Difference between revisions of "Component: Formula AllCode Dummy (RB4420) (Mechatronics)"

Latest revision as of 13:10, 7 February 2023

Author	Matrix TSL
Version	1.2
Category	Mechatronics

Formula AllCode Dummy component

A component to allow all the features of the Formula AllCode robot to be investigated. Fully simulated component which can interact with simulated objects on the panel as well as control the real hardware.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_FA_Source_P4_Dummy_Template.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_FA_Source_P4_Dummy_Template.fcfx

Detailed description

No detailed description exists yet for this component

Examples

Line Following

Line following example using the Formula AllCode, works with objects on the simulation panel and on the real hardware.

FA-Line

Simulation with the API component

An example showing how to use the API component to drive the robot in simulation.

FA API Sim Demo

Macro reference

AudioAddToBuffer

	AudioAddToBuffer
Writes a value to the 16-bit audio output buffer.
- UINT	Data

- VOID	Return

AudioQueueLength

	AudioQueueLength
Retreives the current length of valid data within the audio queue
- UINT	Return

AudioReadFromBuffer

	AudioReadFromBuffer
Allows the audio buffer to be used for other streaming data such as recording the mic.
- UINT	Return

AudioStreamControl

	AudioStreamControl
Allows control of the audio output functionality via the onboard speaker. Data is loaded into the audio output buffer using the AddToBuffer function.
- BYTE	Mode
0=Off, 8=8-bit Mode, 16=16-bit Mode
- BYTE	SampleRate
Sets the sample rate 0=8KHz, 1=16KHz
- VOID	Return

BluetoothCheckConnection

	BluetoothCheckConnection
Checks the status of the Bluetooth connection. Returns 0 for not paired and 1 for paired.
- BYTE	Return

BluetoothQueueLength

	BluetoothQueueLength
Reads the length of received Bluetooth data in bytes.
- UINT	Return

BluetoothReceive

	BluetoothReceive
Attempt to read a byte from the Bluetooth receive queue.
- BYTE	Return

BluetoothTransmit

	BluetoothTransmit
Sends a byte via the Bluetooth data connection.
- BYTE	Data

- VOID	Return

BluetoothTransmitString

	BluetoothTransmitString
Sends a string via the Bluetooth data connection.
- STRING	Data

- VOID	Return

CheckIR

	CheckIR
Checks to see if a IR sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.
- BYTE	Sensor
Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left
- BYTE	Return

CheckLine

	CheckLine
Checks to see if a line sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.
- BYTE	Sensor
Range: 0 to 1 - 0=Left, 1=Right
- BYTE	Return

CheckUSB

	CheckUSB
Checks to see if a USB cable is connected to the robot. Returns 0 for no connection and 1 for an active connection.
- BYTE	Return

EncoderReadCount

	EncoderReadCount
Reads one of the motor encoder counters. Each encoder count is equal to 0.314159 mm.
- BYTE	Channel
0 = LeftCount, 1=RightCount
- UINT	Return

EncoderReset

	EncoderReset
Resets the encoder counters to 0
- VOID	Return

Forward

	Forward
Drives both motors of the formula flowcode forwards with the power specified.
- BYTE	Power
Amount of power to use to drive motor. Range 0-100
- VOID	Return

Initialise

	Initialise
Starts up the Formula Allcode PWM for motor control and performs the wait for button press if enabled.
- VOID	Return

LCDBacklight

	LCDBacklight
Controls the brighness of the LCD backlight
- BYTE	Brightness
Range: 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness
- VOID	Return

LCDClear

	LCDClear
Clears the contents of the graphical LCD.
- VOID	Return

LCDDrawLine

	LCDDrawLine
Draws a line on the LCD.
- BYTE	X1
Range 0-127
- BYTE	Y1
Range 0-31
- BYTE	X2
Range 0-127
- BYTE	Y2
Range 0-31
- VOID	Return

LCDDrawRectangle

	LCDDrawRectangle
Draws a rectange on the LCD.
- BYTE	X1
Range 0-127
- BYTE	Y1
Range 0-31
- BYTE	X2
Range 0-127
- BYTE	Y2
Range 0-31
- BYTE	Transparent
Sets the transparency of the box, 0=Box contains background colour, 1=Box contains previous pixel data
- BYTE	Solid
Chooses to fill the box with colour, 0=Box contains transparency data, 1=Box contains foreground colour
- VOID	Return

LCDPlotPixel

	LCDPlotPixel
Allows a single pixel on the LCD to be set or cleared.
- BYTE	X
Sets the X coordinate - Range 0-127
- BYTE	Y
Sets the Y coordinate - Range 0-31
- VOID	Return

LCDPrintNumber

	LCDPrintNumber
Prints a numeric value to the graphical LCD.
- BYTE	X
The horizontal start pixel. Range 0-127
- BYTE	Y
Y coordinate to print the string. Range 0-31
- UINT	Number

