View source for Component: Control (AllCode)

{| style="width:50%"
|-
| width="20%" style="color:gray;" | Author
| Matrix TSL
|-
| width="20%" style="color:gray;" | Version
| 1.0
|-
| width="20%" style="color:gray;" | Category
| AllCode
|}


==Control component==
Drives the Matrix Control hardware via the AllCode API.

==Component Source Code==

Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_Control_ComponentSource.fcsx FC_Comp_Source_Control_ComponentSource.fcsx]

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

==Detailed description==

















''No detailed description exists yet for this component''

==Examples==


















''<span style="color:red;">No additional examples</span>''












==Macro reference==

===CheckErrorStatus===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckErrorStatus'''
|-
| colspan="2" | Returns the Error status value indicating if there has been any errors. 0 = No Error 1 = Timeout Error&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''
|}


===GetAPI===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAPI'''
|-
| colspan="2" | Gets the API version number&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''
|}


===GetDataArray===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetDataArray'''
|-
| colspan="2" | Collects a data array from the Control board. Returns number of samples collected.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | data
|-
| colspan="2" | &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''
|}


===GetFeedback===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetFeedback'''
|-
| colspan="2" | Gets the feedback as a value in real world units&nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===GetOutput===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetOutput'''
|-
| colspan="2" | Gets the output value as an integer value betwen 0 and 100 representing the output PWM duty&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''
|}


===GetPIDComponent===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetPIDComponent'''
|-
| colspan="2" | Gets one of the PID controller output components in real world units&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Index
|-
| colspan="2" | Range 0-2, 0=P, 1=I, 2=D&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===GetWifiIP===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetWifiIP'''
|-
| colspan="2" | Collects the IP address of the robot arm WIFI connection.&nbsp;
|-
|-
| 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''
|}


===Initialise===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
|-
| 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''
|}


===ResetToBoot===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ResetToBoot'''
|-
| colspan="2" | Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro,&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''
|}


===SetAutoOnOff===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoOnOff'''
|-
| colspan="2" | Enable the auto PID control using the on-board microcontroller&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range: 0-1&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Enable
|-
| colspan="2" | 0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz&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''
|}


===SetAutoOnOffParam===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoOnOffParam'''
|-
| colspan="2" | Sets the Hysteresis parameter for the Auto on-board On/Off&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Hysteresis
|-
| colspan="2" | Hysterists in real world units&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''
|}


===SetAutoPID===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPID'''
|-
| colspan="2" | Enable the auto PID control using the on-board microcontroller&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range: 0-1&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Enable
|-
| colspan="2" | 0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz&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''
|}


===SetAutoPIDFlip===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPIDFlip'''
|-
| colspan="2" | Controls if the PID response is flipped, a negative response vs a positive&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Flip
|-
| colspan="2" | Default: 0=Not Flipped, 1=Flipped&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''
|}


===SetAutoPIDParam===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPIDParam'''
|-
| colspan="2" | Sets one of the P, I, D parameters for the Auto on-board PID&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Index
|-
| colspan="2" | Range: 0-5 Where 0=P, 1=I, 2=D, 3=IntClamp, 4=DFilt, 5=FiltCo&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | Range: 0.0 to 65.535&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''
|}


===SetAutoPrescaler===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPrescaler'''
|-
| colspan="2" | Configures the automatic mode prescaler, for running really slowly. Defaults off so no need to call this unless you are using it.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Prescaler
|-
| colspan="2" | 0=Off, 2=Div by 2, 3=Div By 3 etc&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''
|}


===SetBluetoothDetails===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetBluetoothDetails'''
|-
| colspan="2" | Configures the Bluetooth device name and pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Name
|-
| colspan="2" | Bluetooth Device String, Max 20 Characters&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Pin
|-
| colspan="2" | Pin String, 4 Numeric Characters e.g. "1234"&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''
|}


===SetBluetoothMode===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetBluetoothMode'''
|-
| colspan="2" | Configures the Bluetooth mode.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Mode
|-
| colspan="2" | 0=Disabled, 1=Enabled&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''
|}


===SetCANID===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCANID'''
|-
| colspan="2" | Stores the specified CAN ID into an internal none volatile memory location.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | ID
|-
| 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''
|}


===SetCANMode===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCANMode'''
|-
| colspan="2" | Configures if the CAN API mde is enabled or disabled.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | 0=Disabled / 1=Enabled&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''
|}


===SetEthernetIP===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetEthernetIP'''
|-
| colspan="2" | Configures the Ethernet IP Address.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | IP
|-
| colspan="2" | IP Address string e.g. "192.168.1.100"&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''
|}


===SetEthernetMode===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetEthernetMode'''
|-
| colspan="2" | Configures the Ethernet mode.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | 0=Disabled, 1=Enabled&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''
|}


===SetEthernetPort===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetEthernetPort'''
|-
| colspan="2" | Configures the Ethernet Port number.  Default 1245.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Port
|-
| colspan="2" | Default 1245&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''
|}


===SetFeedbackMethod===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFeedbackMethod'''
|-
| colspan="2" | Sets feedback method to dictate which control application we are running&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | FBMethod
|-
| colspan="2" | Range: 0-3 Where 0=Level, 1=Flow, 2=Pressure, 3=Temp&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | InputScaler
|-
| colspan="2" | Feedback scaling factor used to convert the feedback reading into a meaningful value&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | OutputScaler
|-
| colspan="2" | Value used to convert input to 0-100% duty&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''
|}


===SetLogDivider===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLogDivider'''
|-
| colspan="2" | Configures the rate of the PID logging.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Divider
|-
| colspan="2" | Divides the rate by the selected value&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''
|}


===SetManualDuty===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetManualDuty'''
|-
| colspan="2" | Sets duty parameter for one of the manual controlled outputs&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range: 0-1&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Duty
|-
| colspan="2" | Duty Cycle Output in Percentage 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''
|}


===SetSetpoint===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetSetpoint'''
|-
| colspan="2" | Sets Setpoint parameter for the Auto on-board PID&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Setpoint
|-
| colspan="2" | Required Output in Real World Units&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''
|}


===SetWIFIPort===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWIFIPort'''
|-
| colspan="2" | Configures the WIFI Port number.  Default 1245.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Port
|-
| colspan="2" | Default 1245&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''
|}


===SetWifiDetails===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWifiDetails'''
|-
| colspan="2" | Configures the WIFI SSID and Password strings and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | SSID
|-
| colspan="2" | Netword ID String, Max 32 Characters&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Password
|-
| colspan="2" | Password String, Max 32 Characters&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''
|}


===SetWifiMode===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWifiMode'''
|-
| colspan="2" | Configures the WIFI mode. When enabled the control system can either create its own WIFI network or join an existing WIFI network,&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | 0=Disabled, 1=Host Network, 2=Join Network&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''
|}


===ZeroSensor===
{| class="mtx-class-macrotable wikitable"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ZeroSensor'''
|-
| colspan="2" | Zeros the attached sensor reading.  Useful for Pressure and Level control applications.&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''
|}


==Property reference==

{| class="mtx-class-macrotable wikitable"
|-
| 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%" | Comms Method
|-
| colspan="2" | Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth.  CAN connection does not simulate and works on embedded hardware e.g. the MIAC.&nbsp;
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | COM Port Settings
|-
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Autodetect
|-
| colspan="2" | Autodetects the COM port, only works for USB AllCode connection.&nbsp;
|-
| 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. &nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-1-icon.png]]
| width="90%" | Text Colour
|-
| colspan="2" | &nbsp;
|}