode.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Mode
+|-
+| colspan="2" | 0=Disabled, 1=Enabled&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''
+|}
-When enabled the control system can either create its own WIFI network or join an existing WIFI network,
-'''Parameters'''
+===SetEthernetPort===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetEthernetPort'''
+|-
+| colspan="2" | Configures the Ethernet Port number.  Default 1245.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Port
+|-
+| colspan="2" | Default 1245&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''
+|}
-:[[Variable Types|BYTE]] ''Mode''
-::0=Disabled, 1=Host Network, 2=Join Network
+===SetFeedbackMethod===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFeedbackMethod'''
+|-
+| colspan="2" | Sets feedback method to dictate which control application we are running&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | FBMethod
+|-
+| colspan="2" | Range: 0-3 Where 0=Level, 1=Flow, 2=Pressure, 3=Temp&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | InputScaler
+|-
+| colspan="2" | Feedback scaling factor used to convert the feedback reading into a meaningful value&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | OutputScaler
+|-
+| colspan="2" | Value used to convert input to 0-100% duty&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''
+|}
-'''Return value'''
-:''This call does not return a value''
+===SetLogDivider===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLogDivider'''
+|-
+| colspan="2" | Configures the rate of the PID logging.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Divider
+|-
+| colspan="2" | Divides the rate by the selected value&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''
+|}
-===<span style="font-weight: normal;"><u><tt>GetPIDComponent</tt></u></span>===
+===SetManualDuty===
-Gets one of the PID controller output components in real world units
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetManualDuty'''
+|-
+| colspan="2" | Sets duty parameter for one of the manual controlled outputs&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Range: 0-1&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | Duty
+|-
+| colspan="2" | Duty Cycle Output in Percentage Range 0 - 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''
+|}
-'''Parameters'''
-:[[Variable Types|BYTE]] ''Index''
+===SetSetpoint===
-::Range 0-2, 0=P, 1=I, 2=D
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetSetpoint'''
+|-
+| colspan="2" | Sets Setpoint parameter for the Auto on-board PID&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | Setpoint
+|-
+| colspan="2" | Required Output in Real World Units&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''
+|}
-'''Return value'''
+===SetWIFIPort===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWIFIPort'''
+|-
+| colspan="2" | Configures the WIFI Port number.  Default 1245.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Port
+|-
+| colspan="2" | Default 1245&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''
+|}
-:[[Variable Types|FLOAT]]
+===SetWifiDetails===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWifiDetails'''
+|-
+| colspan="2" | Configures the WIFI SSID and Password strings and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | SSID
+|-
+| colspan="2" | Netword ID String, Max 32 Characters&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | Password
+|-
+| colspan="2" | Password String, Max 32 Characters&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''
+|}
-===<span style="font-weight: normal;"><u><tt>SetEthernetPort</tt></u></span>===
-Configures the Ethernet Port number.
-Default 1245.
+===SetWifiMode===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-'''Parameters'''
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-:[[Variable Types|UINT]] ''Port''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWifiMode'''
-::Default 1245
+|-
+| colspan="2" | Configures the WIFI mode. When enabled the control system can either create its own WIFI network or join an existing WIFI network,&nbsp;
+|-
-'''Return value'''
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-:''This call does not return a value''
+| width="90%" | Mode
+|-
+| colspan="2" | 0=Disabled, 1=Host Network, 2=Join Network&nbsp;
-===<span style="font-weight: normal;"><u><tt>SetEthernetIP</tt></u></span>===
+|-
-Configures the Ethernet IP Address.
+| 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''
-'''Parameters'''
+|}
-:[[Variable Types|<- STRING]] ''IP''
-::IP Address string e.g. "192.168.1.100"
-::''This parameter may be returned back to the caller''
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>SetCANID</tt></u></span>===
-Stores the specified CAN ID into an internal none volatile memory location.
-'''Parameters'''
-:[[Variable Types|UINT]] ''ID''
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>GetFeedback</tt></u></span>===
-Gets the feedback as a value in real world units
-'''Parameters'''
-:''This macro has no parameters''
-'''Return value'''
-:[[Variable Types|FLOAT]]
-===<span style="font-weight: normal;"><u><tt>GetAPI</tt></u></span>===
-Gets the API version number
-'''Parameters'''
-:''This macro has no parameters''
-'''Return value'''
-:[[Variable Types|BYTE]]
-===<span style="font-weight: normal;"><u><tt>SetManualDuty</tt></u></span>===
-Sets duty parameter for one of the manual controlled outputs
-'''Parameters'''
-:[[Variable Types|BYTE]] ''Channel''
-::Range: 0-1
-:[[Variable Types|FLOAT]] ''Duty''
-::Duty Cycle Output in Percentage Range 0 - 100%
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>CheckErrorStatus</tt></u></span>===
-Returns the Error status value indicating if there has been any errors.
-= No Error
-= Timeout Error
-'''Parameters'''
-:''This macro has no parameters''
-'''Return value'''
-:[[Variable Types|BYTE]]
-===<span style="font-weight: normal;"><u><tt>SetCANMode</tt></u></span>===
-Configures if the CAN API mde is enabled or disabled.
-'''Parameters'''
-:[[Variable Types|BYTE]] ''Mode''
-::0=Disabled / 1=Enabled
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>SetAutoPID</tt></u></span>===
-Enable the auto PID control using the on-board microcontroller
-'''Parameters'''
-:[[Variable Types|BYTE]] ''Channel''
-::Range: 0-1
-:[[Variable Types|BYTE]] ''Enable''
-::0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>SetLogDivider</tt></u></span>===
-Configures the rate of the PID logging.