- BYTE	Transparent

- VOID	Return

LCDPrintString

	LCDPrintString
Prints a string to the graphical LCD.
- BYTE	X
The horizontal start pixel. Range 0-127
- BYTE	Y
Y coordinate to print the string. Range 0-31
- STRING	Data

- UINT	Transparent

- VOID	Return

LCDSetBackgroundColour

	LCDSetBackgroundColour
Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.
- BYTE	Colour
Range 0-1 : 0=White, 1=Black
- VOID	Return

LCDSetForegroundColour

	LCDSetForegroundColour
Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.
- BYTE	Colour
Range 0-1 : 0=White, 1=Black
- VOID	Return

LCDWriteByte

	LCDWriteByte

- BYTE	Data

- BYTE	X

- BYTE	Y

- VOID	Return

LEDOff

	LEDOff
Switches off a single LED on the front of the Formula Allcode.
- BYTE	LED
Which LED to switch on, range 0-7
- VOID	Return

LEDOn

	LEDOn
Switches on a single LED on the front of the Formula Allcode.
- BYTE	LED
Which LED to switch on, range 0-7
- VOID	Return

LEDWrite

	LEDWrite
Allows control of all 8-LEDs on the front of the Formula Allcode.
- BYTE	LED_Byte
8-bit binary value to write to the 8 LEDs
- VOID	Return

LogoBackwards

	LogoBackwards
Drives the robot backward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.
- UINT	Distance
Distance you want to robot to drive in mm. Range 1-65535
- VOID	Return

LogoForwards

	LogoForwards
Drives the robot forward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.
- UINT	Distance
Distance you want to robot to drive in mm. Range 1-65535
- VOID	Return

LogoSetSpeed

	LogoSetSpeed
Sets the cruise speed for LOGO type macros. Default speed 20%.
- BYTE	Speed
Range 1-100, Default 60
- VOID	Return

LogoTurnLeft

	LogoTurnLeft
Rotates the robot left by a specific angle using the encoders as feedback to ensure the robot turns evenly. Automatically stops at the specified turn angle.
- UINT	Angle
Angle in degrees you wish to rotate. Range 1-65536
- VOID	Return

LogoTurnRight

	LogoTurnRight
Rotates the robot right by a specific angle using the encoders as feedback to ensure the robot turns evenly. Automatically stops at the specified turn angle.
- UINT	Angle
Angle in degrees you wish to rotate. Range 1-65536
- VOID	Return

PlayNote

	PlayNote
Outputs a single tone from the onboard speaker for the period specified.
- UINT	Note
Sets the pitch of the note in Hz. Range: 1 - 10000
- UINT	Time
Time period to play the note for in milliseconds. Range: 0 - 65535 ms
- VOID	Return

ReadBattery

	ReadBattery
Reads the current voltage level from the LiPo battery. Return value is the battery voltage in Volts. Take care not to run the battery too low. Voltages lower than 3.4V may damage the battery.
- FLOAT	Return

ReadIRSensor

	ReadIRSensor
Reads the analogue value from the specified IR distance sensor. Return value range: 0 to 4095 4095 represents the object is very close.
- BYTE	Channel
Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left
- UINT	Return

ReadLDR

	ReadLDR
Reads the current light level from the on board light sensor. Return value range: 0 to 4095 4095 represents the maximum level of light and 0 represents the minimal level of light.
- UINT	Return

ReadLineSensor

	ReadLineSensor
Reads the analogue value from the specified IR line sensor. Return value range: 0 to 4095 4095 represents the object is reflecting the most light.
- BYTE	Channel
Range: 0 to 1 - 0=Left, 1=Right
- UINT	Return

ReadMic

	ReadMic
Reads the current audio signal level from the on-board microphone. Return value range: 0 to 4095
- UINT	Return

ReadSwitch

	ReadSwitch
Reads the value of one of the switches from the front of the Formula Allcode.
- BYTE	Switch
Which switch do we want to read 0=Left, 1=Right
- BYTE	Return

Reverse

	Reverse
Drives both motors of the formula flowcode backwards with the power specified.
- BYTE	Power
Amount of power to use to drive motor. Range 0-100
- VOID	Return

SetMotors

	SetMotors
Sets the speed and direction of the Formula Allcode motors.
- INT	Left
Valid Range = -100 to 100
- INT	Right
Valid Range = -100 to 100
- VOID	Return

SpinLeft

	SpinLeft
Spins the formula flowcode on the spot in an anticlockwise direction as seen from above.
- BYTE	Power
Amount of power to use to drive motor. Range 0-100
- VOID	Return

SpinRight

	SpinRight
Spins the formula flowcode on the spot in a clockwise direction as seen from above.
- BYTE	Power
Amount of power to use to drive motor. Range 0-100
- VOID	Return

