Component: Formula AllCode (RB4420) (Robotics)

Author	Matrix TSL
Version	1.3
Category	Robotics

Formula AllCode 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.

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

Downloadable macro reference

	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

	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

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

	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

	LogoConfigure
The Logo movement may sometimes be slightly off in terms of distance or angle. Before tweaking the factory values check that the wheels are pushed well onto their shafts but not tight against the FA body. Also check the tyre is on the wheel correctly.
- FLOAT	Distance
mm per encoder step. default = 0.32
- FLOAT	Angle
mm of travel per degree. default = 0.7295
- VOID	Return

	Stop
Stops both motors.
- VOID	Return

	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

	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

	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

	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

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

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

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

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

	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

	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

	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

	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

	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

	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

	LCDWriteByte
- BYTE	Data
- BYTE	X
- BYTE	Y
- VOID	Return

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

	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

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

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

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

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

	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

	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

	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

	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

	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

	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

	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

	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

	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

	EncoderReset
Resets the encoder counters to 0
- VOID	Return

	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

	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

	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

	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

	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

	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

	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

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

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

	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

	LCDClear
Clears the contents of the graphical LCD.
- 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 Distance
IR Threshold used with the CheckIR macro
	Line Sensitivity
	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.
	Addon Mechanics
Useful if you are creating add-ons to the robot which you want to be able to simulate. Point the property at the group containing the Formula Allcode and the additional mechanics. Otherwise leave blank to maintain the normal simulation functionality.
	Connections
	Simulations