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==Component Source Code==
==Component Source Code==


Please click here for the component source code: [https://www.flowcode.co.uk/wikicopy/componentsource/FC_Comp_Source_FormulaAllCode_API.fcsx FC_Comp_Source_FormulaAllCode_API.fcsx]
Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_FormulaAllCode_API.fcsx FC_Comp_Source_FormulaAllCode_API.fcsx]


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




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==Examples==
==Examples==




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==Macro reference==
==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" | Plays a note using the speaker on the FA 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Note
|-
| colspan="2" | Range 1 to 65535 in Hz 
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Delay
|-
| colspan="2" | Number of milliseconds to play the note for 
|-
| 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" | Sets a single LED 0-7 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | index
|-
| colspan="2" | 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;" | '''LCDPrintString'''
|-
| colspan="2" | Prints a string to the LCD 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | X Pixel 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | LCD Y Coordinate 0-31 
|-
| 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;" | '''ReadLight'''
|-
| colspan="2" | Reads the light sensor 0-4095 - 4095 = Max Brightness 
|-
|-
| 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;" | '''Right'''
|-
| colspan="2" | Rotates the robot right - waits for the angle to be traversed before returning 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Angle
|-
| colspan="2" | Angle to turn in degrees 
|-
| 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;" | '''SetLogoSpeed'''
|-
| colspan="2" | Sets the speed of logo movements 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Speed
|-
| colspan="2" | Logo Speed 1-100 - Default 40 
|-
| 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;" | '''ReadAllSensors'''
|-
| colspan="2" | Samples all of the robot's sensors at once, storing the values locally 
|-
|-
| 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;" | '''SampleMag'''
|-
| colspan="2" | Samples the magnetometer 0 = no new data, 1 = new data available 
|-
|-
| 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;" | '''CardCreate'''
|-
| colspan="2" | Attempts to create a file on the SD card 255=Error, 1=File Already Exists, 0=Create OK 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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;" | '''LCDPrintNumber'''
|-
| colspan="2" | Prints a 16-bit signed number to the LCD 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | X Pixel 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | LCD Y coordinate 0-31 
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Number
|-
| colspan="2" | Range -32768 to 32767 
|-
| 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;" | '''LEDOff'''
|-
| colspan="2" | Clears a single LED 0-7 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | index
|-
| colspan="2" | 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;" | '''LEDWrite'''
|-
| colspan="2" | Sets the value of the LEDs as an 8-bit output 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | LED value 0=All Off, 255 = All On 
|-
| 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;" | '''ReadAxis'''
|-
| colspan="2" | Reads a single X/Y/Z axis from the accelerometer sensor.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | index
|-
| colspan="2" | 0=X, 1=Y, 2=Z 
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
| 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;" | '''ServoSetAutoMoveSpeed'''
|-
| colspan="2" | Changes the speed of the auto movements  Default - 1 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Speed
|-
| colspan="2" | Range 1-50 
|-
| 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;" | '''CardPlayback'''
|-
| colspan="2" | Plays back a .Wav file audio stream from the card 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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 microphone sensor 0 - 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;" | '''ReadSwitch'''
|-
| colspan="2" | Read the switch value 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | index
|-
| colspan="2" | 0 (left) or 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;" | '''SampleAccel'''
|-
| colspan="2" | Samples the accelerometer 0 = no new data, 1 = new data available 
|-
|-
| 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;" | '''Left'''
|-
| colspan="2" | Rotates the robot left - waits for the angle to be traversed before returning 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Angle
|-
| colspan="2" | Angle to turn in degrees 
|-
| 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;" | '''ReadIR'''
|-
| colspan="2" | Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight,  6=Rear, 7=RearLeft 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | index
|-
| colspan="2" | 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft 
|-
| 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;" | '''LCDDrawPixel'''
|-
| 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" | X Pixel 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Y Pixel 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | State
|-
| colspan="2" | 0=White (Off), 1=Black (On) 
|-
| 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;" | '''ServoSetPosition'''
|-
| colspan="2" | Allows one of the servo positions to be assigned 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 0-3 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Position
|-
| colspan="2" | Range 0-255 
|-
| 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;" | '''CardBitmap'''
|-
| colspan="2" | Displays a monochrome bitmap read from the card on the LCD 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Range 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Range 0-31 
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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;" | '''CardRecordMic'''
|-
| colspan="2" | Records an audio stream on the card from the microphone 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | BitDepth
|-
| colspan="2" | 0=8-bit, 1=16-bit 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | SampleRate
|-
| colspan="2" | Sample Rate 0=8KHz, 1=16KHz 
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | RecordTime