Stop

	Stop
Stops both motors.
- VOID	Return

WaitForSwitch

	WaitForSwitch
Waits for the specified switch to be pressed.
- BYTE	Switch
Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both
- VOID	Return

Property reference

	Properties
	Wait For Button
Determines if the program will automatically wait for one of the front switches to be pressed before executing the program. Ran as part of the initialise function after the various components have been initialised.
	Show Creation Info
Specifies what information is shown to the user on calling the initialise function. The time and date shown are the compilation time and date to help pinpoint the firmware version.
	Bluetooth Reset
Decides if the Bluetooth data connection can reset the Formula AllCode. Used by mLoader when programming via Bluetooth to allow reprogramming without having to physically touch the robot. To ensure programming security set this option to No.
	Use Motor Feedback
Controls when the motor feedback is used. No - Speed control feedback is not used for SetMotors commands. Yes - Speed control feedback is used for the SetMotors commands. SetMotors commands include Forward, Backward, SpinLeft, SpinRight as well as SetMotors itself. Logo functions always use feedback.
	IR Thresholds (CheckIR macro)
	IR Distance
IR Threshold used with the CheckIR macro
	Line Sensitivity

	Simulation Properties
	Sim Speed (1 - 100)
Sets the simulated amount of movement relative to the speed of the Formula Allcode.
	Timer Interval (ms)
Interval in milliseconds between each simulated movement of the Formula Allcode robot.
	Collision Method
Select which objects the robot sensors will interact with.
	Light Source
Panel object specified as the simulation light source. Used when simulating "find the light" type tasks.