-'''Parameters'''
-:[[Variable Types|BYTE]] ''Divider''
-::Divides the rate by the selected value
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>ZeroSensor</tt></u></span>===
-Zeros the attached sensor reading.
-Useful for Pressure and Level control applications.
-'''Parameters'''
-:''This macro has no parameters''
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>SetAutoPIDParam</tt></u></span>===
-Sets one of the P, I, D parameters for the Auto on-board PID
-'''Parameters'''
-:[[Variable Types|BYTE]] ''Index''
-::Range: 0-5 Where 0=P, 1=I, 2=D, 3=IntClamp, 4=DFilt, 5=FiltCo
-:[[Variable Types|FLOAT]] ''Value''
-::Range: 0.0 to 65.535
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>SetEthernetMode</tt></u></span>===
-Configures the Ethernet mode.
-'''Parameters'''
-:[[Variable Types|BYTE]] ''Mode''
-::0=Disabled, 1=Enabled
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>SetBluetoothMode</tt></u></span>===
-Configures the Bluetooth mode.
-'''Parameters'''
-:[[Variable Types|BOOL]] ''Mode''
-::0=Disabled, 1=Enabled
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>Initialise</tt></u></span>===
-''<span style="color:red;">No additional information</span>''
-'''Parameters'''
-:''This macro has no parameters''
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>SetFeedbackMethod</tt></u></span>===
-Sets feedback method to dictate which control application we are running
-'''Parameters'''
-:[[Variable Types|BYTE]] ''FBMethod''
-::Range: 0-3 Where 0=Level, 1=Flow, 2=Pressure, 3=Temp
-:[[Variable Types|FLOAT]] ''InputScaler''
-::Feedback scaling factor used to convert the feedback reading into a meaningful value
-:[[Variable Types|FLOAT]] ''OutputScaler''
-::Value used to convert input to 0-100% duty
-'''Return value'''
-:''This call does not return a value''
-===<span style="font-weight: normal;"><u><tt>SetSetpoint</tt></u></span>===
-Sets Setpoint parameter for the Auto on-board PID
-'''Parameters'''
-:[[Variable Types|FLOAT]] ''Setpoint''
-::Required Output in Real World Units
-'''Return value'''
-:''This call does not return a value''
+===ZeroSensor===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ZeroSensor'''
+|-
+| colspan="2" | Zeros the attached sensor reading.  Useful for Pressure and Level control applications.&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==
-<span style="font-weight: normal;"><u>Comms Method</u></span>
-This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''CommsMethod''.
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+|-
-Selects the method to communicate with the Matrix 3 Axis Robot Arm.
+| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
-USB connection requires the USB drivers to be installed.
+|-
+|-
-Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel.
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Comms Method
-WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth.
+|-
+| colspan="2" | Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth.  CAN connection does not simulate and works on embedded hardware e.g. the MIAC.&nbsp;
-CAN connection does not simulate and works on embedded hardware e.g. the MIAC.
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
-<span style="font-weight: normal;"><u>Autodetect</u></span>
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | COM Port Settings
+|-
-This property is of type ''True or false'' and can be referenced with the variable name ''Autodetect''.
+|-
+| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
-Autodetects the COM port, only works for USB AllCode connection.
+| width="90%" | Autodetect
+|-
-<span style="font-weight: normal;"><u>COM Port</u></span>
+| colspan="2" | Autodetects the COM port, only works for USB AllCode connection.&nbsp;
+|-
-This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''COMPort1::COM_port''.
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | COM Port
-Selects which port to communicate with, only lists ports which are currently available.
+|-
+| colspan="2" | Selects which port to communicate with, only lists ports which are currently available. &nbsp;
-<span style="font-weight: normal;"><u>Network Interface</u></span>
+|-
+| width="10%" align="center" | [[File:Fc9-type-1-icon.png]]
-This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''NetworkComms1::NetworkInterface''.
+| width="90%" | Text Colour
+|-
-Some computers may have several network interfaces such as ethernet ports and wifi access.
+| colspan="2" | &nbsp;
+|}
-Select the correct network interface for the network you wish to connect to.
-Use the IP address to confirm you are connected to the right network.
-<span style="font-weight: normal;"><u>Local IP Address</u></span>
-This property is of type ''Line of text'' and can be referenced with the variable name ''NetworkComms1::IPAddress''.
-IP Address of the selected network interface.
-<span style="font-weight: normal;"><u>Control IP Address</u></span>
-This property is of type ''Line of text'' and can be referenced with the variable name ''ArmIP''.
-IP address of the Control Board.
-You can find the IP address by connecting using USB and running the GetIP component macro.
-You may first need to configure the Control Board in WIFI mode by providing the network SSID and Password.
-<span style="font-weight: normal;"><u>Port</u></span>
-This property is of type ''Unsigned integer'' and can be referenced with the variable name ''Port''.
-Allows the Control TCP/IP Port to be selected. Default 1245.
-<span style="font-weight: normal;"><u>Channel</u></span>
-This property is of type ''Fixed list of ints'' and can be referenced with the variable name ''can1::CHANNEL_CAN''.
-Switches between Internal CAN peripheral and External CAN controller IC MCP2515.
-<span style="font-weight: normal;"><u>Text Colour</u></span>
-This property is of type ''Color picker'' and can be referenced with the variable name ''TextColour''.
-''<span style="color:red;">No additional information</span>''