|-
| colspan="2" | Time to record for in seconds, Range 0-65535 
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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;" | '''CardOpen'''
|-
| colspan="2" | Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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;" | '''Forwards'''
|-
| colspan="2" | Drives the robot forwards - waits for the distance to be traversed before returning 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Distance
|-
| colspan="2" | Distance in mm 
|-
| 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;" | '''ReadBearing'''
|-
| colspan="2" | Reads the compass bearing based on the degrees clockwise from magnetic north. 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
| 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;" | '''GetConsoleHandle'''
|-
| colspan="2" | Gets the handle to the console allowing data displaying on the panel etc. 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-h32-icon.png]] - HANDLE
| 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" | Allows a single pixel width line to be drawn on the LCD 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | X Pixel 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Y Pixel 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | X Pixel 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Y Pixel 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;" | '''ServoAutoMoveToPosition'''
|-
| colspan="2" | Allows one of the servo positions to move gradually to a new position 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 0-3 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Position
|-
| colspan="2" | Range 0-255 
|-
| 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;" | '''ReadAllValue'''
|-
| colspan="2" | Reads a single value stored from the read all command Index dictates which sensor value to read 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Index
|-
| colspan="2" | 0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel 
|-
| 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;" | '''LCDBacklight'''
|-
| colspan="2" | Allows the LCD backlight brighntess to be adjusted 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Intensity
|-
| 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;" | '''LCDDrawRect'''
|-
| colspan="2" | Allows a rectangle to be drawn on the LCD 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | X Pixel 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Y Pixel 0-31 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | X Pixel 0-127 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Y Pixel 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;" | '''ReadLine'''
|-
| colspan="2" | Reads one of the IR line sensors 0-1 0=Left, 1=Right 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | index
|-
| colspan="2" | 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;" | '''ServoDisable'''
|-
| colspan="2" | Allows one of the servo outputs 0-3 to be disabled 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 0-3 
|-
| 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;" | '''ServoEnable'''
|-
| colspan="2" | Allows one of the servo outputs 0-3 to be enabled 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 0-3 
|-
| 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;" | '''CardReadByte'''
|-
| colspan="2" | Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end 
|-
|-
| 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;" | '''CardErase'''
|-
| colspan="2" | Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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;" | '''CardWriteByte'''
|-
| colspan="2" | Appends a byte to the end of the currently open file  
|-
|-
| 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;" | '''EncoderRead'''
|-
| colspan="2" | Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | index
|-
| colspan="2" | 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;" | '''SetMotors'''
|-
| colspan="2" | Sets the motor speeds without feedback Range -100 to 100 
|-
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Left
|-
| colspan="2" | Range -100 to 100 
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Right
|-
| colspan="2" | 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;" | '''Backwards'''
|-
| colspan="2" | Drives the robot backwards - waits for the distance to be traversed before returning 
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Distance
|-
| colspan="2" | Distance in mm 
|-
| 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 motor encoder counters 
|-
|-
| 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;" | '''LCDVerbose'''
|-
| colspan="2" | Allows the LCD to automatically report the API commands as they get processed. Default - verbose on 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | State
|-
| colspan="2" | 0=Off 1=On 
|-
| 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;" | '''SetProp'''
|-
| colspan="2" | Allows the COM port property to be set from a parent component. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | PropName
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
| width="90%" | PropVal
|-
| 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;" | '''CardInit'''
|-
| colspan="2" | Attempts to startup the SD card  255=No Card, 254=Init Fail, 0=Init OK 
|-
|-
| 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;" | '''GetProp'''
|-
| colspan="2" | Allows the property filter for the COM port list to be copied to a parent component. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | PropName
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
{| class="wikitable" style="width:60%; background-color:#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 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-16-icon.png]]
| width="90%" | COM Port
|-
| colspan="2" | Selects which port to communicate with, only lists ports which are currently available.  
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Refresh COM Ports
|-
| colspan="2" | When set to yes the COM port list is rescanned for newly connected or available ports. Note that refreshing the ports list may take a few seconds depending on the number of connected ports. 
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="90%" | Baud
|-
| colspan="2" | Baud rate passed to the COM port to control the rate of data. 
|-
| width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
| width="90%" | Label
|-
| colspan="2" |  
|}==Macro reference==