@@ Line 16: / Line 16: @@
 ==Component Source Code==
+Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_FA_Source_P4_Dummy_Template.fcfx FC_Comp_Source_FA_Source_P4_Dummy_Template.fcfx]
 Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_FA_Source_P4_Dummy_Template.fcfx FC_Comp_Source_FA_Source_P4_Dummy_Template.fcfx]
@@ Line 39: / Line 41: @@
-''No detailed description exists yet for this component''
-==Examples==
@@ Line 47: / Line 47: @@
+''No detailed description exists yet for this component''
+==Examples==
@@ Line 63: / Line 65: @@
-===Line Following===
-Line following example using the Formula AllCode, works with objects on the simulation panel and on the real hardware.
-{{Fcfile|FA-Line.fcfx|FA-Line}}
-[[File:FALine.jpg]]
-===Simulation with the API component===
-An example showing how to use the API component to drive the robot in simulation.
-{{Fcfile|FA_API_Sim_Demo.fcfx|FA API Sim Demo}}
-==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" | Outputs a single tone from the onboard speaker for the period specified.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Note
-|-
-| colspan="2" | Sets the pitch of the note in Hz. Range: 1 - 10000&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Time
-|-
-| colspan="2" | Time period to play the note for in milliseconds. Range: 0 - 65535 ms&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" | Switches on a single LED on the front of the Formula Allcode. &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | LED
-|-
-| colspan="2" | Which LED to switch on, 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''
-|}
+===Line Following===
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+Line following example using the Formula AllCode, works with objects on the simulation panel and on the real hardware.
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothTransmit'''
-|-
-| colspan="2" | Sends a byte via the Bluetooth data connection.&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''
-|}
+{{Fcfile|FA-Line.fcfx|FA-Line}}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+[[File:FALine.jpg]]
-|-
-| 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 graphical LCD.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | The horizontal start pixel. Range 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | Y coordinate to print the string. Range 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Data
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Transparent
-|-
-| 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;"
+===Simulation with the API component===
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stop'''
-|-
-| colspan="2" | Stops both motors.&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''
-|}
+An example showing how to use the API component to drive the robot in simulation.
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+{{Fcfile|FA_API_Sim_Demo.fcfx|FA API Sim Demo}}
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBattery'''
-|-
-| colspan="2" | Reads the current voltage level from the LiPo battery. Return value is the battery voltage in Volts. Take care not to run the battery too low.  Voltages lower than 3.4V may damage the battery.&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''
-|}
-{| class="wikitable" style="width:60%; background-color:#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" | Switches off a single LED on the front of the Formula Allcode. &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | LED
-|-
-| colspan="2" | Which LED to switch on, 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;" | '''LCDPrintNumber'''
-|-
-| colspan="2" | Prints a numeric value to the graphical LCD.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | The horizontal start pixel. Range 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | Y coordinate to print the string. Range 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Number
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Transparent
-|-
-| 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;" | '''LEDWrite'''
-|-
-| colspan="2" | Allows control of all 8-LEDs on the front of the Formula Allcode. &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | LED_Byte
-|-
-| colspan="2" | 8-bit binary value to write to the 8 LEDs&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;" | '''BluetoothCheckConnection'''
-|-
-| colspan="2" | Checks the status of the Bluetooth connection. Returns 0 for not paired and 1 for paired.&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 current audio signal level from the on-board microphone.  Return value range: 0 to 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;" | '''AudioQueueLength'''
-|-
-| colspan="2" | Retreives the current length of valid data within the audio queue&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''
-|}
+==Macro reference==
+===AudioAddToBuffer===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
@@ Line 324: / Line 123: @@
+===AudioQueueLength===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioQueueLength'''
 |-
-| colspan="2" | Reads the value of one of the switches from the front of the Formula Allcode.&nbsp;
+| colspan="2" | Retreives the current length of valid data within the audio queue&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%" | Switch
-|-
-| colspan="2" | Which switch do we want to read 0=Left, 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''
 |}
+===AudioReadFromBuffer===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckLine'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioReadFromBuffer'''
 |-
-| colspan="2" | Checks to see if a line sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.&nbsp;
+| colspan="2" | Allows the audio buffer to be used for other streaming data such as recording the mic. &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%" | Sensor
-|-
-| colspan="2" | Range: 0 to 1 - 0=Left, 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''
 |}
+===AudioStreamControl===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
@@ Line 383: / Line 175: @@
+===BluetoothCheckConnection===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinLeft'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothCheckConnection'''
 |-
-| colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above. &nbsp;
+| colspan="2" | Checks the status of the Bluetooth connection. Returns 0 for not paired and 1 for paired.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
-|-
-| colspan="2" | Amount of power to use to drive motor. 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''
 |}
+===BluetoothQueueLength===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoTurnLeft'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothQueueLength'''
 |-
-| colspan="2" | Rotates the robot left by a specific angle using the encoders as feedback to ensure the robot turns evenly. Automatically stops at the specified turn angle.&nbsp;
+| colspan="2" | Reads the length of received Bluetooth data in bytes. &nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Angle
-|-
-| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536&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;" | '''Forward'''
-|-
-| colspan="2" | Drives both motors of the formula flowcode forwards with the power specified. &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
-|-
-| colspan="2" | Amount of power to use to drive motor. 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''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDWriteByte'''
-|-
-| colspan="2" | &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Data
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| 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''
 |}
+===BluetoothReceive===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
