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==Detailed description==
==Detailed description==




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==Examples==
==Examples==




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{{Fcfile|FA_API_Sim_Demo.fcfx|FA API Sim Demo}}
{{Fcfile|FA_API_Sim_Demo.fcfx|FA API Sim Demo}}


==Macro reference==
==Macro reference==


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===AudioAddToBuffer===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PlayNote'''
| width="90%" class="mtx-class-macrohead" | '''AudioAddToBuffer'''
|-
|-
| colspan="2" | Outputs a single tone from the onboard speaker for the period specified. 
| colspan="2" | Writes a value to the 16-bit audio output buffer. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Note
| width="90%" | Data
|-
|-
| colspan="2" | Sets the pitch of the note in Hz. Range: 1 - 10000 
| colspan="2" |  
|-
| 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 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===AudioQueueLength===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
| width="90%" class="mtx-class-macrohead" | '''AudioQueueLength'''
|-
|-
| colspan="2" | Switches on a single LED on the front of the Formula Allcode.  
| colspan="2" | Retreives the current length of valid data within the audio queue 
|-
|-
|-
|-
| 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%" | LED
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
===AudioReadFromBuffer===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''AudioReadFromBuffer'''
|-
| colspan="2" | Allows the audio buffer to be used for other streaming data such as recording the mic.  
|-
|-
| colspan="2" | Which LED to switch on, range 0-7 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===AudioStreamControl===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''AudioStreamControl'''
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| 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. 
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothTransmit'''
|-
|-
| colspan="2" | Sends a byte via the Bluetooth data connection. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | 0=Off, 8=8-bit Mode, 16=16-bit Mode 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
| width="90%" | SampleRate
|-
|-
| colspan="2" |  
| colspan="2" | Sets the sample rate 0=8KHz, 1=16KHz 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===BluetoothCheckConnection===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintString'''
| width="90%" class="mtx-class-macrohead" | '''BluetoothCheckConnection'''
|-
|-
| colspan="2" | Prints a string to the graphical LCD. 
| colspan="2" | Checks the status of the Bluetooth connection. Returns 0 for not paired and 1 for paired. 
|-
|-
|-
|-
| 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%" | X
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
===BluetoothQueueLength===
{| class="mtx-class-macrotable wikitable"
|-
|-
| colspan="2" | The horizontal start pixel. Range 0-127 
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''BluetoothQueueLength'''
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| colspan="2" | Reads the length of received Bluetooth data in bytes.  
| width="90%" | Y
|-
|-
| colspan="2" | Y coordinate to print the string. Range 0-31 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Data
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Transparent
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===BluetoothReceive===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stop'''
| width="90%" class="mtx-class-macrohead" | '''BluetoothReceive'''
|-
|-
| colspan="2" | Stops both motors. 
| colspan="2" | Attempt to read a byte from the Bluetooth receive queue. 
|-
|-
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===BluetoothTransmit===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''BluetoothTransmit'''
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| colspan="2" | Sends a byte via the Bluetooth data connection. 
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===BluetoothTransmitString===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
| width="90%" class="mtx-class-macrohead" | '''BluetoothTransmitString'''
|-
|-
| colspan="2" | Switches off a single LED on the front of the Formula Allcode.  
| colspan="2" | Sends a string via the Bluetooth data connection. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | LED
| width="90%" | Data
|-
|-
| colspan="2" | Which LED to switch on, range 0-7 
| colspan="2" |  
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CheckIR===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNumber'''
| width="90%" class="mtx-class-macrohead" | '''CheckIR'''
|-
|-
| colspan="2" | Prints a numeric value to the graphical LCD. 
| 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. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
| width="90%" | Sensor
|-
|-
| colspan="2" | The horizontal start pixel. Range 0-127 
| 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 
|-
|-
| 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%" | Y
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
===CheckLine===
{| class="mtx-class-macrotable wikitable"
|-
|-
| colspan="2" | Y coordinate to print the string. Range 0-31 
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''CheckLine'''
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| 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. 