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"

Revision as of 15:14, 20 January 2023

Author Matrix Ltd
Version 1.2
Category AllCode


Formula AllCode API component

A simulation only component to allow the Formula AllCode robot to be controlled via it's API interface and Bluetooth data connection without having to compile or re-program the robot.

Component Source Code

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

Detailed description

No detailed description exists yet for this component

Examples

The COM port for the Formula AllCode can be set via the panel properties which can be exposed to the SCADA runtime user.


LED Control

Controls the LEDs on the Formula AllCode by collecting the analogue value of a potentiometer on the simulation panel and sending the value to the robot.

LED Control Example


Motor Control Using Keypad

Uses the keypad on the simulation panel to control the speed and direction of the motors. Key 2 drives the robot forwards, 8 drives backwards, 4 and 6 turn the robot on the spot.

Motor Control Example


Motor Control Using Joystick

A simple example showing how to drive the Formula AllCode robot around in API mode using a panel based joystick control.

Formula AllCode Bluetooth


Proximity Alarm

Reads the front IR sensor on the Formula AllCode from the Flowcode simulation. If a near object is sensed then the Flowcode simulation will speak the word "Hello" using the Speech component.

Proximity Alarm Example


Driving Simulation using the API component

An example showing how to use the API component to drive the Formula AllCode robot component on the simulation panel.

FA API Sim Demo


JCB Bot Blog

Blog with example code showing how to drive the Formula AllCode robot using Key Mappings and how to add extra features such as a 3D printed cover and servo motors to operate a digger arm and bucket.

JCB Bot

Macro reference

PlayNote
Plays a note using the speaker on the FA 
- UINT Note
Range 1 to 65535 in Hz 
- UINT Delay
Number of milliseconds to play the note for 
- VOID Return


LEDOn
Sets a single LED 0-7 
- BYTE index
Range: 0-7 
- VOID Return


LCDPrintString
Prints a string to the LCD 
- BYTE X
X Pixel 0-127 
- BYTE Y
LCD Y Coordinate 0-31 
- STRING Data
 
- VOID Return


ReadLight
Reads the light sensor 0-4095 - 4095 = Max Brightness 
- UINT Return


Right
Rotates the robot right - waits for the angle to be traversed before returning 
- UINT Angle
Angle to turn in degrees 
- VOID Return


SetLogoSpeed
Sets the speed of logo movements 
- BYTE Speed
Logo Speed 1-100 - Default 40 
- VOID Return


ReadAllSensors
Samples all of the robot's sensors at once, storing the values locally 
- VOID Return


SampleMag
Samples the magnetometer 0 = no new data, 1 = new data available 
- BYTE Return


CardCreate
Attempts to create a file on the SD card 255=Error, 1=File Already Exists, 0=Create OK 
- STRING Filename
 
- BYTE Return


LCDPrintNumber
Prints a 16-bit signed number to the LCD 
- BYTE X
X Pixel 0-127 
- BYTE Y
LCD Y coordinate 0-31 
- INT Number
Range -32768 to 32767 
- VOID Return


LEDOff
Clears a single LED 0-7 
- BYTE index
Range: 0-7 
- VOID Return


LEDWrite
Sets the value of the LEDs as an 8-bit output 
- BYTE Value
LED value 0=All Off, 255 = All On 
- VOID Return


ReadAxis
Reads a single X/Y/Z axis from the accelerometer sensor.  
- BYTE index
0=X, 1=Y, 2=Z 
- INT Return