@@ Line 478: / Line 217: @@
+===BluetoothTransmit===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothTransmit'''
 |-
-| colspan="2" | Draws a line on the LCD.&nbsp;
+| colspan="2" | Sends a byte via the Bluetooth data connection.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X1
+| width="90%" | Data
 |-
-| colspan="2" | Range 0-127&nbsp;
+| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y1
-|-
-| colspan="2" | Range 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X2
-|-
-| colspan="2" | Range 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y2
-|-
-| colspan="2" | Range 0-31&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 511: / Line 236: @@
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+===BluetoothTransmitString===
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothQueueLength'''
-|-
-| colspan="2" | Reads the length of received Bluetooth data in bytes. &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;"
 |-
@@ Line 542: / Line 255: @@
+===CheckIR===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckIR'''
 |-
-| colspan="2" | Controls the brighness of the LCD backlight&nbsp;
+| colspan="2" | Checks to see if a IR sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Brightness
+| width="90%" | Sensor
 |-
-| colspan="2" | Range: 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness&nbsp;
+| colspan="2" | Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left&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''
 |}
+===CheckLine===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioReadFromBuffer'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckLine'''
 |-
-| colspan="2" | Allows the audio buffer to be used for other streaming data such as recording the mic. &nbsp;
+| colspan="2" | Checks to see if a line sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.&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;" | '''ReadLineSensor'''
-|-
-| colspan="2" | Reads the analogue value from the specified IR line sensor. Return value range: 0 to 4095 4095 represents the object is reflecting the most light.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
+| width="90%" | Sensor
 |-
 | colspan="2" | Range: 0 to 1 - 0=Left, 1=Right&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''
 |}
+===CheckUSB===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoTurnRight'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckUSB'''
 |-
-| colspan="2" | Rotates the robot right by a specific angle using the encoders as feedback to ensure the robot turns evenly. Automatically stops at the specified turn angle.&nbsp;
+| colspan="2" | Checks to see if a USB cable is connected to the robot. Returns 0 for no connection and 1 for an active connection.&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 in degrees you wish to rotate. Range 1-65536&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''
 |}
+===EncoderReadCount===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinRight'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReadCount'''
 |-
-| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above. &nbsp;
+| colspan="2" | Reads one of the motor encoder counters. Each encoder count is equal to 0.314159 mm. &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
+| width="90%" | Channel
 |-
-| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
+| colspan="2" | 0 = LeftCount, 1=RightCount&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===EncoderReset===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckIR'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset'''
 |-
-| colspan="2" | Checks to see if a IR sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.&nbsp;
+| colspan="2" | Resets the encoder counters to 0&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%" | Sensor
-|-
-| colspan="2" | Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left&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''
 |}
+===Forward===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPlotPixel'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forward'''
 |-
-| colspan="2" | Allows a single pixel on the LCD to be set or cleared.&nbsp;
+| colspan="2" | Drives both motors of the formula flowcode forwards with the power specified. &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
+| width="90%" | Power
 |-
-| colspan="2" | Sets the X coordinate - Range 0-127&nbsp;
+| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | Sets the Y coordinate - Range 0-31&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 668: / Line 359: @@
+===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;" | '''LCDSetBackgroundColour'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 |-
-| colspan="2" | Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.&nbsp;
+| colspan="2" | Starts up the Formula Allcode PWM for motor control and performs the wait for button press if enabled.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Colour
 |-
-| colspan="2" | Range 0-1 : 0=White, 1=Black&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 686: / Line 373: @@
+===LCDBacklight===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIRSensor'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
 |-
-| colspan="2" | Reads the analogue value from the specified IR distance sensor. Return value range: 0 to 4095 4095 represents the object is very close.&nbsp;
+| colspan="2" | Controls the brighness of the LCD backlight&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
+| width="90%" | Brightness
 |-
-| colspan="2" | Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left&nbsp;
+| colspan="2" | Range: 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-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 speed and direction of the Formula Allcode motors. &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Left
-|-
-| colspan="2" | Valid Range = -100 to 100&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Right
-|-
-| colspan="2" | Valid Range = -100 to 100&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 727: / Line 392: @@
+===LCDClear===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoBackwards'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
-|-
-| colspan="2" | Drives the robot backward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.&nbsp;
 |-
+| colspan="2" | Clears the contents of the graphical LCD.&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
-|-
-| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 745: / Line 406: @@
+===LCDDrawLine===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
 |-
-| colspan="2" | Resets the encoder counters to 0&nbsp;
+| colspan="2" | Draws a line on the LCD.&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
+| width="90%" | X1
-|}
-{| 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" | Range 0-127&nbsp;
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Reverse'''
 |-
-| colspan="2" | Drives both motors of the formula flowcode backwards with the power specified. &nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Y1
 |-
+| colspan="2" | Range 0-31&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
+| width="90%" | X2
-|-
-| colspan="2" | Amount of power to use to drive motor. 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''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WaitForSwitch'''
-|-
-| colspan="2" | Waits for the specified switch to be pressed.&nbsp;
 |-
+| colspan="2" | Range 0-127&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Switch
+| width="90%" | Y2
 |-
-| colspan="2" | Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both&nbsp;
+| colspan="2" | Range 0-31&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 794: / Line 440: @@
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+===LCDDrawRectangle===