| width="90%" | Number
|-
|-
| colspan="2" |  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Transparent
| width="90%" | Sensor
|-
|-
| colspan="2" |  
| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CheckUSB===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
| width="90%" class="mtx-class-macrohead" | '''CheckUSB'''
|-
|-
| colspan="2" | Allows control of all 8-LEDs on the front of the Formula Allcode.  
| 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. 
|-
|-
|-
|-
| 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%" | LED_Byte
|-
| colspan="2" | 8-bit binary value to write to the 8 LEDs 
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===EncoderReadCount===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothCheckConnection'''
| width="90%" class="mtx-class-macrohead" | '''EncoderReadCount'''
|-
|-
| colspan="2" | Checks the status of the Bluetooth connection. Returns 0 for not paired and 1 for paired. 
| colspan="2" | Reads one of the motor encoder counters. Each encoder count is equal to 0.314159 mm.  
|-
|-
|-
|-
| 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%" | Channel
|}
 
 
{| class="wikitable" style="width:60%; background-color:#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 
|-
|-
| colspan="2" | 0 = LeftCount, 1=RightCount 
|-
|-
| 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-u16-icon.png]] - UINT
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===EncoderReset===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioQueueLength'''
| width="90%" class="mtx-class-macrohead" | '''EncoderReset'''
|-
|-
| colspan="2" | Retreives the current length of valid data within the audio queue 
| colspan="2" | Resets the encoder counters to 0 
|-
|-
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===Forward===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioAddToBuffer'''
| width="90%" class="mtx-class-macrohead" | '''Forward'''
|-
|-
| colspan="2" | Writes a value to the 16-bit audio output buffer. 
| colspan="2" | Drives both motors of the formula flowcode forwards with the power specified.  
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
| width="90%" | Power
|-
|-
| colspan="2" |  
| colspan="2" | Amount of power to use to drive motor. Range 0-100 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 334: Line 359:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===Initialise===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
| width="90%" class="mtx-class-macrohead" | '''Initialise'''
|-
|-
| colspan="2" | Reads the value of one of the switches from the front of the Formula Allcode. 
| colspan="2" | Starts up the Formula Allcode PWM for motor control and performs the wait for button press if enabled. 
|-
|-
|-
|-
| 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%" | Switch
|-
| colspan="2" | Which switch do we want to read 0=Left, 1=Right 
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDBacklight===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckLine'''
| width="90%" class="mtx-class-macrohead" | '''LCDBacklight'''
|-
|-
| 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. 
| colspan="2" | Controls the brighness of the LCD backlight 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Sensor
| width="90%" | Brightness
|-
|-
| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right 
| colspan="2" | Range: 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDClear===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioStreamControl'''
| width="90%" class="mtx-class-macrohead" | '''LCDClear'''
|-
|-
| 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. 
| colspan="2" | Clears the contents of the graphical LCD. 
|-
|-
|-
|-
| 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%" | Mode
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
===LCDDrawLine===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''LCDDrawLine'''
|-
| colspan="2" | Draws a line on the LCD. 
|-
|-
| colspan="2" | 0=Off, 8=8-bit Mode, 16=16-bit Mode 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | SampleRate
| width="90%" | X1
|-
|-
| colspan="2" | Sets the sample rate 0=8KHz, 1=16KHz 
| colspan="2" | Range 0-127 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" | Y1
|}
 
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| colspan="2" | Range 0-31 
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinLeft'''
|-
|-
| colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above.  
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
|-
| colspan="2" | Range 0-127 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Power
| width="90%" | Y2
|-
|-
| colspan="2" | Amount of power to use to drive motor. Range 0-100 
| colspan="2" | Range 0-31 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 411: Line 440:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDDrawRectangle===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoTurnLeft'''
| width="90%" class="mtx-class-macrohead" | '''LCDDrawRectangle'''
|-
|-
| 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. 
| colspan="2" | Draws a rectange on the LCD. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Angle
| width="90%" | X1
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
|-
| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536 
| colspan="2" | Range 0-127 
|-
|-
| 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%" | Y2
|}
 
 
{| 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 0-31 
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forward'''
|-
|-
| colspan="2" | Drives both motors of the formula flowcode forwards with the power specified.  
