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

Revision as of 12:00, 3 February 2023

Author	Matrix TSL
Version	1.2
Category	Mechatronics

Formula AllCode Dummy component

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

Component Source Code

Please click here to download the component source project: FC_Comp_Source_temp/FA_Source_P4_Dummy_Template.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_temp/FA_Source_P4_Dummy_Template.fcfx

Detailed description

No detailed description exists yet for this component

Examples

Line Following

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

FA-Line

Simulation with the API component

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

FA API Sim Demo

Macro reference

AudioAddToBuffer

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

- VOID	Return

AudioQueueLength

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

AudioReadFromBuffer

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

AudioStreamControl

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

BluetoothCheckConnection

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

BluetoothQueueLength

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

BluetoothReceive

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

BluetoothTransmit

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

- VOID	Return

BluetoothTransmitString

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

- VOID	Return

CheckIR

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

CheckLine

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

CheckUSB

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

EncoderReadCount

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

EncoderReset

	EncoderReset
Resets the encoder counters to 0
- VOID	Return

Forward

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

Initialise

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

LCDBacklight

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

LCDClear

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

LCDDrawLine

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

LCDDrawRectangle

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

LCDPlotPixel

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

LCDPrintNumber

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

- BYTE	Transparent

- VOID	Return

LCDPrintString

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

- UINT	Transparent

- VOID	Return

LCDSetBackgroundColour

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

LCDSetForegroundColour

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

LCDWriteByte

	LCDWriteByte

- BYTE	Data

- BYTE	X

- BYTE	Y

- VOID	Return

LEDOff

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

LEDOn

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

LEDWrite

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

LogoBackwards

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

LogoForwards

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

LogoSetSpeed

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

LogoTurnLeft

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

LogoTurnRight

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

PlayNote

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

ReadBattery

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

ReadIRSensor

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

ReadLDR

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

ReadLineSensor

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

ReadMic

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

ReadSwitch

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

Reverse

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

SetMotors

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

SpinLeft

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

SpinRight

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

Stop

	Stop
Stops both motors.
- VOID	Return

WaitForSwitch

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

Property reference

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

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

@@ Line 17: / Line 17: @@
 ==Component Source Code==
-Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_FA_Source_P4_Dummy_Template.fcfx FC_Comp_Source_FA_Source_P4_Dummy_Template.fcfx]
+Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_temp/FA_Source_P4_Dummy_Template.fcfx FC_Comp_Source_temp/FA_Source_P4_Dummy_Template.fcfx]
-Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_FA_Source_P4_Dummy_Template.fcfx FC_Comp_Source_FA_Source_P4_Dummy_Template.fcfx]
+Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_temp/FA_Source_P4_Dummy_Template.fcfx FC_Comp_Source_temp/FA_Source_P4_Dummy_Template.fcfx]
 ==Detailed description==
@@ Line 91: / Line 91: @@
 {{Fcfile|FA_API_Sim_Demo.fcfx|FA API Sim Demo}}
@@ Line 98: / Line 100: @@
 ==Macro reference==
-===PlayNote===
+===AudioAddToBuffer===
 {| class="wikitable" style="width:60%; background-color:#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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioAddToBuffer'''
 |-
-| colspan="2" | Outputs a single tone from the onboard speaker for the period specified.&nbsp;
+| colspan="2" | Writes a value to the 16-bit audio output buffer.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Note
+| width="90%" | Data
 |-
-| colspan="2" | Sets the pitch of the note in Hz. Range: 1 - 10000&nbsp;
+| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Time
-|-
-| colspan="2" | Time period to play the note for in milliseconds. Range: 0 - 65535 ms&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 122: / Line 119: @@
-===LEDOn===