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLDR'''
-|-
-| colspan="2" | Reads the current light level from the on board light sensor. Return value range: 0 to 4095 4095 represents the maximum level of light and 0 represents the minimal level of light.&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;"
 |-
@@ Line 850: / Line 484: @@
+===LCDPlotPixel===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReadCount'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPlotPixel'''
 |-
-| colspan="2" | Reads one of the motor encoder counters. Each encoder count is equal to 0.314159 mm. &nbsp;
+| 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%" | Channel
+| width="90%" | X
-|-
-| colspan="2" | 0 = LeftCount, 1=RightCount&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;" | '''CheckUSB'''
-|-
-| colspan="2" | Checks to see if a USB cable is connected to the robot. Returns 0 for no connection and 1 for an active connection.&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;" | '''LCDSetForegroundColour'''
-|-
-| colspan="2" | Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.&nbsp;
 |-
+| colspan="2" | Sets the X coordinate - Range 0-127&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Colour
+| width="90%" | Y
 |-
-| colspan="2" | Range 0-1 : 0=White, 1=Black&nbsp;
+| colspan="2" | Sets the Y coordinate - Range 0-31&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 899: / Line 508: @@
+===LCDPrintNumber===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNumber'''
 |-
-| colspan="2" | Starts up the Formula Allcode PWM for motor control and performs the wait for button press if enabled.&nbsp;
+| colspan="2" | Prints a numeric value to the graphical LCD.&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
+| width="90%" | X
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoSetSpeed'''
-|-
-| colspan="2" | Sets the cruise speed for LOGO type macros. Default speed 20%.&nbsp;
 |-
+| colspan="2" | The horizontal start pixel. Range 0-127&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Speed
+| width="90%" | Y
-|-
-| colspan="2" | Range 1-100, Default 60&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;" | '''LogoForwards'''
-|-
-| colspan="2" | Drives the robot forward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.&nbsp;
 |-
+| colspan="2" | Y coordinate to print the string. Range 0-31&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
+| width="90%" | Number
-|-
-| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535&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;" | '''LCDClear'''
-|-
-| colspan="2" | Clears the contents of the graphical 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-7-icon.png]]
-| width="90%" | Wait For Button
-|-
-| colspan="2" | Determines if the program will automatically wait for one of the front switches to be pressed before executing the program. Ran as part of the initialise function after the various components have been initialised.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Show Creation Info
-|-
-| colspan="2" | Specifies what information is shown to the user on calling the initialise function. The time and date shown are the compilation time and date to help pinpoint the firmware version.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
-| width="90%" | Bluetooth Reset
-|-
-| colspan="2" | Decides if the Bluetooth data connection can reset the Formula AllCode. Used by mLoader when programming via Bluetooth to allow reprogramming without having to physically touch the robot. To ensure programming security set this option to No.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
-| width="90%" | Use Motor Feedback
-|-
-| colspan="2" | Controls when the motor feedback is used. No - Speed control feedback is not used for SetMotors commands. Yes - Speed control feedback is used for the SetMotors commands. SetMotors commands include Forward, Backward, SpinLeft, SpinRight as well as SetMotors itself. Logo functions always use feedback.&nbsp;
-|-
-| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
-| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | IR Thresholds (CheckIR macro)
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
-| width="90%" | IR Distance
-|-
-| colspan="2" | IR Threshold used with the CheckIR macro&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
-| width="90%" | Line Sensitivity
 |-
 | colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
-| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation Properties
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
-| width="90%" | Sim Speed (1 - 100)
-|-
-| colspan="2" | Sets the simulated amount of movement relative to the speed of the Formula Allcode.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
-| width="90%" | Timer Interval (ms)
-|-
-| colspan="2" | Interval in milliseconds between each simulated movement of the Formula Allcode robot.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
-| width="90%" | Collision Method
-|-
-| colspan="2" | Select which objects the robot sensors will interact with.&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
-| width="90%" | Light Source
-|-
-| colspan="2" | Panel object specified as the simulation light source. Used when simulating "find the light" type tasks.&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" | Outputs a single tone from the onboard speaker for the period specified.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Note
-|-
-| colspan="2" | Sets the pitch of the note in Hz. Range: 1 - 10000&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Time
-|-
-| colspan="2" | Time period to play the note for in milliseconds. Range: 0 - 65535 ms&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" | Switches on a single LED on the front of the Formula Allcode. &nbsp;
-|-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | LED
+| width="90%" | Transparent
-|-
-| colspan="2" | Which LED to switch on, 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;" | '''BluetoothTransmit'''
-|-
-| colspan="2" | Sends a byte via the Bluetooth data connection.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Data
 |-
 | colspan="2" | &nbsp;
@@ Line 1,089: / Line 542: @@
+===LCDPrintString===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
@@ Line 1,122: / Line 576: @@
+===LCDSetBackgroundColour===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stop'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDSetBackgroundColour'''
 |-
-| colspan="2" | Stops both motors.&nbsp;
+| colspan="2" | Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
+| width="90%" | Colour
-|}
-{| 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" | Range 0-1 : 0=White, 1=Black&nbsp;
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBattery'''
 |-
-| colspan="2" | Reads the current voltage level from the LiPo battery. Return value is the battery voltage in Volts. Take care not to run the battery too low.  Voltages lower than 3.4V may damage the battery.&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-f32-icon.png]] - FLOAT
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===LCDSetForegroundColour===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDSetForegroundColour'''
 |-
-| colspan="2" | Switches off a single LED on the front of the Formula Allcode. &nbsp;
+| colspan="2" | Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | LED
+| width="90%" | Colour
 |-
-| colspan="2" | Which LED to switch on, range 0-7&nbsp;
+| colspan="2" | Range 0-1 : 0=White, 1=Black&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 1,166: / Line 614: @@
+===LCDWriteByte===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNumber'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDWriteByte'''
 |-
-| colspan="2" | Prints a numeric value to the graphical LCD.&nbsp;