| 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 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Power
| width="90%" | Solid
|-
|-
| colspan="2" | Amount of power to use to drive motor. Range 0-100 
| colspan="2" | Chooses to fill the box with colour, 0=Box contains transparency data, 1=Box contains foreground colour 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 447: Line 484:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDPlotPixel===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDWriteByte'''
| width="90%" class="mtx-class-macrohead" | '''LCDPlotPixel'''
|-
|-
| colspan="2" |  
| colspan="2" | Allows a single pixel on the LCD to be set or cleared. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
|-
|-
| colspan="2" |  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
| width="90%" | X
|-
|-
| colspan="2" |  
| colspan="2" | Sets the X coordinate - Range 0-127 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
| width="90%" | Y
|-
|-
| colspan="2" |  
| colspan="2" | Sets the Y coordinate - Range 0-31 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 475: Line 508:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDPrintNumber===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothReceive'''
| width="90%" class="mtx-class-macrohead" | '''LCDPrintNumber'''
|-
|-
| colspan="2" | Attempt to read a byte from the Bluetooth receive queue. 
| colspan="2" | Prints a numeric value to the graphical LCD. 
|-
|-
|-
|-
| 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%" | 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;" | '''LCDDrawLine'''
|-
| colspan="2" | Draws a line on the LCD. 
|-
|-
| colspan="2" | The horizontal start pixel. Range 0-127 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
| width="90%" | Y
|-
|-
| colspan="2" | Range 0-127 
| colspan="2" | Y coordinate to print the string. Range 0-31 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Y1
| width="90%" | Number
|-
|-
| colspan="2" | Range 0-31 
| colspan="2" |  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
| width="90%" | Transparent
|-
|-
| colspan="2" | Range 0-127 
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range 0-31 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 521: Line 542:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDPrintString===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothQueueLength'''
| width="90%" class="mtx-class-macrohead" | '''LCDPrintString'''
|-
|-
| colspan="2" | Reads the length of received Bluetooth data in bytes.  
| colspan="2" | Prints a string to the graphical LCD. 
|-
|-
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| 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]]
| colspan="2" | The horizontal start pixel. Range 0-127 
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothTransmitString'''
|-
|-
| colspan="2" | Sends a string via the Bluetooth data connection. 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
|-
| colspan="2" | Y coordinate to print the string. Range 0-31 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
Line 547: Line 566:
| colspan="2" |  
| colspan="2" |  
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Transparent
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDSetBackgroundColour===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
| width="90%" class="mtx-class-macrohead" | '''LCDSetBackgroundColour'''
|-
|-
| colspan="2" | Controls the brighness of the LCD backlight 
| 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. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Brightness
| width="90%" | Colour
|-
|-
| colspan="2" | Range: 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness 
| colspan="2" | Range 0-1 : 0=White, 1=Black 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 570: Line 595:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDSetForegroundColour===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''LCDSetForegroundColour'''
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| 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. 
| 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.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Colour
|-
| colspan="2" | Range 0-1 : 0=White, 1=Black 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDWriteByte===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLineSensor'''
| width="90%" class="mtx-class-macrohead" | '''LCDWriteByte'''
|-
|-
| 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. 
| colspan="2" |  
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
| width="90%" | Data
|-
|-
| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right 
| colspan="2" |  
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| 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]]
| colspan="2" |  
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoTurnRight'''
|-
|-
| 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. 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
|-
|-
| colspan="2" |  
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Angle
|-
| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 619: Line 643:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LEDOff===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinRight'''
| width="90%" class="mtx-class-macrohead" | '''LEDOff'''
|-
|-
| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above.  
| colspan="2" | Switches off a single LED on the front of the Formula Allcode.  
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Power
| width="90%" | LED
|-
|-
| colspan="2" | Amount of power to use to drive motor. Range 0-100 
| colspan="2" | Which LED to switch on, range 0-7 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 637: Line 662:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LEDOn===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckIR'''
| width="90%" class="mtx-class-macrohead" | '''LEDOn'''
|-
|-
| 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. 
| colspan="2" | Switches on a single LED on the front of the Formula Allcode.  
