Component: Formula AllCode API (AllCode)
From Flowcode Help
Jump to navigationJump to search| Author | Matrix Ltd |
| Version | 1.2 |
| Category | AllCode |
Contents
- 1 Formula AllCode API component
- 2 Component Source Code
- 3 Detailed description
- 4 Examples
- 5 Macro reference
- 5.1 Backwards
- 5.2 CardBitmap
- 5.3 CardCreate
- 5.4 CardErase
- 5.5 CardInit
- 5.6 CardOpen
- 5.7 CardPlayback
- 5.8 CardReadByte
- 5.9 CardRecordMic
- 5.10 CardWriteByte
- 5.11 EncoderRead
- 5.12 EncoderReset
- 5.13 Forwards
- 5.14 GetConsoleHandle
- 5.15 GetProp
- 5.16 LCDBacklight
- 5.17 LCDClear
- 5.18 LCDDrawLine
- 5.19 LCDDrawPixel
- 5.20 LCDDrawRect
- 5.21 LCDPrintNumber
- 5.22 LCDPrintString
- 5.23 LCDVerbose
- 5.24 LEDOff
- 5.25 LEDOn
- 5.26 LEDWrite
- 5.27 Left
- 5.28 PlayNote
- 5.29 ReadAllSensors
- 5.30 ReadAllValue
- 5.31 ReadAxis
- 5.32 ReadBearing
- 5.33 ReadIR
- 5.34 ReadLight
- 5.35 ReadLine
- 5.36 ReadMic
- 5.37 ReadSwitch
- 5.38 Right
- 5.39 SampleAccel
- 5.40 SampleMag
- 5.41 ServoAutoMoveToPosition
- 5.42 ServoDisable
- 5.43 ServoEnable
- 5.44 ServoSetAutoMoveSpeed
- 5.45 ServoSetPosition
- 5.46 SetLogoSpeed
- 5.47 SetMotors
- 5.48 SetProp
- 6 Property reference
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 download the component source project: FC_Comp_Source_temp/FormulaAllCode_API.fcsx
Please click here to view the component source code (Beta): FC_Comp_Source_temp/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.
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 Using Joystick
A simple example showing how to drive the Formula AllCode robot around in API mode using a panel based joystick control.
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.
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.
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.
Macro reference
Backwards
|
Backwards |
| Drives the robot backwards - waits for the distance to be traversed before returning | |
 - UINT
|
Distance |
| Distance in mm | |
 - VOID
|
Return |
CardBitmap
|
|
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 |
CardCreate
|
|
CardCreate |
| Attempts to create a file on the SD card 255=Error, 1=File Already Exists, 0=Create OK | |
| - STRING
|
Filename |
| - BYTE
|
Return |
CardErase
|
|
CardErase |
| Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK | |
| - STRING
|
Filename |
| - BYTE
|
Return |
CardInit
|
|
CardInit |
| Attempts to startup the SD card 255=No Card, 254=Init Fail, 0=Init OK | |
| - BYTE
|
Return |
CardOpen
|
|
CardOpen |
| Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK | |
| - STRING
|
Filename |
| - BYTE
|
Return |
CardPlayback
|
|
CardPlayback |
| Plays back a .Wav file audio stream from the card | |
| - STRING
|
Filename |
| - BYTE
|
Return |
CardReadByte
|
|
CardReadByte |
| Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end | |
| - BYTE
|
Return |
CardRecordMic
|
|
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 |
CardWriteByte
|
|
CardWriteByte |
| Appends a byte to the end of the currently open file | |
| - BYTE
|
Data |
| - VOID
|
Return |
EncoderRead
|
|
EncoderRead |
| Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit. | |
| - BYTE
|
index |
| 0=Left, 1=Right | |
| - UINT
|
Return |
EncoderReset
|
|
EncoderReset |
| Resets the motor encoder counters | |
| - VOID
|
Return |
Forwards
|
|
Forwards |
| Drives the robot forwards - waits for the distance to be traversed before returning | |
| - UINT
|
Distance |
| Distance in mm | |
| - VOID
|
Return |
GetConsoleHandle
|
|
GetConsoleHandle |
| Gets the handle to the console allowing data displaying on the panel etc. | |
 - HANDLE
|
Return |
GetProp
|
|
GetProp |
| Allows the property filter for the COM port list to be copied to a parent component. | |
| - STRING
|
PropName |
| - STRING
|
Return |
LCDBacklight
|
|
LCDBacklight |
| Allows the LCD backlight brighntess to be adjusted | |