+| colspan="2" | &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
+| width="90%" | Data
 |-
-| colspan="2" | The horizontal start pixel. Range 0-127&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
+| width="90%" | X
-|-
-| colspan="2" | Y coordinate to print the string. Range 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Number
 |-
 | colspan="2" | &nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Transparent
+| width="90%" | Y
 |-
 | colspan="2" | &nbsp;
@@ Line 1,199: / Line 643: @@
+===LEDOff===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
 |-
-| colspan="2" | Allows control of all 8-LEDs on the front of the Formula Allcode. &nbsp;
+| colspan="2" | Switches off a single LED on the front of the Formula Allcode. &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | LED_Byte
+| width="90%" | LED
 |-
-| colspan="2" | 8-bit binary value to write to the 8 LEDs&nbsp;
+| colspan="2" | Which LED to switch on, range 0-7&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 1,217: / Line 662: @@
+===LEDOn===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothCheckConnection'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
 |-
-| colspan="2" | Checks the status of the Bluetooth connection. Returns 0 for not paired and 1 for paired.&nbsp;
+| colspan="2" | Switches on a single LED on the front of the Formula Allcode. &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%" | LED
-|}
-{| 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" | Which LED to switch on, range 0-7&nbsp;
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadMic'''
-|-
-| colspan="2" | Reads the current audio signal level from the on-board microphone.  Return value range: 0 to 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;" | '''AudioQueueLength'''
-|-
-| colspan="2" | Retreives the current length of valid data within the audio queue&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;" | '''AudioAddToBuffer'''
-|-
-| colspan="2" | Writes a value to the 16-bit audio output buffer.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Data
-|-
-| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 1,274: / Line 681: @@
+===LEDWrite===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
 |-
-| colspan="2" | Reads the value of one of the switches from the front of the Formula Allcode.&nbsp;
+| colspan="2" | Allows control of all 8-LEDs on the front of the Formula Allcode. &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Switch
+| width="90%" | LED_Byte
 |-
-| colspan="2" | Which switch do we want to read 0=Left, 1=Right&nbsp;
+| colspan="2" | 8-bit binary value to write to the 8 LEDs&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''
 |}
+===LogoBackwards===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckLine'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoBackwards'''
 |-
-| colspan="2" | Checks to see if a line sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.&nbsp;
+| colspan="2" | Drives the robot backward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Sensor
+| width="90%" | Distance
 |-
-| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right&nbsp;
+| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535&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''
 |}
+===LogoForwards===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioStreamControl'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoForwards'''
 |-
-| colspan="2" | Allows control of the audio output functionality via the onboard speaker. Data is loaded into the audio output buffer using the AddToBuffer function.&nbsp;
+| colspan="2" | Drives the robot forward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Mode
+| width="90%" | Distance
 |-
-| colspan="2" | 0=Off, 8=8-bit Mode, 16=16-bit Mode&nbsp;
+| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | SampleRate
-|-
-| colspan="2" | Sets the sample rate 0=8KHz, 1=16KHz&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 1,333: / Line 738: @@
+===LogoSetSpeed===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinLeft'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoSetSpeed'''
 |-
-| colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above. &nbsp;
+| colspan="2" | Sets the cruise speed for LOGO type macros. Default speed 20%.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
+| width="90%" | Speed
 |-
-| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
+| colspan="2" | Range 1-100, Default 60&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 1,351: / Line 757: @@
+===LogoTurnLeft===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
@@ Line 1,369: / Line 776: @@
+===LogoTurnRight===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forward'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoTurnRight'''
 |-
-| colspan="2" | Drives both motors of the formula flowcode forwards with the power specified. &nbsp;
+| colspan="2" | Rotates the robot right by a specific angle using the encoders as feedback to ensure the robot turns evenly. Automatically stops at the specified turn angle.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Power
+| width="90%" | Angle
 |-
-| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
+| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 1,387: / Line 795: @@
+===PlayNote===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDWriteByte'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PlayNote'''
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Outputs a single tone from the onboard speaker for the period specified.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Data
+| width="90%" | Note
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Sets the pitch of the note in Hz. Range: 1 - 10000&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | X
+| width="90%" | Time
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Time period to play the note for in milliseconds. Range: 0 - 65535 ms&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 1,415: / Line 819: @@
+===ReadBattery===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothReceive'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBattery'''
 |-
-| colspan="2" | Attempt to read a byte from the Bluetooth receive queue.&nbsp;
+| colspan="2" | Reads the current voltage level from the LiPo battery. Return value is the battery voltage in Volts. Take care not to run the battery too low.  Voltages lower than 3.4V may damage the battery.&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-f32-icon.png]] - FLOAT
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===ReadIRSensor===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIRSensor'''
 |-
-| colspan="2" | Draws a line on the LCD.&nbsp;
+| colspan="2" | Reads the analogue value from the specified IR distance sensor. Return value range: 0 to 4095 4095 represents the object is very close.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X1
+| width="90%" | Channel
-|-
-| colspan="2" | Range 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y1
-|-
-| colspan="2" | Range 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X2
-|-
-| colspan="2" | Range 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y2
-|-
-| colspan="2" | Range 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;" | '''BluetoothQueueLength'''
-|-
-| colspan="2" | Reads the length of received Bluetooth data in bytes. &nbsp;
 |-
+| colspan="2" | Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
@@ Line 1,474: / Line 852: @@
+===ReadLDR===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothTransmitString'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLDR'''
-|-
-| colspan="2" | Sends a string via the Bluetooth data connection.&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;" | '''LCDBacklight'''
-|-