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Sensor
| width="90%" | LED
|-
|-
| 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 
| colspan="2" | Which LED to switch on, range 0-7 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LEDWrite===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPlotPixel'''
| width="90%" class="mtx-class-macrohead" | '''LEDWrite'''
|-
|-
| colspan="2" | Allows a single pixel on the LCD to be set or cleared. 
| colspan="2" | Allows control of all 8-LEDs on the front of the Formula Allcode.  
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
| width="90%" | LED_Byte
|-
|-
| colspan="2" | Sets the X coordinate - Range 0-127 
| colspan="2" | 8-bit binary value to write to the 8 LEDs 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Sets the Y coordinate - Range 0-31 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 678: Line 700:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LogoBackwards===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDSetBackgroundColour'''
| width="90%" class="mtx-class-macrohead" | '''LogoBackwards'''
|-
|-
| 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. 
| colspan="2" | Drives the robot backward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Colour
| width="90%" | Distance
|-
|-
| colspan="2" | Range 0-1 : 0=White, 1=Black 
| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 696: Line 719:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LogoForwards===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIRSensor'''
| width="90%" class="mtx-class-macrohead" | '''LogoForwards'''
|-
|-
| 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. 
| colspan="2" | Drives the robot forward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Channel
| width="90%" | Distance
|-
|-
| 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 
| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LogoSetSpeed===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
| width="90%" class="mtx-class-macrohead" | '''LogoSetSpeed'''
|-
|-
| colspan="2" | Sets the speed and direction of the Formula Allcode motors.  
| colspan="2" | Sets the cruise speed for LOGO type macros. Default speed 20%. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Left
| width="90%" | Speed
|-
|-
| colspan="2" | Valid Range = -100 to 100 
| colspan="2" | Range 1-100, Default 60 
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Right
|-
| colspan="2" | Valid Range = -100 to 100 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 737: Line 757:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LogoTurnLeft===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoBackwards'''
| width="90%" class="mtx-class-macrohead" | '''LogoTurnLeft'''
|-
|-
| colspan="2" | Drives the robot backward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance. 
| 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. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Distance
| width="90%" | Angle
|-
|-
| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535 
| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 755: Line 776:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LogoTurnRight===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''LogoTurnRight'''
|-
| 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. 
|-
|-
| 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 
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Angle
|-
|-
| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 768: Line 795:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===PlayNote===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Reverse'''
| width="90%" class="mtx-class-macrohead" | '''PlayNote'''
|-
|-
| colspan="2" | Drives both motors of the formula flowcode backwards with the power specified.  
| colspan="2" | Outputs a single tone from the onboard speaker for the period specified. 
|-
|-
|-
|-
| 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%" | Note
|-
|-
| colspan="2" | Amount of power to use to drive motor. Range 0-100 
| colspan="2" | Sets the pitch of the note in Hz. Range: 1 - 10000 
|-
| 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 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 786: Line 819:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadBattery===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''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. 
|-
|-
| 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. 
| 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="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''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. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Switch
| width="90%" | Channel
|-
|-
| colspan="2" | Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both 
| 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 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadLDR===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLDR'''
| width="90%" class="mtx-class-macrohead" | '''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. 
| 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. 
Line 817: Line 866:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadLineSensor===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawRectangle'''
| width="90%" class="mtx-class-macrohead" | '''ReadLineSensor'''
|-
|-
| colspan="2" | Draws a rectange on the LCD. 
| 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. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
| width="90%" | Channel
|-
|-
| colspan="2" | Range 0-127 
| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right 
|-
|-
| 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%" | Y1
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
===ReadMic===
{| class="mtx-class-macrotable wikitable"
|-
|-
| colspan="2" | Range 0-31 
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''ReadMic'''
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| colspan="2" | Reads the current audio signal level from the on-board microphone. Return value range: 0 to 4095 
| width="90%" | X2
|-
|-
| colspan="2" | Range 0-127 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Y2
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
===ReadSwitch===
{| class="mtx-class-macrotable wikitable"
|-
|-
| colspan="2" | Range 0-31 
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''ReadSwitch'''
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| colspan="2" | Reads the value of one of the switches from the front of the Formula Allcode. 