ServoSetAutoMoveSpeed
Changes the speed of the auto movements Default - 1 
- BYTE Speed
Range 1-50 
- VOID Return


CardPlayback
Plays back a .Wav file audio stream from the card 
- STRING Filename
 
- BYTE Return


ReadMic
Reads the microphone sensor 0 - 4095 
- UINT Return


ReadSwitch
Read the switch value 
- BYTE index
0 (left) or 1 (right) 
- BYTE Return


SampleAccel
Samples the accelerometer 0 = no new data, 1 = new data available 
- BYTE Return


Left
Rotates the robot left - waits for the angle to be traversed before returning 
- UINT Angle
Angle to turn in degrees 
- VOID Return


ReadIR
Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft 
- BYTE index
0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft 
- UINT Return


LCDDrawPixel
Allows a single pixel on the LCD to be set or cleared 
- BYTE X
X Pixel 0-127 
- BYTE Y
Y Pixel 0-31 
- BYTE State
0=White (Off), 1=Black (On) 
- VOID Return


ServoSetPosition
Allows one of the servo positions to be assigned 
- BYTE Channel
Range 0-3 
- BYTE Position
Range 0-255 
- VOID Return


CardBitmap
Displays a monochrome bitmap read from the card on the LCD 
- BYTE X
Range 0-127 
- BYTE Y
Range 0-31 
- STRING Filename
 
- BYTE Return


CardRecordMic
Records an audio stream on the card from the microphone 
- BYTE BitDepth
0=8-bit, 1=16-bit 
- BYTE SampleRate
Sample Rate 0=8KHz, 1=16KHz 
- UINT RecordTime
Time to record for in seconds, Range 0-65535 
- STRING Filename
 
- BYTE Return


CardOpen
Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK 
- STRING Filename
 
- BYTE Return


Forwards
Drives the robot forwards - waits for the distance to be traversed before returning 
- UINT Distance
Distance in mm 
- VOID Return


ReadBearing
Reads the compass bearing based on the degrees clockwise from magnetic north. 
- INT Return


GetConsoleHandle
Gets the handle to the console allowing data displaying on the panel etc. 
- HANDLE Return


LCDDrawLine
Allows a single pixel width line to be drawn on the LCD 
- BYTE X1
X Pixel 0-127 
- BYTE Y1
Y Pixel 0-31 
- BYTE X2
X Pixel 0-127 
- BYTE Y2
Y Pixel 0-31 
- VOID Return


ServoAutoMoveToPosition
Allows one of the servo positions to move gradually to a new position 
- BYTE Channel
Range 0-3 
- BYTE Position
Range 0-255 
- VOID Return


ReadAllValue
Reads a single value stored from the read all command Index dictates which sensor value to read 
- BYTE Index
0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel 
- UINT Return


LCDBacklight
Allows the LCD backlight brighntess to be adjusted 
- BYTE Intensity
Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness 
- VOID Return


LCDDrawRect
Allows a rectangle to be drawn on the LCD 
- BYTE X1
X Pixel 0-127 
- BYTE Y1
Y Pixel 0-31 
- BYTE X2
X Pixel 0-127 
- BYTE Y2
Y Pixel 0-31 
- VOID Return


ReadLine
Reads one of the IR line sensors 0-1 0=Left, 1=Right 
- BYTE index
0=Left, 1=Right 
- UINT Return


ServoDisable
Allows one of the servo outputs 0-3 to be disabled 
- BYTE Channel
Range 0-3 
- VOID Return


ServoEnable
Allows one of the servo outputs 0-3 to be enabled 
- BYTE Channel
Range 0-3 
- VOID Return


CardReadByte
Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end 
- BYTE Return


CardErase
Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK 
- STRING Filename
 
- BYTE Return


CardWriteByte
Appends a byte to the end of the currently open file  
- BYTE Data
 
- VOID Return


EncoderRead
Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit. 
- BYTE index
0=Left, 1=Right 
- UINT Return


SetMotors
Sets the motor speeds without feedback Range -100 to 100 
- INT Left
Range -100 to 100 
- INT Right
Range -100 to 100 
- VOID Return