| - BYTE
|
Intensity |
| Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness | |
| - VOID
|
Return |
LCDClear
|
|
LCDClear |
| Clears the LCD | |
| - VOID
|
Return |
LCDDrawLine
|
|
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 |
LCDDrawPixel
|
|
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 |
LCDDrawRect
|
|
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 |
LCDPrintNumber
|
|
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 |
LCDPrintString
|
|
LCDPrintString |
| Prints a string to the LCD | |
| - BYTE
|
X |
| X Pixel 0-127 | |
| - BYTE
|
Y |
| LCD Y Coordinate 0-31 | |
| - STRING
|
Data |
| - VOID
|
Return |
LCDVerbose
|
|
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 |
LEDOff
|
|
LEDOff |
| Clears a single LED 0-7 | |
| - BYTE
|
index |
| Range: 0-7 | |
| - VOID
|
Return |
LEDOn
|
|
LEDOn |
| Sets a single LED 0-7 | |
| - BYTE
|
index |
| Range: 0-7 | |
| - VOID
|
Return |
LEDWrite
|
|
LEDWrite |
| Sets the value of the LEDs as an 8-bit output | |
| - BYTE
|
Value |
| LED value 0=All Off, 255 = All On | |
| - VOID
|
Return |
Left
|
|
Left |
| Rotates the robot left - waits for the angle to be traversed before returning | |
| - UINT
|
Angle |
| Angle to turn in degrees | |
| - VOID
|
Return |
PlayNote
|
|
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 |
ReadAllSensors
|
|
ReadAllSensors |
| Samples all of the robot's sensors at once, storing the values locally | |
| - VOID
|
Return |
ReadAllValue
|
|
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 |
ReadAxis
|
|
ReadAxis |
| Reads a single X/Y/Z axis from the accelerometer sensor. | |
| - BYTE
|
index |
| 0=X, 1=Y, 2=Z | |
| - INT
|
Return |
ReadBearing
|
|
ReadBearing |
| Reads the compass bearing based on the degrees clockwise from magnetic north. | |
| - INT
|
Return |
ReadIR
|
|
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 |
ReadLight
|
|
ReadLight |
| Reads the light sensor 0-4095 - 4095 = Max Brightness | |
| - UINT
|
Return |
ReadLine
|
|
ReadLine |
| Reads one of the IR line sensors 0-1 0=Left, 1=Right | |
| - BYTE
|
index |
| 0=Left, 1=Right | |
| - UINT
|
Return |
ReadMic
|
|
ReadMic |
| Reads the microphone sensor 0 - 4095 | |
| - UINT
|
Return |
ReadSwitch
|
|
ReadSwitch |
| Read the switch value | |
| - BYTE
|
index |
| 0 (left) or 1 (right) | |
| - BYTE
|
Return |
Right
|
|
Right |
| Rotates the robot right - waits for the angle to be traversed before returning | |
| - UINT
|
Angle |
| Angle to turn in degrees | |
| - VOID
|
Return |
SampleAccel
|
|
SampleAccel |
| Samples the accelerometer 0 = no new data, 1 = new data available | |
| - BYTE
|
Return |
SampleMag
|
|
SampleMag |
| Samples the magnetometer 0 = no new data, 1 = new data available | |
| - BYTE
|
Return |
ServoAutoMoveToPosition
|
|
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 |
ServoDisable
|
|
ServoDisable |
| Allows one of the servo outputs 0-3 to be disabled | |
| - BYTE
|
Channel |
| Range 0-3 | |
| - VOID
|
Return |
ServoEnable
|
|
ServoEnable |
| Allows one of the servo outputs 0-3 to be enabled | |
| - BYTE
|
Channel |
| Range 0-3 | |
| - VOID
|
Return |
ServoSetAutoMoveSpeed
|
|
ServoSetAutoMoveSpeed |
| Changes the speed of the auto movements Default - 1 | |
| - BYTE
|
Speed |
| Range 1-50 | |
| - VOID
|
Return |
ServoSetPosition
|
|
ServoSetPosition |
| Allows one of the servo positions to be assigned | |
| - BYTE
|
Channel |
| Range 0-3 | |
| - BYTE
|
Position |
| Range 0-255 | |
| - VOID
|
Return |
SetLogoSpeed
|
|
SetLogoSpeed |
| Sets the speed of logo movements | |
| - BYTE
|
Speed |
| Logo Speed 1-100 - Default 40 | |
| - VOID
|
Return |
SetMotors
|
|
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 |
SetProp
|
|
SetProp |
| Allows the COM port property to be set from a parent component. | |
| - STRING
|
PropName |
 - ULONG
|
PropVal |
| - 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 |