-| colspan="2" | Controls the brighness of the LCD backlight&nbsp;
 |-
-|-
+| colspan="2" | Reads the current light level from the on board light sensor. Return value range: 0 to 4095 4095 represents the maximum level of light and 0 represents the minimal level of light.&nbsp;
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Brightness
-|-
-| 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;" | '''AudioReadFromBuffer'''
-|-
-| colspan="2" | Allows the audio buffer to be used for other streaming data such as recording the mic. &nbsp;
 |-
 |-
@@ Line 1,523: / Line 866: @@
+===ReadLineSensor===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
@@ Line 1,541: / Line 885: @@
+===ReadMic===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoTurnRight'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadMic'''
 |-
-| colspan="2" | Rotates the robot right by a specific angle using the encoders as feedback to ensure the robot turns evenly. Automatically stops at the specified turn angle.&nbsp;
+| colspan="2" | Reads the current audio signal level from the on-board microphone.  Return value range: 0 to 4095&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Angle
-|-
-| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===ReadSwitch===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinRight'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
 |-
-| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above. &nbsp;
+| colspan="2" | Reads the value of one of the switches from the front of the Formula Allcode.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
+| width="90%" | Switch
 |-
-| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
+| colspan="2" | Which switch do we want to read 0=Left, 1=Right&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;" | '''CheckIR'''
-|-
-| colspan="2" | Checks to see if a IR sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Sensor
-|-
-| colspan="2" | Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
@@ Line 1,595: / Line 918: @@
+===Reverse===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPlotPixel'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Reverse'''
 |-
-| colspan="2" | Allows a single pixel on the LCD to be set or cleared.&nbsp;
+| colspan="2" | Drives both motors of the formula flowcode backwards with the power specified. &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
+| width="90%" | Power
 |-
-| colspan="2" | Sets the X coordinate - Range 0-127&nbsp;
+| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | Sets the Y coordinate - Range 0-31&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 1,618: / Line 937: @@
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+===SetMotors===
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDSetBackgroundColour'''
-|-
-| colspan="2" | Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Colour
-|-
-| colspan="2" | Range 0-1 : 0=White, 1=Black&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;" | '''ReadIRSensor'''
-|-
-| colspan="2" | Reads the analogue value from the specified IR distance sensor. Return value range: 0 to 4095 4095 represents the object is very close.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
-|-
-| colspan="2" | Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left&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;"
 |-
@@ Line 1,677: / Line 961: @@
+===SpinLeft===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoBackwards'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinLeft'''
 |-
-| colspan="2" | Drives the robot backward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.&nbsp;
+| colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above. &nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
-|-
-| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535&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 encoder counters to 0&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;" | '''Reverse'''
-|-
-| colspan="2" | Drives both motors of the formula flowcode backwards with the power specified. &nbsp;
 |-
 |-
@@ Line 1,726: / Line 980: @@
+===SpinRight===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WaitForSwitch'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinRight'''
 |-
-| colspan="2" | Waits for the specified switch to be pressed.&nbsp;
+| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above. &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Switch
+| width="90%" | Power
 |-
-| colspan="2" | Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both&nbsp;
+| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 1,744: / Line 999: @@
+===Stop===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLDR'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stop'''
 |-
-| colspan="2" | Reads the current light level from the on board light sensor. Return value range: 0 to 4095 4095 represents the maximum level of light and 0 represents the minimal level of light.&nbsp;
+| colspan="2" | Stops both motors.&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;" | '''LCDDrawRectangle'''
-|-
-| colspan="2" | Draws a rectange on the LCD.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X1
-|-
-| colspan="2" | Range 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y1
-|-
-| colspan="2" | Range 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X2
-|-
-| colspan="2" | Range 0-127&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y2
-|-
-| colspan="2" | Range 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Transparent
-|-
-| colspan="2" | Sets the transparency of the box, 0=Box contains background colour, 1=Box contains previous pixel data&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Solid
 |-
-| colspan="2" | Chooses to fill the box with colour, 0=Box contains transparency data, 1=Box contains foreground colour&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 1,800: / Line 1,013: @@
+===WaitForSwitch===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReadCount'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WaitForSwitch'''
 |-
-| colspan="2" | Reads one of the motor encoder counters. Each encoder count is equal to 0.314159 mm. &nbsp;
+| colspan="2" | Waits for the specified switch to be pressed.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
+| width="90%" | Switch
 |-
-| colspan="2" | 0 = LeftCount, 1=RightCount&nbsp;
+| colspan="2" | Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both&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;" | '''CheckUSB'''
-|-
-| colspan="2" | Checks to see if a USB cable is connected to the robot. Returns 0 for no connection and 1 for an active connection.&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;" | '''LCDSetForegroundColour'''
-|-
-| colspan="2" | Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Colour
-|-
-| colspan="2" | Range 0-1 : 0=White, 1=Black&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;" | '''Initialise'''
-|-
-| colspan="2" | Starts up the Formula Allcode PWM for motor control and performs the wait for button press if 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''
-|}
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
-|-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoSetSpeed'''
-|-
-| colspan="2" | Sets the cruise speed for LOGO type macros. Default speed 20%.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Speed
-|-
-| colspan="2" | Range 1-100, Default 60&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;" | '''LogoForwards'''
-|-
-| colspan="2" | Drives the robot forward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
-|-
-| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535&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;" | '''LCDClear'''
-|-
-| colspan="2" | Clears the contents of the graphical 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''
-|}