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

Latest revision as of 14:23, 13 July 2026

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

@@ Line 82: / Line 82: @@
 {| 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;" | '''Beep'''
+| width="90%" class="mtx-class-macrohead" | '''Beep'''
 |-
 | colspan="2" | Allows the beeper to output a warning&nbsp;
@@ Line 111: / Line 111: @@
 {| 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;" | '''GotoPosition'''
+| width="90%" class="mtx-class-macrohead" | '''GotoPosition'''
 |-
 | colspan="2" | Recalls a previously saved position for the ARMs 5 axis.&nbsp;
@@ Line 130: / Line 130: @@
 {| 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;" | '''GripperClose'''
+| width="90%" class="mtx-class-macrohead" | '''GripperClose'''
 |-
 | 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;
@@ Line 149: / Line 149: @@
 {| 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;" | '''GripperOpen'''
+| width="90%" class="mtx-class-macrohead" | '''GripperOpen'''
 |-
 | colspan="2" | Fully opens the gripper at the end of the arm ready to pick something up.&nbsp;
@@ Line 163: / Line 163: @@
 {| 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;" | '''LCDClear'''
+| width="90%" class="mtx-class-macrohead" | '''LCDClear'''
 |-
 | colspan="2" | Clears the entire contents of the display.&nbsp;
@@ Line 177: / Line 177: @@
 {| 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;" | '''LCDClearLine'''
+| width="90%" class="mtx-class-macrohead" | '''LCDClearLine'''
 |-
 | 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;
@@ Line 196: / Line 196: @@
 {| 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;" | '''LCDCursor'''
+| width="90%" class="mtx-class-macrohead" | '''LCDCursor'''
 |-
 | colspan="2" | Moves the cursor on the LCD Display&nbsp;
@@ Line 220: / Line 220: @@
 {| 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;" | '''LCDPrintNum'''
+| width="90%" class="mtx-class-macrohead" | '''LCDPrintNum'''
 |-
 | colspan="2" | Will allow you to print a number. This is limited to a signed-INT, -32768 to 32767&nbsp;
@@ Line 239: / Line 239: @@
 {| 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;" | '''LCDPrintStr'''
+| width="90%" class="mtx-class-macrohead" | '''LCDPrintStr'''
 |-
 | colspan="2" | Breaks down a string of text and sends it to the LCD via the private RawSend(byte, mask) macro&nbsp;
@@ Line 258: / Line 258: @@
 {| 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" | '''LEDOff'''
 |-
 | colspan="2" | Switches off a single LED, LA0-LA7&nbsp;
@@ Line 277: / Line 277: @@
 {| 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" | '''LEDOn'''
 |-
 | colspan="2" | Switches on a single LED, LA0-LA7&nbsp;
@@ Line 296: / Line 296: @@
 {| 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" | '''LEDWrite'''
 |-
 | colspan="2" | Allows a value to be sent to control all eight LEDs LA0-LA7 at once&nbsp;
@@ Line 315: / Line 315: @@
 {| 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;" | '''LinearInterpolation'''
+| width="90%" class="mtx-class-macrohead" | '''LinearInterpolation'''
 |-
 | colspan="2" | Moves the robot to the new position so that all axis arrive at the same time.&nbsp;
@@ Line 354: / Line 354: @@
 {| 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;" | '''MotorsMoving'''
+| width="90%" class="mtx-class-macrohead" | '''MotorsMoving'''
 |-
 | colspan="2" | Checks to see if any of the motors are still moving.&nbsp;
@@ Line 368: / Line 368: @@
 {| 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;" | '''Park'''
+| width="90%" class="mtx-class-macrohead" | '''Park'''
 |-
 | colspan="2" | Parks the Robot ARM and switches off the servo motors&nbsp;
@@ Line 382: / Line 382: @@
 {| 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;" | '''ReadPressure'''
+| width="90%" class="mtx-class-macrohead" | '''ReadPressure'''
 |-
 | colspan="2" | Read the value of the pressure sensor on the ARM gripper. Returns the value as a byte&nbsp;
@@ Line 396: / Line 396: @@
 {| 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" | '''ReadSwitch'''
 |-
 | colspan="2" | Read the value of a single switch.  Returns the value as a byte&nbsp;
@@ Line 415: / Line 415: @@
 {| 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;" | '''SetAllServos'''
+| width="90%" class="mtx-class-macrohead" | '''SetAllServos'''
 |-
 | colspan="2" | Move all the servo positions between 0-180 Deg&nbsp;
@@ Line 454: / Line 454: @@
 {| 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;" | '''SetMovementSpeed'''
+| width="90%" class="mtx-class-macrohead" | '''SetMovementSpeed'''
 |-
 | colspan="2" | Controls the speed of the robot movement&nbsp;
@@ Line 473: / Line 473: @@
 {| 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;" | '''SetServo'''
+| width="90%" class="mtx-class-macrohead" | '''SetServo'''
 |-
 | colspan="2" | Move the specified servo motor position between 0-180 Deg&nbsp;
@@ Line 497: / Line 497: @@
 {| 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;" | '''SetTrim'''
+| width="90%" class="mtx-class-macrohead" | '''SetTrim'''
 |-
 | colspan="2" | Allows minor adjustment on the 5 axis servo motors&nbsp;
@@ Line 521: / Line 521: @@
 {| 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;" | '''StoreCoords'''
+| width="90%" class="mtx-class-macrohead" | '''StoreCoords'''
 |-
 | colspan="2" | Stores the provided coordinates as a position the ARM can recall.&nbsp;
@@ Line 565: / Line 565: @@
 {| 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;" | '''StorePosition'''
+| width="90%" class="mtx-class-macrohead" | '''StorePosition'''
 |-
 | colspan="2" | Stores the current position of the ARMs 5 axis.&nbsp;
@@ Line 585: / Line 585: @@
 {| 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'''
 |-
 |-

SteveT (talk | contribs)

Latest revision as of 14:23, 13 July 2026

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