+===AudioQueueLength===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioQueueLength'''
 |-
-| colspan="2" | Switches on a single LED on the front of the Formula Allcode. &nbsp;
+| colspan="2" | Retreives the current length of valid data within the audio queue&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | LED
-|-
-| colspan="2" | Which LED to switch on, range 0-7&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===BluetoothTransmit===
+===AudioReadFromBuffer===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothTransmit'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioReadFromBuffer'''
 |-
-| colspan="2" | Sends a byte via the Bluetooth data connection.&nbsp;
+| colspan="2" | Allows the audio buffer to be used for other streaming data such as recording the mic. &nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Data
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===LCDPrintString===
+===AudioStreamControl===
 {| class="wikitable" style="width:60%; background-color:#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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioStreamControl'''
 |-
-| colspan="2" | Prints a string to the graphical LCD.&nbsp;
+| colspan="2" | Allows control of the audio output functionality via the onboard speaker. Data is loaded into the audio output buffer using the AddToBuffer function.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
+| width="90%" | Mode
 |-
-| colspan="2" | The horizontal start pixel. Range 0-127&nbsp;
+| colspan="2" | 0=Off, 8=8-bit Mode, 16=16-bit Mode&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
+| width="90%" | SampleRate
 |-
-| colspan="2" | Y coordinate to print the string. Range 0-31&nbsp;
+| colspan="2" | Sets the sample rate 0=8KHz, 1=16KHz&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" | Data
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+===BluetoothCheckConnection===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| colspan="2" | &nbsp;
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothCheckConnection'''
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| colspan="2" | Checks the status of the Bluetooth connection. Returns 0 for not paired and 1 for paired.&nbsp;
-| width="90%" | Transparent
 |-
-| colspan="2" | &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''
 |}
-===Stop===
+===BluetoothQueueLength===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stop'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothQueueLength'''
 |-
-| colspan="2" | Stops both motors.&nbsp;
+| colspan="2" | Reads the length of received Bluetooth data in bytes. &nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===ReadBattery===
+===BluetoothReceive===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBattery'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothReceive'''
 |-
-| colspan="2" | Reads the current voltage level from the LiPo battery. Return value is the battery voltage in Volts. Take care not to run the battery too low.  Voltages lower than 3.4V may damage the battery.&nbsp;
+| colspan="2" | Attempt to read a byte from the Bluetooth receive queue.&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
+| 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''
 |}
-===LEDOff===
+===BluetoothTransmit===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothTransmit'''
 |-
-| colspan="2" | Switches off a single LED on the front of the Formula Allcode. &nbsp;
+| colspan="2" | Sends a byte via the Bluetooth data connection.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | LED
+| width="90%" | Data
 |-
-| colspan="2" | Which LED to switch on, range 0-7&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 241: / Line 232: @@
-===LCDPrintNumber===
+===BluetoothTransmitString===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNumber'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothTransmitString'''
 |-
-| colspan="2" | Prints a numeric value to the graphical LCD.&nbsp;
+| colspan="2" | Sends a string via the Bluetooth data connection.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | X
+| width="90%" | Data
 |-
-| colspan="2" | The horizontal start pixel. Range 0-127&nbsp;
+| colspan="2" | &nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" | Y
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+===CheckIR===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| colspan="2" | Y coordinate to print the string. Range 0-31&nbsp;
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckIR'''
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| colspan="2" | Checks to see if a IR sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.&nbsp;
-| width="90%" | Number
 |-
-| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Transparent
+| width="90%" | Sensor
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===LEDWrite===
+===CheckLine===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckLine'''
 |-
-| colspan="2" | Allows control of all 8-LEDs on the front of the Formula Allcode. &nbsp;
+| colspan="2" | Checks to see if a line sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | LED_Byte
+| width="90%" | Sensor
 |-
-| colspan="2" | 8-bit binary value to write to the 8 LEDs&nbsp;
+| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right&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''
 |}
-===BluetoothCheckConnection===
+===CheckUSB===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothCheckConnection'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckUSB'''
 |-
-| colspan="2" | Checks the status of the Bluetooth connection. Returns 0 for not paired and 1 for paired.&nbsp;
+| colspan="2" | Checks to see if a USB cable is connected to the robot. Returns 0 for no connection and 1 for an active connection.&nbsp;
 |-
 |-
@@ Line 308: / Line 303: @@
-===ReadMic===
