Difference between revisions of "Component: Formula Flowcode (Robotics)"
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==Component Source Code== | ==Component Source Code== | ||
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| + | Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_FormulaFlowcode.fcfx FC_Comp_Source_FormulaFlowcode.fcfx] | ||
Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_FormulaFlowcode.fcfx FC_Comp_Source_FormulaFlowcode.fcfx] | Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_FormulaFlowcode.fcfx FC_Comp_Source_FormulaFlowcode.fcfx] | ||
==Detailed description== | ==Detailed description== | ||
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==Examples== | ==Examples== | ||
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[[File:Print3.jpg]] | [[File:Print3.jpg]] | ||
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| + | ==Macro reference== | ||
| + | ===CheckIR=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckIR''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Checks to see if a IR sensor is within the master threshold distance. |
|- | |- | ||
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Sensor |
|- | |- | ||
| colspan="2" | | | colspan="2" | | ||
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| − | + | ===Forward=== | |
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
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| Line 201: | Line 124: | ||
| + | ===Initialise=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Starts up the formula flowcode PWM for motor control and performs the wait for button press |
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| 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-void-icon.png]] - VOID | ||
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| + | ===LEDOff=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Switches off a single LED on the front of the Formula Flowcode. |
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|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | LED |
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| colspan="2" | | | colspan="2" | | ||
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| 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-void-icon.png]] - VOID | ||
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| + | ===LEDOn=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Switches on a single LED on the front of the Formula Flowcode. |
|- | |- | ||
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | LED |
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| colspan="2" | | | colspan="2" | | ||
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| − | + | ===PlayNote=== | |
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| Line 483: | Line 200: | ||
| + | ===ReadIRSensor=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIRSensor''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Reads the analogue value from the specified IR distance sensor. |
|- | |- | ||
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Sensor |
|- | |- | ||
| colspan="2" | | | colspan="2" | | ||
|- | |- | ||
| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9- | + | | 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'' | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | ||
|} | |} | ||
| + | ===ReadLDR=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLDR''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Reads the current audio signal level from the on-board light sensor. |
|- | |- | ||
|- | |- | ||
| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9- | + | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT |
| width="90%" style="border-top: 2px solid #000;" | ''Return'' | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | ||
|} | |} | ||
| + | ===ReadLineSensor=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLineSensor''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Returns the digital value from the line sensor specified. |
|- | |- | ||
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Sensor |
|- | |- | ||
| colspan="2" | | | colspan="2" | | ||
|- | |- | ||
| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9- | + | | 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'' | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | ||
|} | |} | ||
| + | ===ReadMic=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| Line 545: | Line 266: | ||
| + | ===ReadSwitch=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| Line 563: | Line 285: | ||
| + | ===Reverse=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Reverse''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Drives both motors of the formula flowcode backwards with the power specified. |
|- | |- | ||
|- | |- | ||
| Line 581: | Line 304: | ||
| + | ===SetMotors=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors''' |
| + | |- | ||
| + | | colspan="2" | Sets the speed and direction of the Formula Flowcode motors. | ||
| + | |- | ||
|- | |- | ||
| − | | | + | | width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT |
| + | | width="90%" | Left_Power | ||
|- | |- | ||
| + | | colspan="2" | Valid Range = -255 to 255 | ||
|- | |- | ||
| − | | width="10%" align="center" | [[File:Fc9- | + | | width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT |
| − | | width="90%" | | + | | width="90%" | Right_Power |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Valid Range = -255 to 255 |
|- | |- | ||
| 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-void-icon.png]] - VOID | ||
| Line 599: | Line 328: | ||
| + | ===SpinLeft=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SpinLeft''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Spins the formula flowcode on the spot in an anticlockwise direction as seen from above. |
|- | |- | ||
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Power |
|- | |- | ||
| colspan="2" | | | colspan="2" | | ||
|- | |- | ||
| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9- | + | | 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'' | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | ||
|} | |} | ||
| + | ===SpinRight=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| Line 635: | Line 366: | ||
| + | ===Stop=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Stop''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Stops both motors |
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|- | |- | ||
| 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-void-icon.png]] - VOID | ||
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| + | ===WaitForSwitch=== | ||
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Latest revision as of 13:10, 7 February 2023
| Author | Matrix Ltd |
| Version | 2.0 |
| Category | Robotics |
Contents
Formula Flowcode component
A component to allow all the features of the Formula Flowcode 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_FormulaFlowcode.fcfx
Please click here to view the component source code (Beta): FC_Comp_Source_FormulaFlowcode.fcfx
Detailed description
No detailed description exists yet for this component
Examples
Importing from v5
The Formula Flowcode component in Flowcode v6 has a new Initialise macro which will need to be added to your program before any other calls to the component are made.