| width="90%" | Transparent
|-
|-
| colspan="2" | Sets the transparency of the box, 0=Box contains background colour, 1=Box contains previous pixel data 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Solid
| width="90%" | Switch
|-
|-
| colspan="2" | Chooses to fill the box with colour, 0=Box contains transparency data, 1=Box contains foreground colour 
| colspan="2" | Which switch do we want to read 0=Left, 1=Right 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===Reverse===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReadCount'''
| width="90%" class="mtx-class-macrohead" | '''Reverse'''
|-
|-
| colspan="2" | Reads one of the motor encoder counters. Each encoder count is equal to 0.314159 mm.  
| colspan="2" | Drives both motors of the formula flowcode backwards with the power specified.  
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
| width="90%" | Power
|-
|-
| colspan="2" | 0 = LeftCount, 1=RightCount 
| colspan="2" | Amount of power to use to drive motor. Range 0-100 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SetMotors===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''SetMotors'''
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| colspan="2" | Sets the speed and direction of the Formula Allcode motors.  
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Left
|-
| colspan="2" | Valid Range = -100 to 100 
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Right
|-
| colspan="2" | Valid Range = -100 to 100 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SpinLeft===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDSetForegroundColour'''
| width="90%" class="mtx-class-macrohead" | '''SpinLeft'''
|-
|-
| 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. 
| colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above.  
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Colour
| width="90%" | Power
|-
|-
| colspan="2" | Range 0-1 : 0=White, 1=Black 
| colspan="2" | Amount of power to use to drive motor. Range 0-100 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 909: Line 980:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===SpinRight===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
| width="90%" class="mtx-class-macrohead" | '''SpinRight'''
|-
|-
| colspan="2" | Starts up the Formula Allcode PWM for motor control and performs the wait for button press if enabled. 
| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above.  
|-
|-
|-
|-
| 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%" | Power
|}
 
 
{| 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" | Amount of power to use to drive motor. Range 0-100 
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoSetSpeed'''
|-
| colspan="2" | Sets the cruise speed for LOGO type macros. Default speed 20%. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Speed
|-
| colspan="2" | Range 1-100, Default 60 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 940: Line 999:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===Stop===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoForwards'''
| width="90%" class="mtx-class-macrohead" | '''Stop'''
|-
|-
| colspan="2" | Drives the robot forward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance. 
| colspan="2" | Stops both motors. 
|-
|-
| 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 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 958: Line 1,013:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===WaitForSwitch===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" class="mtx-class-macrohead" | '''WaitForSwitch'''
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| colspan="2" | Waits for the specified switch to be pressed. 
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
|-
|-
| colspan="2" | Clears the contents of the graphical LCD. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Switch
|-
| colspan="2" | Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}
==Property reference==
{| 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. 
|-
| 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. 
|-
| 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. 
|-
| 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. 
|-
| 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 
|-
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| width="90%" | Line Sensitivity
|-
| colspan="2" |  
|-
| 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. 
|-
| 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. 
|-
| 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. 
|-
| 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. 
|}==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. 
|-
|-
| 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 
|-
| 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 
|-
| 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.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | LED
|-
| colspan="2" | Which LED to switch on, range 0-7 
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintString'''
|-
| colspan="2" | Prints a string to the graphical LCD. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | The horizontal start pixel. Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Y coordinate to print the string. Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Data
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Transparent
|-
| colspan="2" |  
|-
| 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;" | '''Stop'''
|-
| colspan="2" | Stops both motors. 
|-
|-
| 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;" | '''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. 
|-
|-
| 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.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | LED
|-
| colspan="2" | Which LED to switch on, range 0-7 
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | The horizontal start pixel. Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Y coordinate to print the string. Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Number
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Transparent
|-
| colspan="2" |  
|-
| 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.  
|-
|-
| 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 
|-
| 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. 
|-
|-
| 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 
|-
|-
| 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 
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Data
|-
| colspan="2" |  
|-
| 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;" | '''ReadSwitch'''
|-
| colspan="2" | Reads the value of one of the switches from the front of the Formula Allcode. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Switch
|-
| colspan="2" | Which switch do we want to read 0=Left, 1=Right 
|-
| 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;" | '''CheckLine'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Sensor
|-
| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right 
|-
| 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;" | '''AudioStreamControl'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | 0=Off, 8=8-bit Mode, 16=16-bit Mode 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | SampleRate
|-
| colspan="2" | Sets the sample rate 0=8KHz, 1=16KHz 
|-
| 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;" | '''SpinLeft'''
|-
| colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above.  
|-
|-
| 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 
|-
| 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;" | '''LogoTurnLeft'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Angle
|-
| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536 
|-
| 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.  
|-
|-
| 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 
|-
| 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" |  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" |  
|-
| 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;" | '''BluetoothReceive'''
|-
| colspan="2" | Attempt to read a byte from the Bluetooth receive queue. 
|-
|-
| 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;" | '''LCDDrawLine'''
|-
| colspan="2" | Draws a line on the LCD. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range 0-31 
|-
| 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.  
|-
|-
| 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;" | '''BluetoothTransmitString'''
|-
| colspan="2" | Sends a string via the Bluetooth data connection. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Data
|-
| colspan="2" |  
|-
| 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 
|-
|-
| 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 
|-
| 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.  
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right 
|-
| 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;" | '''LogoTurnRight'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Angle
|-
| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536 
|-
| 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;" | '''SpinRight'''
|-
| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above.  
|-
|-
| 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 
|-
| 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. 
|-
|-
| 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 
|-
| 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;" | '''LCDPlotPixel'''
|-
| colspan="2" | Allows a single pixel on the LCD to be set or cleared. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Sets the X coordinate - Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Sets the Y coordinate - Range 0-31 
|-
| 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;" | '''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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Colour
|-
| colspan="2" | Range 0-1 : 0=White, 1=Black 
|-
| 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. 
|-
|-
| 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 
|-
| 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.  
|-
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Left
|-
| colspan="2" | Valid Range = -100 to 100 
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Right
|-
| colspan="2" | Valid Range = -100 to 100 
|-
| 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;" | '''LogoBackwards'''
|-
| colspan="2" | Drives the robot backward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance. 
|-
|-
| 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 
|-
| 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 
|-
|-
| 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.  
|-
|-
| 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 
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Switch
|-
| colspan="2" | Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both 
|-
| 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;" | '''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. 
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range 0-31 
|-
| 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 
|-
| 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 
|-
| 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;" | '''EncoderReadCount'''
|-
| colspan="2" | Reads one of the motor encoder counters. Each encoder count is equal to 0.314159 mm.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | 0 = LeftCount, 1=RightCount 
|-
| 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. 
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Colour
|-
| colspan="2" | Range 0-1 : 0=White, 1=Black 
|-
| 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. 
|-
|-
| 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%. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Speed
|-
| colspan="2" | Range 1-100, Default 60 
|-
| 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. 
|-
|-
| 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 
|-
| 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. 
|-
|-
| 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. 
|-
| 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. 
|-
| 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. 
|-
| 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. 
|-
| 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 
|-
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| width="90%" | Line Sensitivity
|-
| colspan="2" |  
|-
| 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. 
|-
| 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. 
|-
| 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. 
|-
| 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. 
|}==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. 
|-
|-
| 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 
|-
| 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 
|-
| 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.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | LED
|-
| colspan="2" | Which LED to switch on, range 0-7 
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintString'''
|-
| colspan="2" | Prints a string to the graphical LCD. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | The horizontal start pixel. Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Y coordinate to print the string. Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Data
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Transparent
|-
| colspan="2" |  
|-
| 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;" | '''Stop'''
|-
| colspan="2" | Stops both motors. 
|-
|-
| 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;" | '''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. 
|-
|-
| 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.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | LED
|-
| colspan="2" | Which LED to switch on, range 0-7 
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | The horizontal start pixel. Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Y coordinate to print the string. Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Number
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Transparent
|-
| colspan="2" |  
|-
| 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.  
|-
|-
| 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 
|-
| 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. 
|-
|-
| 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 
|-
|-
| 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 
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Data
|-
| colspan="2" |  
|-
| 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;" | '''ReadSwitch'''
|-
| colspan="2" | Reads the value of one of the switches from the front of the Formula Allcode. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Switch
|-
| colspan="2" | Which switch do we want to read 0=Left, 1=Right 
|-
| 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;" | '''CheckLine'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Sensor
|-
| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right 
|-
| 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;" | '''AudioStreamControl'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | 0=Off, 8=8-bit Mode, 16=16-bit Mode 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | SampleRate
|-
| colspan="2" | Sets the sample rate 0=8KHz, 1=16KHz 
|-
| 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;" | '''SpinLeft'''
|-
| colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above.  
|-
|-
| 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 
|-
| 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;" | '''LogoTurnLeft'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Angle
|-
| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536 
|-
| 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.  
|-
|-
| 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 
|-
| 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" |  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" |  
|-
| 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;" | '''BluetoothReceive'''
|-
| colspan="2" | Attempt to read a byte from the Bluetooth receive queue. 
|-
|-
| 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;" | '''LCDDrawLine'''
|-
| colspan="2" | Draws a line on the LCD. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range 0-31 
|-
| 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.  
|-
|-
| 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;" | '''BluetoothTransmitString'''
|-
| colspan="2" | Sends a string via the Bluetooth data connection. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Data
|-
| colspan="2" |  
|-
| 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 
|-
|-
| 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 
|-
| 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.  
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right 
|-
| 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;" | '''LogoTurnRight'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Angle
|-
| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536 
|-
| 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;" | '''SpinRight'''
|-
| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above.  
|-
|-
| 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 
|-
| 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. 
|-
|-
| 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 
|-
| 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;" | '''LCDPlotPixel'''
|-
| colspan="2" | Allows a single pixel on the LCD to be set or cleared. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Sets the X coordinate - Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Sets the Y coordinate - Range 0-31 
|-
| 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;" | '''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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Colour
|-
| colspan="2" | Range 0-1 : 0=White, 1=Black 
|-
| 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. 
|-
|-
| 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 
|-
| 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.  
|-
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Left
|-
| colspan="2" | Valid Range = -100 to 100 
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Right
|-
| colspan="2" | Valid Range = -100 to 100 
|-
| 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;" | '''LogoBackwards'''
|-
| colspan="2" | Drives the robot backward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance. 
|-
|-
| 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 
|-
| 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 
|-
|-
| 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.  
|-
|-
| 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 
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Switch
|-
| colspan="2" | Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both 
|-
| 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;" | '''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. 
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range 0-31 
|-
| 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 
|-
| 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 
|-
| 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;" | '''EncoderReadCount'''
|-
| colspan="2" | Reads one of the motor encoder counters. Each encoder count is equal to 0.314159 mm.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | 0 = LeftCount, 1=RightCount 
|-
| 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. 
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Colour
|-
| colspan="2" | Range 0-1 : 0=White, 1=Black 
|-
| 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. 
|-
|-
| 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%. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Speed
|-
| colspan="2" | Range 1-100, Default 60 
|-
| 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. 
|-
|-
| 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 
|-
| 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. 
|-
|-
| 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. 
|-
| 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. 
|-
| 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. 
|-
| 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. 
|-
| 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 
|-
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| width="90%" | Line Sensitivity
|-
| colspan="2" |  
|-
| 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. 
|-
| 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. 
|-
| 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. 
|-
| 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. 
|}==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. 
|-
|-
| 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 
|-
| 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 
|-
| 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.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | LED
|-
| colspan="2" | Which LED to switch on, range 0-7 
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintString'''
|-
| colspan="2" | Prints a string to the graphical LCD. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | The horizontal start pixel. Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Y coordinate to print the string. Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Data
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Transparent
|-
| colspan="2" |  
|-
| 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;" | '''Stop'''
|-
| colspan="2" | Stops both motors. 
|-
|-
| 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;" | '''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. 