+===EncoderReadCount===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadMic'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReadCount'''
+|-
+| colspan="2" | Reads one of the motor encoder counters. Each encoder count is equal to 0.314159 mm. &nbsp;
+|-
 |-
-| colspan="2" | Reads the current audio signal level from the on-board microphone.  Return value range: 0 to 4095&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
 |-
+| colspan="2" | 0 = LeftCount, 1=RightCount&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
@@ Line 322: / Line 322: @@
-===AudioQueueLength===
+===EncoderReset===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioQueueLength'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset'''
 |-
-| colspan="2" | Retreives the current length of valid data within the audio queue&nbsp;
+| colspan="2" | Resets the encoder counters to 0&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===AudioAddToBuffer===
+===Forward===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioAddToBuffer'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forward'''
 |-
-| colspan="2" | Writes a value to the 16-bit audio output buffer.&nbsp;
+| colspan="2" | Drives both motors of the formula flowcode forwards with the power specified. &nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Data
+| width="90%" | Power
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 355: / Line 355: @@
-===ReadSwitch===
+===Initialise===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 |-
-| colspan="2" | Reads the value of one of the switches from the front of the Formula Allcode.&nbsp;
+| colspan="2" | Starts up the Formula Allcode PWM for motor control and performs the wait for button press if enabled.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
-| width="90%" | Switch
-|-
-| colspan="2" | Which switch do we want to read 0=Left, 1=Right&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===CheckLine===
+===LCDBacklight===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckLine'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
 |-
-| colspan="2" | Checks to see if a line sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.&nbsp;
+| colspan="2" | Controls the brighness of the LCD backlight&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Sensor
+| width="90%" | Brightness
 |-
-| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right&nbsp;
+| colspan="2" | Range: 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-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''
 |}
-===AudioStreamControl===
+===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;" | '''AudioStreamControl'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
-|-
-| colspan="2" | Allows control of the audio output functionality via the onboard speaker. Data is loaded into the audio output buffer using the AddToBuffer function.&nbsp;
 |-
+| colspan="2" | Clears the contents of the graphical LCD.&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Mode
-|-
-| colspan="2" | 0=Off, 8=8-bit Mode, 16=16-bit Mode&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | SampleRate
-|-
-| colspan="2" | Sets the sample rate 0=8KHz, 1=16KHz&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 417: / Line 402: @@
-===SpinLeft===
+===LCDDrawLine===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinLeft'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
 |-
-| colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above. &nbsp;
+| colspan="2" | Draws a line on the LCD.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
+| width="90%" | X1
 |-
-| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
+| colspan="2" | Range 0-127&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%" | Y1
-|}
-===LogoTurnLeft===
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| colspan="2" | Range 0-31&nbsp;
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoTurnLeft'''
 |-
-| colspan="2" | Rotates the robot left by a specific angle using the encoders as feedback to ensure the robot turns evenly. Automatically stops at the specified turn angle.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | X2
 |-
+| colspan="2" | Range 0-127&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Angle
+| width="90%" | Y2
 |-
-| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536&nbsp;
+| colspan="2" | Range 0-31&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 455: / Line 436: @@
-===Forward===
+===LCDDrawRectangle===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forward'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawRectangle'''
 |-
-| colspan="2" | Drives both motors of the formula flowcode forwards with the power specified. &nbsp;
+| colspan="2" | Draws a rectange on the LCD.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
+| width="90%" | X1
 |-
-| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
+| colspan="2" | Range 0-127&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%" | Y1
-|}
-===LCDWriteByte===
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| colspan="2" | Range 0-31&nbsp;
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDWriteByte'''
 |-
-| colspan="2" | &nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | X2
 |-
+| colspan="2" | Range 0-127&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Data
+| width="90%" | Y2
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Range 0-31&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X
+| width="90%" | Transparent
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Sets the transparency of the box, 0=Box contains background colour, 1=Box contains previous pixel data&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
+| width="90%" | Solid