Line Following
Line following example using the Formula Flowcode, works with objects on the simulation panel and on the real hardware.
FF-Line
Maze Solving
Wall following example using the Formula Flowcode, works with a randomly generated maze on the simulation panel and on the real hardware.
FF-Maze
Macro reference
CheckIR
|
CheckIR |
| Checks to see if a IR sensor is within the master threshold distance. | |
 - BYTE
|
Sensor |
| - BYTE
|
Return |
Forward
|
|
Forward |
| Drives both motors of the formula flowcode forwards with the power specified. | |
| - BYTE
|
Power |
 - VOID
|
Return |
Initialise
|
|
Initialise |
| Starts up the formula flowcode PWM for motor control and performs the wait for button press | |
| - VOID
|
Return |
LEDOff
|
|
LEDOff |
| Switches off a single LED on the front of the Formula Flowcode. | |
| - BYTE
|
LED |
| - VOID
|
Return |
LEDOn
|
|
LEDOn |
| Switches on a single LED on the front of the Formula Flowcode. | |
| - BYTE
|
LED |
| - VOID
|
Return |
PlayNote
|
|
PlayNote |
| Outputs a single tone from the onboard speaker for the period specified | |
| - BYTE
|
Note |
 - UINT
|
Delay_ms |
| - VOID
|
Return |
ReadIRSensor
|
|
ReadIRSensor |
| Reads the analogue value from the specified IR distance sensor. | |
| - BYTE
|
Sensor |
| - UINT
|
Return |
ReadLDR
|
|
ReadLDR |
| Reads the current audio signal level from the on-board light sensor. | |
 - INT
|
Return |
ReadLineSensor
|
|
ReadLineSensor |
| Returns the digital value from the line sensor specified. | |
| - BYTE
|
Sensor |
| - BYTE
|
Return |
ReadMic
|
|
ReadMic |
| Reads the current audio signal level from the on-board microphone. | |
| - INT
|
Return |
ReadSwitch
|
|
ReadSwitch |
| Reads the value of one of the switches from the front of the Formula Flowcode. | |
| - BYTE
|
Switch |
| - BYTE
|
Return |
Reverse
|
|
Reverse |
| Drives both motors of the formula flowcode backwards with the power specified. | |
| - BYTE
|
Power |
| - VOID
|
Return |
SetMotors
|
|
SetMotors |
| Sets the speed and direction of the Formula Flowcode motors. | |
| - INT
|
Left_Power |
| Valid Range = -255 to 255 | |
| - INT
|
Right_Power |
| Valid Range = -255 to 255 | |
| - VOID
|
Return |
SpinLeft
|
|
SpinLeft |
| Spins the formula flowcode on the spot in an anticlockwise direction as seen from above. | |
| - BYTE
|
Power |
| - VOID
|
Return |
SpinRight
|
|
SpinRight |
| Spins the formula flowcode on the spot in a clockwise direction as seen from above. | |
| - BYTE
|
Power |
| - VOID
|
Return |
Stop
|
|
Stop |
| Stops both motors | |
| - VOID
|
Return |
WaitForSwitch
|
|
WaitForSwitch |
| Waits for the specified switch to be pressed. | |
| - BYTE
|
Switch |
| - VOID
|
Return |
WriteLEDs
|
|
WriteLEDs |
| Allows control of all 8-LEDs on the front of the Formula Flowcode. | |
| - BYTE
|
LED_Byte |
| - 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. | |
|
IR Sensitivity |
| InfraRed read mode - 8-bit or 10-bit | |
|
Motor Balance (-100 - 100) |
| Motor balance, way of modifying the relative speeds of the motors to allow mismatched motors to work together better. | |
|
IR Thresholds (CheckIR macro) |
|
|
Left |
| IR Threshold used with the CheckIR macro | |
|
|
Front |
| IR Threshold used with the CheckIR macro | |
|
|
Right |
| IR Threshold used with the CheckIR macro | |
|
|
Simulation Parameters |
|
|
Sim Speed (1 - 100) |
| Sets the simulated amount of movement relative to the speed of the formula flowcode | |
|
|
Smooth Animation |
| Selects if the simulation has additional smoothing going on in between iterations | |
|
|
Manual Redraw |
| Sets if the animation forces it's own redraws or waits for the system to perform a redraw | |
|
|
Timer Interval (ms) |
| Interval in ms between each iteration of the formula flowcode simulated movement | |
|
|
IR Sensor Iterations |
| Number of times to repeat the IR sensor tests and therefore how far the simulated IR sensors can sense. | |
|
IR Sensor Resolution |
| The amount of distance to travel for each iteration of the IR sensor | |
|
|
Collision Method |
| Sets whether the sensors on the formula flowcode interact with everything on the panel or just a specific group. | |