Backwards
Drives the robot backwards - waits for the distance to be traversed before returning 
- UINT Distance
Distance in mm 
- VOID Return


EncoderReset
Resets the motor encoder counters 
- VOID Return


LCDVerbose
Allows the LCD to automatically report the API commands as they get processed. Default - verbose on 
- BYTE State
0=Off 1=On 
- VOID Return


SetProp
Allows the COM port property to be set from a parent component. 
- STRING PropName
 
- ULONG PropVal
 
- VOID Return


CardInit
Attempts to startup the SD card 255=No Card, 254=Init Fail, 0=Init OK 
- BYTE Return


GetProp
Allows the property filter for the COM port list to be copied to a parent component. 
- STRING PropName
 
- STRING Return


LCDClear
Clears the LCD 
- VOID Return



Property reference

Properties
COM Port
Selects which port to communicate with, only lists ports which are currently available.  
Refresh COM Ports
When set to yes the COM port list is rescanned for newly connected or available ports. Note that refreshing the ports list may take a few seconds depending on the number of connected ports. 
Baud
Baud rate passed to the COM port to control the rate of data. 
Label
 

==Macro reference==

PlayNote
Plays a note using the speaker on the FA 
- UINT Note
Range 1 to 65535 in Hz 
- UINT Delay
Number of milliseconds to play the note for 
- VOID Return


LEDOn
Sets a single LED 0-7 
- BYTE index
Range: 0-7 
- VOID Return


LCDPrintString
Prints a string to the LCD 
- BYTE X
X Pixel 0-127 
- BYTE Y
LCD Y Coordinate 0-31 
- STRING Data
 
- VOID Return


ReadLight
Reads the light sensor 0-4095 - 4095 = Max Brightness 
- UINT Return


Right
Rotates the robot right - waits for the angle to be traversed before returning 
- UINT Angle
Angle to turn in degrees 
- VOID Return


SetLogoSpeed
Sets the speed of logo movements 
- BYTE Speed
Logo Speed 1-100 - Default 40 
- VOID Return


ReadAllSensors
Samples all of the robot's sensors at once, storing the values locally 
- VOID Return


SampleMag
Samples the magnetometer 0 = no new data, 1 = new data available 
- BYTE Return


CardCreate
Attempts to create a file on the SD card 255=Error, 1=File Already Exists, 0=Create OK 
- STRING Filename
 
- BYTE Return


LCDPrintNumber
Prints a 16-bit signed number to the LCD 
- BYTE X
X Pixel 0-127 
- BYTE Y
LCD Y coordinate 0-31 
- INT Number
Range -32768 to 32767 
- VOID Return


LEDOff
Clears a single LED 0-7 
- BYTE index
Range: 0-7 
- VOID Return


LEDWrite
Sets the value of the LEDs as an 8-bit output 
- BYTE Value
LED value 0=All Off, 255 = All On 
- VOID Return


ReadAxis
Reads a single X/Y/Z axis from the accelerometer sensor.  
- BYTE index
0=X, 1=Y, 2=Z 
- INT Return


ServoSetAutoMoveSpeed
Changes the speed of the auto movements Default - 1 
- BYTE Speed
Range 1-50 
- VOID Return


CardPlayback
Plays back a .Wav file audio stream from the card 
- STRING Filename
 
- BYTE Return


ReadMic
Reads the microphone sensor 0 - 4095 
- UINT Return


ReadSwitch
Read the switch value 
- BYTE index
0 (left) or 1 (right) 
- BYTE Return


SampleAccel
Samples the accelerometer 0 = no new data, 1 = new data available 
- BYTE Return


Left
Rotates the robot left - waits for the angle to be traversed before returning 
- UINT Angle
Angle to turn in degrees 
- VOID Return


ReadIR
Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft 
- BYTE index
0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft 
- UINT Return


LCDDrawPixel
Allows a single pixel on the LCD to be set or cleared 
- BYTE X
X Pixel 0-127 
- BYTE Y
Y Pixel 0-31 
- BYTE State
0=White (Off), 1=Black (On) 
- VOID Return


ServoSetPosition
Allows one of the servo positions to be assigned 
- BYTE Channel
Range 0-3 
- BYTE Position
Range 0-255 
- VOID Return