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Chooses to fill the box with colour, 0=Box contains transparency data, 1=Box contains foreground colour&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 503: / Line 480: @@
-===BluetoothReceive===
+===LCDPlotPixel===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothReceive'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPlotPixel'''
+|-
+| colspan="2" | Allows a single pixel on the LCD to be set or cleared.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | X
+|-
+| colspan="2" | Sets the X coordinate - Range 0-127&nbsp;
 |-
-| colspan="2" | Attempt to read a byte from the Bluetooth receive queue.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Y
 |-
+| colspan="2" | Sets the Y coordinate - Range 0-31&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-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''
 |}
-===LCDDrawLine===
+===LCDPrintNumber===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNumber'''
 |-
-| colspan="2" | Draws a line on the LCD.&nbsp;
+| colspan="2" | Prints a numeric value to the graphical LCD.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X1
+| width="90%" | X
 |-
-| colspan="2" | Range 0-127&nbsp;
+| colspan="2" | The horizontal start pixel. Range 0-127&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y1
+| width="90%" | Y
 |-
-| colspan="2" | Range 0-31&nbsp;
+| colspan="2" | Y coordinate to print the string. Range 0-31&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | X2
+| width="90%" | Number
 |-
-| colspan="2" | Range 0-127&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y2
+| width="90%" | Transparent
 |-
-| colspan="2" | Range 0-31&nbsp;
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 551: / Line 538: @@
-===BluetoothQueueLength===
+===LCDPrintString===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothQueueLength'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintString'''
 |-
-| colspan="2" | Reads the length of received Bluetooth data in bytes. &nbsp;
+| colspan="2" | Prints a string to the graphical LCD.&nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" style="border-top: 2px solid #000;" | ''Return''
+| width="90%" | X
-|}
-===BluetoothTransmitString===
-{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| colspan="2" | The horizontal start pixel. Range 0-127&nbsp;
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''BluetoothTransmitString'''
 |-
-| colspan="2" | Sends a string via the Bluetooth data connection.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Y
 |-
+| colspan="2" | Y coordinate to print the string. Range 0-31&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
 | width="90%" | Data
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Transparent
 |-
 | colspan="2" | &nbsp;
@@ Line 584: / Line 572: @@
-===LCDBacklight===
+===LCDSetBackgroundColour===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDSetBackgroundColour'''
 |-
-| colspan="2" | Controls the brighness of the LCD backlight&nbsp;
+| colspan="2" | Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Brightness
+| width="90%" | Colour
 |-
-| colspan="2" | Range: 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness&nbsp;
+| colspan="2" | Range 0-1 : 0=White, 1=Black&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 603: / Line 591: @@
-===AudioReadFromBuffer===
+===LCDSetForegroundColour===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''AudioReadFromBuffer'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDSetForegroundColour'''
+|-
+| colspan="2" | Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.&nbsp;
+|-
 |-
-| colspan="2" | Allows the audio buffer to be used for other streaming data such as recording the mic. &nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Colour
 |-
+| colspan="2" | Range 0-1 : 0=White, 1=Black&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===ReadLineSensor===
+===LCDWriteByte===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLineSensor'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDWriteByte'''
+|-
+| colspan="2" | &nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Data
+|-
+| colspan="2" | &nbsp;
 |-
-| colspan="2" | Reads the analogue value from the specified IR line sensor. Return value range: 0 to 4095 4095 represents the object is reflecting the most light.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | X
 |-
+| colspan="2" | &nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
+| width="90%" | Y
 |-
-| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right&nbsp;
+| colspan="2" | &nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===LogoTurnRight===
+===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;" | '''LogoTurnRight'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
 |-
-| colspan="2" | Rotates the robot right by a specific angle using the encoders as feedback to ensure the robot turns evenly. Automatically stops at the specified turn angle.&nbsp;
+| colspan="2" | Switches off a single LED on the front of the Formula Allcode. &nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Angle
+| width="90%" | LED
 |-
-| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536&nbsp;
+| colspan="2" | Which LED to switch on, range 0-7&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 655: / Line 658: @@
-===SpinRight===
+===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;" | '''SpinRight'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
 |-
-| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above. &nbsp;
+| colspan="2" | Switches on a single LED on the front of the Formula Allcode. &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Power
+| width="90%" | LED
 |-
-| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
+| colspan="2" | Which LED to switch on, range 0-7&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 674: / Line 677: @@