|-
|-
| 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.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | LED
|-
| colspan="2" | Which LED to switch on, range 0-7 
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | The horizontal start pixel. Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Y coordinate to print the string. Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Number
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Transparent
|-
| colspan="2" |  
|-
| 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.  
|-
|-
| 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 
|-
| 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. 
|-
|-
| 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 
|-
|-
| 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 
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Data
|-
| colspan="2" |  
|-
| 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;" | '''ReadSwitch'''
|-
| colspan="2" | Reads the value of one of the switches from the front of the Formula Allcode. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Switch
|-
| colspan="2" | Which switch do we want to read 0=Left, 1=Right 
|-
| 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;" | '''CheckLine'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Sensor
|-
| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right 
|-
| 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;" | '''AudioStreamControl'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | 0=Off, 8=8-bit Mode, 16=16-bit Mode 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | SampleRate
|-
| colspan="2" | Sets the sample rate 0=8KHz, 1=16KHz 
|-
| 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;" | '''SpinLeft'''
|-
| colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above.  
|-
|-
| 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 
|-
| 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;" | '''LogoTurnLeft'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Angle
|-
| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536 
|-
| 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.  
|-
|-
| 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 
|-
| 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" |  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" |  
|-
| 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;" | '''BluetoothReceive'''
|-
| colspan="2" | Attempt to read a byte from the Bluetooth receive queue. 
|-
|-
| 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;" | '''LCDDrawLine'''
|-
| colspan="2" | Draws a line on the LCD. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range 0-31 
|-
| 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.  
|-
|-
| 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;" | '''BluetoothTransmitString'''
|-
| colspan="2" | Sends a string via the Bluetooth data connection. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Data
|-
| colspan="2" |  
|-
| 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 
|-
|-
| 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 
|-
| 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.  
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right 
|-
| 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;" | '''LogoTurnRight'''
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Angle
|-
| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536 
|-
| 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;" | '''SpinRight'''
|-
| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above.  
|-
|-
| 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 
|-
| 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. 
|-
|-
| 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 
|-
| 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;" | '''LCDPlotPixel'''
|-
| colspan="2" | Allows a single pixel on the LCD to be set or cleared. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Sets the X coordinate - Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Sets the Y coordinate - Range 0-31 
|-
| 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;" | '''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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Colour
|-
| colspan="2" | Range 0-1 : 0=White, 1=Black 
|-
| 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. 
|-
|-
| 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 
|-
| 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.  
|-
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Left
|-
| colspan="2" | Valid Range = -100 to 100 
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Right
|-
| colspan="2" | Valid Range = -100 to 100 
|-
| 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;" | '''LogoBackwards'''
|-
| colspan="2" | Drives the robot backward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance. 
|-
|-
| 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 
|-
| 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 
|-
|-
| 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.  
|-
|-
| 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 
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Switch
|-
| colspan="2" | Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both 
|-
| 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;" | '''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. 
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range 0-31 
|-
| 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 
|-
| 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 
|-
| 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;" | '''EncoderReadCount'''
|-
| colspan="2" | Reads one of the motor encoder counters. Each encoder count is equal to 0.314159 mm.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | 0 = LeftCount, 1=RightCount 
|-
| 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. 
|-
|-
| 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. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Colour
|-
| colspan="2" | Range 0-1 : 0=White, 1=Black 
|-
| 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. 
|-
|-
| 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%. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Speed
|-
| colspan="2" | Range 1-100, Default 60 
|-
| 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. 
|-
|-
| 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 
|-
| 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. 
|-
|-
| 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==
==Property reference==


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-prop-icon.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''  
| width="90%" class="mtx-class-macrohead" | '''Properties'''  
|-
|-
|-
|-
Line 3,851: Line 1,060:
| 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. 
| 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. 
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| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | IR Thresholds (CheckIR macro)
| width="90%" class="mtx-class-propfolder" | IR Thresholds (CheckIR macro)
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| colspan="2" |  
| colspan="2" |  
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| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation Properties
| width="90%" class="mtx-class-propfolder" | Simulation Properties
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Latest revision as of 14:37, 13 July 2026

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. 
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