CardBitmap
Displays a monochrome bitmap read from the card on the LCD 
- BYTE X
Range 0-127 
- BYTE Y
Range 0-31 
- STRING Filename
 
- BYTE Return


CardRecordMic
Records an audio stream on the card from the microphone 
- BYTE BitDepth
0=8-bit, 1=16-bit 
- BYTE SampleRate
Sample Rate 0=8KHz, 1=16KHz 
- UINT RecordTime
Time to record for in seconds, Range 0-65535 
- STRING Filename
 
- BYTE Return


CardOpen
Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK 
- STRING Filename
 
- BYTE Return


Forwards
Drives the robot forwards - waits for the distance to be traversed before returning 
- UINT Distance
Distance in mm 
- VOID Return


ReadBearing
Reads the compass bearing based on the degrees clockwise from magnetic north. 
- INT Return


GetConsoleHandle
Gets the handle to the console allowing data displaying on the panel etc. 
- HANDLE Return


LCDDrawLine
Allows a single pixel width line to be drawn on the LCD 
- BYTE X1
X Pixel 0-127 
- BYTE Y1
Y Pixel 0-31 
- BYTE X2
X Pixel 0-127 
- BYTE Y2
Y Pixel 0-31 
- VOID Return


ServoAutoMoveToPosition
Allows one of the servo positions to move gradually to a new position 
- BYTE Channel
Range 0-3 
- BYTE Position
Range 0-255 
- VOID Return


ReadAllValue
Reads a single value stored from the read all command Index dictates which sensor value to read 
- BYTE Index
0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel 
- UINT Return


LCDBacklight
Allows the LCD backlight brighntess to be adjusted 
- BYTE Intensity
Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness 
- VOID Return


LCDDrawRect
Allows a rectangle to be drawn on the LCD 
- BYTE X1
X Pixel 0-127 
- BYTE Y1
Y Pixel 0-31 
- BYTE X2
X Pixel 0-127 
- BYTE Y2
Y Pixel 0-31 
- VOID Return


ReadLine
Reads one of the IR line sensors 0-1 0=Left, 1=Right 
- BYTE index
0=Left, 1=Right 
- UINT Return


ServoDisable
Allows one of the servo outputs 0-3 to be disabled 
- BYTE Channel
Range 0-3 
- VOID Return


ServoEnable
Allows one of the servo outputs 0-3 to be enabled 
- BYTE Channel
Range 0-3 
- VOID Return


CardReadByte
Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end 
- BYTE Return


CardErase
Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK 
- STRING Filename
 
- BYTE Return


CardWriteByte
Appends a byte to the end of the currently open file  
- BYTE Data
 
- VOID Return


EncoderRead
Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit. 
- BYTE index
0=Left, 1=Right 
- UINT Return


SetMotors
Sets the motor speeds without feedback Range -100 to 100 
- INT Left
Range -100 to 100 
- INT Right
Range -100 to 100 
- VOID Return


Backwards
Drives the robot backwards - waits for the distance to be traversed before returning 
- UINT Distance
Distance in mm 
- VOID Return


EncoderReset
Resets the motor encoder counters 
- VOID Return


LCDVerbose
Allows the LCD to automatically report the API commands as they get processed. Default - verbose on 
- BYTE State
0=Off 1=On 
- VOID Return


SetProp
Allows the COM port property to be set from a parent component. 
- STRING PropName
 
- ULONG PropVal
 
- VOID Return


CardInit
Attempts to startup the SD card 255=No Card, 254=Init Fail, 0=Init OK 
- BYTE Return


GetProp
Allows the property filter for the COM port list to be copied to a parent component. 
- STRING PropName
 
- STRING Return


LCDClear
Clears the LCD 
- VOID Return



Property reference

Properties
COM Port
Selects which port to communicate with, only lists ports which are currently available.  
Refresh COM Ports
When set to yes the COM port list is rescanned for newly connected or available ports. Note that refreshing the ports list may take a few seconds depending on the number of connected ports. 
Baud
Baud rate passed to the COM port to control the rate of data. 
Label
 
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