-===CheckIR===
+===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;" | '''CheckIR'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
 |-
-| colspan="2" | Checks to see if a IR sensor is within the master threshold distance. Returns 0 if the IR reading is below the threshold. Returns 1 if the IR reading is greater than or equal to the threshold.&nbsp;
+| colspan="2" | Allows control of all 8-LEDs on the front of the Formula Allcode. &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Sensor
+| width="90%" | LED_Byte
 |-
-| colspan="2" | Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left&nbsp;
+| colspan="2" | 8-bit binary value to write to the 8 LEDs&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===LCDPlotPixel===
+===LogoBackwards===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPlotPixel'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoBackwards'''
 |-
-| colspan="2" | Allows a single pixel on the LCD to be set or cleared.&nbsp;
+| colspan="2" | Drives the robot backward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | X
+| width="90%" | Distance
 |-
-| colspan="2" | Sets the X coordinate - Range 0-127&nbsp;
+| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Y
-|-
-| colspan="2" | Sets the Y coordinate - Range 0-31&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 717: / Line 715: @@
-===LCDSetBackgroundColour===
+===LogoForwards===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDSetBackgroundColour'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoForwards'''
 |-
-| colspan="2" | Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.&nbsp;
+| colspan="2" | Drives the robot forward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Colour
+| width="90%" | Distance
 |-
-| colspan="2" | Range 0-1 : 0=White, 1=Black&nbsp;
+| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 736: / Line 734: @@
-===ReadIRSensor===
+===LogoSetSpeed===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIRSensor'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoSetSpeed'''
 |-
-| colspan="2" | Reads the analogue value from the specified IR distance sensor. Return value range: 0 to 4095 4095 represents the object is very close.&nbsp;
+| colspan="2" | Sets the cruise speed for LOGO type macros. Default speed 20%.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
+| width="90%" | Speed
 |-
-| colspan="2" | Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left&nbsp;
+| colspan="2" | Range 1-100, Default 60&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetMotors===
+===LogoTurnLeft===
 {| class="wikitable" style="width:60%; background-color:#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'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoTurnLeft'''
 |-
-| colspan="2" | Sets the speed and direction of the Formula Allcode motors. &nbsp;
+| colspan="2" | Rotates the robot left by a specific angle using the encoders as feedback to ensure the robot turns evenly. Automatically stops at the specified turn angle.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Left
+| width="90%" | Angle
 |-
-| colspan="2" | Valid Range = -100 to 100&nbsp;
+| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Right
-|-
-| colspan="2" | Valid Range = -100 to 100&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 779: / Line 772: @@
-===LogoBackwards===
+===LogoTurnRight===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoBackwards'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoTurnRight'''
 |-
-| colspan="2" | Drives the robot backward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.&nbsp;
+| colspan="2" | Rotates the robot right by a specific angle using the encoders as feedback to ensure the robot turns evenly. Automatically stops at the specified turn angle.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
+| width="90%" | Angle
 |-
-| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535&nbsp;
+| colspan="2" | Angle in degrees you wish to rotate. Range 1-65536&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 798: / Line 791: @@
-===EncoderReset===
+===PlayNote===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PlayNote'''
+|-
+| colspan="2" | Outputs a single tone from the onboard speaker for the period specified.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Note
+|-
+| colspan="2" | Sets the pitch of the note in Hz. Range: 1 - 10000&nbsp;
 |-
-| colspan="2" | Resets the encoder counters to 0&nbsp;
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Time
 |-
+| colspan="2" | Time period to play the note for in milliseconds. Range: 0 - 65535 ms&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 812: / Line 815: @@
-===Reverse===
+===ReadBattery===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Reverse'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBattery'''
 |-
-| colspan="2" | Drives both motors of the formula flowcode backwards with the power specified. &nbsp;
+| colspan="2" | Reads the current voltage level from the LiPo battery. Return value is the battery voltage in Volts. Take care not to run the battery too low.  Voltages lower than 3.4V may damage the battery.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Power
-|-
-| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===WaitForSwitch===
+===ReadIRSensor===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WaitForSwitch'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIRSensor'''
 |-
-| colspan="2" | Waits for the specified switch to be pressed.&nbsp;
+| colspan="2" | Reads the analogue value from the specified IR distance sensor. Return value range: 0 to 4095 4095 represents the object is very close.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Switch
+| width="90%" | Channel
 |-
-| colspan="2" | Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both&nbsp;
