Difference between revisions of "Component: Robot Arm AllCode SIM (AllCode)"

Latest revision as of 13:12, 7 February 2023

Author	Matrix TSL
Version	1.0
Category	AllCode

Robot Arm AllCode SIM component

Matrix 5-axis Robot Arm with Gripper. Compatible with the Matrix Robot ARM Training Curriculum and Hardware. Features gripper pressure sensor, light sensor, colour sensor, Potentiometer, Magnetic sensor.

Component Source Code

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

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

Detailed description

No detailed description exists yet for this component

Examples

Industrial Tanks

A simple example showing the hoppers, valves and pipes working together. Each tank automatically empties in turn.

Industrial Tanks

Macro reference

Beep

	Beep
Allows the beeper to output a warning
- BYTE	Iterations

- UINT	OnDelay
Delay in ms
- UINT	OffDelay
Delay in ms
- VOID	Return

GotoPosition

	GotoPosition
Recalls a previously saved position for the ARMs 5 axis.
- BYTE	Index
Save Index - Range 0-29
- VOID	Return

GripperClose

	GripperClose
Fully closes the gripper at the end of the arm ready to pick something up. Closes to a defined pressure using the built in pressure sensor. Returns 0 if nothing detected in the gripper Returns 1 if a valid object is detected
- BYTE	Pressure
Range 1 - 100, Default Pressure = 20
- BYTE	Return

GripperOpen

	GripperOpen
Fully opens the gripper at the end of the arm ready to pick something up.
- VOID	Return

LCDClear

	LCDClear
Clears the entire contents of the display.
- VOID	Return

LCDClearLine

	LCDClearLine
Clears a single line on the display and then moves the cursor to the start of the line to allow you to start populating the line with data.
- BYTE	Line
The line to clear, zero being the first (top) line of the display
- VOID	Return

LCDCursor

	LCDCursor
Moves the cursor on the LCD Display
- BYTE	X
Set the cursor position in the X plane, 0 is the left most cell (0-15)
- BYTE	Y
Set the cursor position in the Y plane, 0 is the top most cell (0-1)
- VOID	Return

LCDPrintNum

	LCDPrintNum
Will allow you to print a number. This is limited to a signed-INT, -32768 to 32767
- INT	Number
Enter the number or variable to print to the LCD
- VOID	Return

LCDPrintStr

	LCDPrintStr
Breaks down a string of text and sends it to the LCD via the private RawSend(byte, mask) macro
- STRING	PrintString
Enter the text or variable to print to the LCD
- VOID	Return

LEDOff

	LEDOff
Switches off a single LED, LA0-LA7
- BYTE	Index
0=LA0, 1=LA1, 2=LA2, 3=LA3, 4=LA4, 5=LA5, 6=LA6, 7=LA7
- VOID	Return

LEDOn

	LEDOn
Switches on a single LED, LA0-LA7
- BYTE	Index
0=LA0, 1=LA1, 2=LA2, 3=LA3, 4=LA4, 5=LA5, 6=LA6, 7=LA7
- VOID	Return

LEDWrite

	LEDWrite
Allows a value to be sent to control all eight LEDs LA0-LA7 at once
- BYTE	Value
(0-63) 0b000000
- VOID	Return

LinearInterpolation

	LinearInterpolation
Moves the robot to the new position so that all axis arrive at the same time.
- BYTE	pos0

- BYTE	pos1

- BYTE	pos2

- BYTE	pos3

- BYTE	pos4

- VOID	Return

MotorsMoving

	MotorsMoving
Checks to see if any of the motors are still moving.
- BYTE	Return

Park

	Park
Parks the Robot ARM and switches off the servo motors
- VOID	Return

ReadPressure

	ReadPressure
Read the value of the pressure sensor on the ARM gripper. Returns the value as a byte
- BYTE	Return

ReadSwitch

	ReadSwitch
Read the value of a single switch. Returns the value as a byte
- BYTE	index
0=SA0, 1=SA1, 2=SA2, 3=SA3, 4=SA4, 5=SA5, 6=SA6, 7=SA7
- BYTE	Return

SetAllServos

	SetAllServos
Move all the servo positions between 0-180 Deg
- BYTE	Servo0_Base
Position of servo0 in degrees (0-180)
- BYTE	Servo1_Shoulder
Position of servo1 in degrees (0-180)
- BYTE	Servo2_Elbow
Position of servo2 in degrees (0-180)
- BYTE	Servo3_Wrist
Position of servo3 in degrees (0-180)
- BYTE	Servo4_WristRotate
Position of servo4 in degrees (0-180)
- VOID	Return

SetMovementSpeed

	SetMovementSpeed
Controls the speed of the robot movement
- BYTE	MovementSpeed
1=Normal Speed (Default), 2=DoubleSpeed
- VOID	Return

SetServo

	SetServo
Move the specified servo motor position between 0-180 Deg
- BYTE	Index
Range 0-4 : 0=Base, 1=Shoulder, 2=Elbow, 3=Wrist, 4=WristRotate
- BYTE	Position
Position of servo in degrees (0-180)
- VOID	Return

SetTrim

	SetTrim
Allows minor adjustment on the 5 axis servo motors
- BYTE	Index
Motor Index Range 0-4
- BYTE	Trim
Amount of Trim Range 0-255, Default Value 128
- VOID	Return

StoreCoords

	StoreCoords
Stores the provided coordinates as a position the ARM can recall.
- BYTE	Index
Save Index - Range 0-29
- BYTE	Position0
Range: 0-180
- BYTE	Position1
Range: 0-180
- BYTE	Position2
Range: 0-180
- BYTE	Position3
Range: 0-180
- BYTE	Position4
Range: 0-180
- VOID	Return

StorePosition

	StorePosition
Stores the current position of the ARMs 5 axis.
- BYTE	Index
Save Index - Range 0-29
- VOID	Return

Property reference

	Properties
	Starting Conditions

Difference between revisions of "Component: Robot Arm AllCode SIM (AllCode)"

Latest revision as of 13:12, 7 February 2023

Contents

Robot Arm AllCode SIM component

Component Source Code

Detailed description

Examples

Industrial Tanks

Macro reference

Beep

GotoPosition

GripperClose

GripperOpen

LCDClear

LCDClearLine

LCDCursor

LCDPrintNum

LCDPrintStr

LEDOff

LEDOn

LEDWrite

LinearInterpolation

MotorsMoving

Park

ReadPressure

ReadSwitch

SetAllServos

SetMovementSpeed

SetServo

SetTrim

StoreCoords

StorePosition

Property reference

Navigation menu

Page actions

Page actions

Personal tools

Navigation

Search

Tools

@@ Line 66: / Line 66: @@
 {{Fcfile|Industrial_Tanks.fcsx|Industrial Tanks}}
@@ Line 71: / Line 79: @@
 ==Macro reference==
+===Beep===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Beep'''
 |-
-| colspan="2" | Switches on a single LED, LA0-LA7&nbsp;
+| colspan="2" | Allows the beeper to output a warning&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Index
+| width="90%" | Iterations
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | OnDelay
+|-
+| colspan="2" | Delay in ms&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | OffDelay
 |-
-| colspan="2" | 0=LA0, 1=LA1, 2=LA2, 3=LA3, 4=LA4, 5=LA5, 6=LA6, 7=LA7&nbsp;
+| colspan="2" | Delay in ms&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 89: / Line 108: @@
+===GotoPosition===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StoreCoords'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GotoPosition'''
 |-
-| colspan="2" | Stores the provided coordinates as a position the ARM can recall.&nbsp;
+| colspan="2" | Recalls a previously saved position for the ARMs 5 axis.&nbsp;
 |-
 |-
@@ Line 102: / Line 122: @@
 | colspan="2" | Save Index - Range 0-29&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" | Position0
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+===GripperClose===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| colspan="2" | Range: 0-180&nbsp;
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GripperClose'''
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| colspan="2" | Fully closes the gripper at the end of the arm ready to pick something up. Closes to a defined pressure using the built in pressure sensor. Returns 0 if nothing detected in the gripper Returns 1 if a valid object is detected&nbsp;
-| width="90%" | Position1
 |-
-| colspan="2" | Range: 0-180&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Position2
+| width="90%" | Pressure
 |-
-| colspan="2" | Range: 0-180&nbsp;
+| colspan="2" | Range 1 - 100, Default Pressure = 20&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Position3
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+===GripperOpen===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| colspan="2" | Range: 0-180&nbsp;
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GripperOpen'''
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| colspan="2" | Fully opens the gripper at the end of the arm ready to pick something up.&nbsp;
-| width="90%" | Position4
 |-
-| colspan="2" | Range: 0-180&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 132: / Line 160: @@
+===LCDClear===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClearLine'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
 |-
-| colspan="2" | Clears a single line on the display and then moves the cursor to the start of the line to allow you to start populating the line with data.&nbsp;
+| colspan="2" | Clears the entire contents of the display.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Line
 |-
-| colspan="2" | The line to clear, zero being the first (top) line of the display&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 150: / Line 174: @@
+===LCDClearLine===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClearLine'''
 |-
-| colspan="2" | Switches off a single LED, LA0-LA7&nbsp;
+| colspan="2" | Clears a single line on the display and then moves the cursor to the start of the line to allow you to start populating the line with data.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Index
+| width="90%" | Line
 |-
-| colspan="2" | 0=LA0, 1=LA1, 2=LA2, 3=LA3, 4=LA4, 5=LA5, 6=LA6, 7=LA7&nbsp;
+| colspan="2" | The line to clear, zero being the first (top) line of the display&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 168: / Line 193: @@
+===LCDCursor===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMovementSpeed'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDCursor'''
+|-
+| colspan="2" | Moves the cursor on the LCD Display&nbsp;
+|-
 |-
-| colspan="2" | Controls the speed of the robot movement&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | X
 |-
+| colspan="2" | Set the cursor position in the X plane, 0 is the left most cell (0-15)&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | MovementSpeed
+| width="90%" | Y
 |-
-| colspan="2" | 1=Normal Speed (Default), 2=DoubleSpeed&nbsp;
+| colspan="2" | Set the cursor position in the Y plane, 0 is the top most cell (0-1)&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 186: / Line 217: @@
+===LCDPrintNum===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNum'''
 |-
-| colspan="2" | Allows a value to be sent to control all eight LEDs LA0-LA7 at once&nbsp;
+| colspan="2" | Will allow you to print a number. This is limited to a signed-INT, -32768 to 32767&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Value
+| width="90%" | Number
 |-
-| colspan="2" | (0-63) 0b000000&nbsp;
+| colspan="2" | Enter the number or variable to print to the LCD&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 204: / Line 236: @@
+===LCDPrintStr===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LinearInterpolation'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintStr'''
 |-
-| colspan="2" | Moves the robot to the new position so that all axis arrive at the same time.&nbsp;
+| colspan="2" | Breaks down a string of text and sends it to the LCD via the private RawSend(byte, mask) macro&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | pos0
+| width="90%" | PrintString
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Enter the text or variable to print to the LCD&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | pos1
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | pos2
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | pos3
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | pos4
-|-
-| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 242: / Line 255: @@
+===LEDOff===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GripperOpen'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
+|-
+| colspan="2" | Switches off a single LED, LA0-LA7&nbsp;
+|-
 |-
-| colspan="2" | Fully opens the gripper at the end of the arm ready to pick something up.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Index
 |-
+| colspan="2" | 0=LA0, 1=LA1, 2=LA2, 3=LA3, 4=LA4, 5=LA5, 6=LA6, 7=LA7&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 255: / Line 274: @@
+===LEDOn===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
 |-
-| colspan="2" | Read the value of a single switch.  Returns the value as a byte&nbsp;
+| colspan="2" | Switches on a single LED, LA0-LA7&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | index
+| width="90%" | Index
 |-
-| colspan="2" | 0=SA0, 1=SA1, 2=SA2, 3=SA3, 4=SA4, 5=SA5, 6=SA6, 7=SA7&nbsp;
+| colspan="2" | 0=LA0, 1=LA1, 2=LA2, 3=LA3, 4=LA4, 5=LA5, 6=LA6, 7=LA7&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===LEDWrite===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintStr'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
 |-
-| colspan="2" | Breaks down a string of text and sends it to the LCD via the private RawSend(byte, mask) macro&nbsp;
+| colspan="2" | Allows a value to be sent to control all eight LEDs LA0-LA7 at once&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | PrintString
+| width="90%" | Value
 |-
-| colspan="2" | Enter the text or variable to print to the LCD&nbsp;
+| colspan="2" | (0-63) 0b000000&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 291: / Line 312: @@
+===LinearInterpolation===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAllServos'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LinearInterpolation'''
 |-
-| colspan="2" | Move all the servo positions between 0-180 Deg&nbsp;
+| colspan="2" | Moves the robot to the new position so that all axis arrive at the same time.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Servo0_Base
+| width="90%" | pos0
 |-
-| colspan="2" | Position of servo0 in degrees (0-180)&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Servo1_Shoulder
+| width="90%" | pos1
 |-
-| colspan="2" | Position of servo1 in degrees (0-180)&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Servo2_Elbow
+| width="90%" | pos2
 |-
-| colspan="2" | Position of servo2 in degrees (0-180)&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Servo3_Wrist
+| width="90%" | pos3
 |-
-| colspan="2" | Position of servo3 in degrees (0-180)&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Servo4_WristRotate
+| width="90%" | pos4
 |-
-| colspan="2" | Position of servo4 in degrees (0-180)&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 329: / Line 351: @@
+===MotorsMoving===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Park'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MotorsMoving'''
 |-
-| colspan="2" | Parks the Robot ARM and switches off the servo motors&nbsp;
+| colspan="2" | Checks to see if any of the motors are still moving.&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===Park===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StorePosition'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Park'''
-|-
-| colspan="2" | Stores the current position of the ARMs 5 axis.&nbsp;
 |-
+| colspan="2" | Parks the Robot ARM and switches off the servo motors&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Index
-|-
-| colspan="2" | Save Index - Range 0-29&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 360: / Line 379: @@
+===ReadPressure===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
@@ Line 373: / Line 393: @@
+===ReadSwitch===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GotoPosition'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
 |-
-| colspan="2" | Recalls a previously saved position for the ARMs 5 axis.&nbsp;
+| colspan="2" | Read the value of a single switch.  Returns the value as a byte&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Index
+| width="90%" | index
 |-
-| colspan="2" | Save Index - Range 0-29&nbsp;
+| colspan="2" | 0=SA0, 1=SA1, 2=SA2, 3=SA3, 4=SA4, 5=SA5, 6=SA6, 7=SA7&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===SetAllServos===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MotorsMoving'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAllServos'''
 |-
-| colspan="2" | Checks to see if any of the motors are still moving.&nbsp;
+| colspan="2" | Move all the servo positions between 0-180 Deg&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
+| width="90%" | Servo0_Base
-|}
-{| 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" | Position of servo0 in degrees (0-180)&nbsp;
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Beep'''
 |-
-| colspan="2" | Allows the beeper to output a warning&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Servo1_Shoulder
 |-
+| colspan="2" | Position of servo1 in degrees (0-180)&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Iterations
+| width="90%" | Servo2_Elbow
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Position of servo2 in degrees (0-180)&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | OnDelay
+| width="90%" | Servo3_Wrist
 |-
-| colspan="2" | Delay in ms&nbsp;
+| colspan="2" | Position of servo3 in degrees (0-180)&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | OffDelay
+| width="90%" | Servo4_WristRotate
 |-
-| colspan="2" | Delay in ms&nbsp;
+| colspan="2" | Position of servo4 in degrees (0-180)&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 432: / Line 451: @@
+===SetMovementSpeed===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTrim'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMovementSpeed'''
 |-
-| colspan="2" | Allows minor adjustment on the 5 axis servo motors&nbsp;
+| colspan="2" | Controls the speed of the robot movement&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Index
+| width="90%" | MovementSpeed
 |-
-| colspan="2" | Motor Index Range 0-4&nbsp;
+| colspan="2" | 1=Normal Speed (Default), 2=DoubleSpeed&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Trim
-|-
-| colspan="2" | Amount of Trim Range 0-255, Default Value 128&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 455: / Line 470: @@
+===SetServo===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
@@ Line 478: / Line 494: @@
+===SetTrim===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GripperClose'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTrim'''
+|-
+| colspan="2" | Allows minor adjustment on the 5 axis servo motors&nbsp;
+|-
 |-
-| colspan="2" | Fully closes the gripper at the end of the arm ready to pick something up. Closes to a defined pressure using the built in pressure sensor. Returns 0 if nothing detected in the gripper Returns 1 if a valid object is detected&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Index
 |-
+| colspan="2" | Motor Index Range 0-4&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Pressure
+| width="90%" | Trim
 |-
-| colspan="2" | Range 1 - 100, Default Pressure = 20&nbsp;
+| colspan="2" | Amount of Trim Range 0-255, Default Value 128&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
+===StoreCoords===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDCursor'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StoreCoords'''
+|-
+| colspan="2" | Stores the provided coordinates as a position the ARM can recall.&nbsp;
+|-
 |-
-| colspan="2" | Moves the cursor on the LCD Display&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Index
 |-
+| colspan="2" | Save Index - Range 0-29&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
+| width="90%" | Position0
 |-
-| colspan="2" | Set the cursor position in the X plane, 0 is the left most cell (0-15)&nbsp;
+| colspan="2" | Range: 0-180&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
+| width="90%" | Position1
 |-
-| colspan="2" | Set the cursor position in the Y plane, 0 is the top most cell (0-1)&nbsp;
+| colspan="2" | Range: 0-180&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
+| width="90%" | Position2
-|}
-{| 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: 0-180&nbsp;
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNum'''
 |-
-| colspan="2" | Will allow you to print a number. This is limited to a signed-INT, -32768 to 32767&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Position3
 |-
+| colspan="2" | Range: 0-180&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Number
+| width="90%" | Position4
 |-
-| colspan="2" | Enter the number or variable to print to the LCD&nbsp;
+| colspan="2" | Range: 0-180&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 537: / Line 562: @@
+===StorePosition===
 {| class="wikitable" style="width:60%; background-color:#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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StorePosition'''
+|-
+| colspan="2" | Stores the current position of the ARMs 5 axis.&nbsp;
+|-
 |-
-| colspan="2" | Clears the entire contents of the display.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Index
 |-
+| colspan="2" | Save Index - Range 0-29&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}