+| colspan="2" | Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
@@ Line 864: / Line 862: @@
-===LCDDrawRectangle===
+===ReadLineSensor===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawRectangle'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLineSensor'''
 |-
-| colspan="2" | Draws a rectange on the LCD.&nbsp;
+| colspan="2" | Reads the analogue value from the specified IR line sensor. Return value range: 0 to 4095 4095 represents the object is reflecting the most light.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | X1
+| width="90%" | Channel
 |-
-| colspan="2" | Range 0-127&nbsp;
+| colspan="2" | Range: 0 to 1 - 0=Left, 1=Right&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Y1
+| width="90%" style="border-top: 2px solid #000;" | ''Return''
+|}
+===ReadMic===
+{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
-| colspan="2" | Range 0-31&nbsp;
+| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadMic'''
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| colspan="2" | Reads the current audio signal level from the on-board microphone.  Return value range: 0 to 4095&nbsp;
-| width="90%" | X2
 |-
-| colspan="2" | Range 0-127&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Y2
-|-
-| colspan="2" | Range 0-31&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Transparent
-|-
-| colspan="2" | Sets the transparency of the box, 0=Box contains background colour, 1=Box contains previous pixel data&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Solid
-|-
-| colspan="2" | Chooses to fill the box with colour, 0=Box contains transparency data, 1=Box contains foreground colour&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===EncoderReadCount===
+===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;" | '''EncoderReadCount'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
 |-
-| colspan="2" | Reads one of the motor encoder counters. Each encoder count is equal to 0.314159 mm. &nbsp;
+| colspan="2" | Reads the value of one of the switches from the front of the Formula Allcode.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
+| width="90%" | Switch
 |-
-| colspan="2" | 0 = LeftCount, 1=RightCount&nbsp;
+| colspan="2" | Which switch do we want to read 0=Left, 1=Right&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===CheckUSB===
+===Reverse===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckUSB'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Reverse'''
+|-
+| colspan="2" | Drives both motors of the formula flowcode backwards with the power specified. &nbsp;
 |-
-| colspan="2" | Checks to see if a USB cable is connected to the robot. Returns 0 for no connection and 1 for an active connection.&nbsp;
 |-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Power
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
+|-
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===LCDSetForegroundColour===
+===SetMotors===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDSetForegroundColour'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
+|-
+| colspan="2" | Sets the speed and direction of the Formula Allcode motors. &nbsp;
+|-
 |-
-| colspan="2" | Sets the pixel colour to drive the LCD. Default colour is 1 where a set pixel is black and the background is white.&nbsp;
+| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
+| width="90%" | Left
 |-
+| colspan="2" | Valid Range = -100 to 100&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
-| width="90%" | Colour
+| width="90%" | Right
 |-
-| colspan="2" | Range 0-1 : 0=White, 1=Black&nbsp;
+| colspan="2" | Valid Range = -100 to 100&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 960: / Line 957: @@
-===Initialise===
+===SpinLeft===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinLeft'''
+|-
+| colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above. &nbsp;
+|-
 |-
-| colspan="2" | Starts up the Formula Allcode PWM for motor control and performs the wait for button press if enabled.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Power
 |-
+| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 974: / Line 976: @@
-===LogoSetSpeed===
+===SpinRight===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoSetSpeed'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinRight'''
 |-
-| colspan="2" | Sets the cruise speed for LOGO type macros. Default speed 20%.&nbsp;
+| colspan="2" | Spins the formula flowcode on the spot in a clockwise direction as seen from above. &nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Speed
+| width="90%" | Power
 |-
-| colspan="2" | Range 1-100, Default 60&nbsp;
+| colspan="2" | Amount of power to use to drive motor. Range 0-100&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 993: / Line 995: @@
-===LogoForwards===
+===Stop===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LogoForwards'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stop'''
 |-
-| colspan="2" | Drives the robot forward using the encoders as feedback to ensure the robot drives straight. Automatically stops at the specified distance.&nbsp;
+| colspan="2" | Stops both motors.&nbsp;
 |-
-|-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Distance
-|-
-| colspan="2" | Distance you want to robot to drive in mm. Range 1-65535&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 1,012: / Line 1,009: @@
-===LCDClear===
+===WaitForSwitch===
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 |-
 | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WaitForSwitch'''
+|-
+| colspan="2" | Waits for the specified switch to be pressed.&nbsp;
+|-
 |-
-| colspan="2" | Clears the contents of the graphical LCD.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Switch
 |-
+| colspan="2" | Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID