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Component: MIAC AllCode (MIAC: PC Peripheral): Difference between revisions

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==Detailed description==
==Detailed description==




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==Examples==
==Examples==




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==Macro reference==


{| 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;" | '''CommsWrite'''
|-
| colspan="2" | Writes a byte to the alt communications channel 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
|-
| colspan="2" | Range: 0-255 
|-
| 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''
|}




{| 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;" | '''WriteTrans'''
|-
| colspan="2" | Allows all transistor outputs to be switched on or off in a single command. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | Range: 0-15 or 0b0000 to 0b1111 
|-
| 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''
|}




{| 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;" | '''LCDPixel'''
|-
| colspan="2" | Controls a single pixel on the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | State
|-
| colspan="2" | Range: 0-1 
|-
| 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''
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
 
 
==Macro reference==
 
===CardCreate===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardCreate'''
| width="90%" class="mtx-class-macrohead" | '''CardCreate'''
|-
|-
| colspan="2" | Attempts to create a specific file on the card. Returns 0  for success, 255 for no card or error. 
| colspan="2" | Attempts to create a specific file on the card. Returns 0  for success, 255 for no card or error. 
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardDelete===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardDelete'''
| width="90%" class="mtx-class-macrohead" | '''CardDelete'''
|-
|-
| colspan="2" | Attempts to delete a specific file on the card. Returns 0  for success, 255 for no card or error. 
| colspan="2" | Attempts to delete a specific file on the card. Returns 0  for success, 255 for no card or error. 
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardInserted===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBitmap'''
| width="90%" class="mtx-class-macrohead" | '''CardInserted'''
|-
| colspan="2" | Draws a bitmap file from the SD card onto the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" | Range: 0-1 
|-
| 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''
|}
 
 
{| 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;" | '''GetAPIVersion'''
|-
| colspan="2" | Gets the API version of the Robot ARM Firmware 
|-
|-
| 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''
|}
 
 
{| 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;" | '''LCDNumber'''
|-
| colspan="2" | Prints a number to the MIAC display starting from the current cursor position. 
|-
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Value
|-
| colspan="2" | Range: -32678 - 32767 
|-
| 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''
|}
 
 
{| 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;" | '''CardInserted'''
|-
|-
| colspan="2" | Checks to see if a card is present. Returns 0  for no card or 1 for card detected 
| colspan="2" | Checks to see if a card is present. Returns 0  for no card or 1 for card detected 
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardOpen===
|-
{| 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;" | '''ReadRTC'''
|-
| colspan="2" | Reads a value from the real time clock module. Used for getting the time or date. 
|-
|-
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" class="mtx-class-macrohead" | '''CardOpen'''
| width="90%" | Unit
|-
| colspan="2" | 0=Second 1=Minute 2=Hour 3=Day 4=Month 5=Year 
|-
| 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''
|}
 
 
{| 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;" | '''CardOpen'''
|-
|-
| colspan="2" | Attempts to open a specific file from the card. Returns 0  for file found and opened, 239 for file not found and 255 for no card. 
| colspan="2" | Attempts to open a specific file from the card. Returns 0  for file found and opened, 239 for file not found and 255 for no card. 
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardReadByte===
|-
{| 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;" | '''CommsRead'''
|-
| colspan="2" | Reads a byte from the alt communications channel 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Timeout
|-
| colspan="2" | Range: 0-255 : 0 = Don't wait / 1-255 = ms 
|-
| 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''
|}
 
 
{| 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;" | '''ReadKey'''
|-
| colspan="2" | Reads a keypress from the keypad. 
|-
|-
| 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''
|}
 
 
{| 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;" | '''WriteRTC'''
|-
| colspan="2" | Writes a value to the real time clock module. Used for setting the time or date. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Unit
|-
| colspan="2" | 0=Second 1=Minute 2=Hour 3=Day 4=Month 5=Year 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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'''
|-
| colspan="2" | Controls the brightness of the LCD backlight. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Brightness
|-
| colspan="2" | Range: 0-100 
|-
| 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''
|}
 
 
{| 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;" | '''WriteRelay'''
|-
| colspan="2" | Allows a single relay to be switched on or off. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 1-4 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | 0 = Off, 1 = On 
|-
| 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''
|}
 
 
{| 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;" | '''LCDPrint'''
|-
| colspan="2" | Prints a string to the MIAC display starting from the current cursor position. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | data
|-
| colspan="2" | Range: 0-21 
|-
| 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''
|}
 
 
{| 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;" | '''LCDLine'''
|-
| colspan="2" | Draws a single pixel width line on the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range: 0-49 
|-
| 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''
|}
 
 
{| 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;" | '''ReadInputs'''
|-
| colspan="2" | Reads all digital inputs at once and returns as a binary value. Input 1 = Bit 0 Input 8 = Bit 7 
|-
|-
| 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''
|}
 
 
{| 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" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardReadByte'''
| width="90%" class="mtx-class-macrohead" | '''CardReadByte'''
|-
|-
| colspan="2" | Reads a byte from the open file. 
| colspan="2" | Reads a byte from the open file. 
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CardWriteByte===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WriteRelays'''
| width="90%" class="mtx-class-macrohead" | '''CardWriteByte'''
|-
| colspan="2" | Allows all relays to be switched on or off in a single command. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | Range: 0-15 or 0b0000 to 0b1111 
|-
| 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''
|}
 
 
{| 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;" | '''CardWriteByte'''
|-
|-
| colspan="2" | Appends a byte to the end of the open file. Returns 0 for success. 
| colspan="2" | Appends a byte to the end of the open file. Returns 0 for success. 
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CommsBaud===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDRect'''
| width="90%" class="mtx-class-macrohead" | '''CommsBaud'''
|-
| colspan="2" | Draws a single pixel rectangle on the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range: 0-49 
|-
| 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''
|}
 
 
{| 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;" | '''ReadAnalogInput'''
|-
| colspan="2" | Reads a single digital input. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''CommsBaud'''
|-
|-
| colspan="2" | Sets the Baud rate of the alt communications channel 
| colspan="2" | Sets the Baud rate of the alt communications channel 
Line 575: Line 227:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CommsRead===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDOptions'''
| width="90%" class="mtx-class-macrohead" | '''CommsRead'''
|-
|-
| colspan="2" | Controls some of the LCD options 
| colspan="2" | Reads a byte from the alt communications channel 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Foreground
| width="90%" | Timeout
|-
|-
| colspan="2" | Range: 0-1 
| colspan="2" | Range: 0-255 : 0 = Don't wait / 1-255 = ms 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Background
|-
| colspan="2" | Range: 0-1 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Transparent
|-
| colspan="2" | Range: 0-1 
|-
| 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''
|}
 
 
{| 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;" | '''LCDVerbose'''
|-
| colspan="2" | Controls the Verbose mode.  When enabled the LCD automatically displays an account of the incoming API commands and parameters. When switched off the LCD is free for the user to control as required. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | Range: 0-1 : 0=Off or User Mode / 1=API Verbose Mode 
|-
| 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''
|}
 
 
{| 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;" | '''ReadDigitalInput'''
|-
| colspan="2" | Reads a single digital input. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" |  
|-
|-
| 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-u8-icon.png]] - BYTE
Line 639: Line 246:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===CommsWrite===
|-
{| 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;" | '''PWMConfig'''
|-
| colspan="2" | Sets the PWM configuration. Channel = 0 - 1 : 0 = EN_AB, A, B / 1 = EN_CD, C, D Period = 0 - 65535 Scaler = 0 - 3 :  0=1:1 1=1:8 2=1:64 3=1:256 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 0-1 
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Period
|-
| colspan="2" | Range: 0-65535 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Scaler
|-
| colspan="2" | Range: 0-3 
|-
| 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''
|}
 
 
{| 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;" | '''PWMEnable'''
|-
| colspan="2" | Allows pulse width modulated transistor outputs to be switched on or off. Bit 0 = Enable AB Bit 1 = A / Bit 2 = B Bit 3 = C / Bit 4 = D Bit 5 = Enable CD 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | EnableMask
|-
| colspan="2" | Range 0-63 or 0b00000 to 0b111111 
|-
| 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''
|}
 
 
{| 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;" | '''PWMDuty'''
|-
| colspan="2" | Sets a single PWM channel duty. Channel = 0 - 5 : 0=EN_AB, 1=A, 2=B, 3=C, 4=D, 5=EN_CD Duty = 0 - 65535 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 0-5 
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Duty
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''LCDCursor'''
|-
| colspan="2" | Sets the cursor position for the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Range: 0-21 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Range: 0-4 
|-
| 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''
|}
 
 
{| 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;" | '''WriteTran'''
|-
| colspan="2" | Allows a single transistor output to be switched on or off. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 1-4 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | 0 = Off, 1 = On 
|-
| 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''
|}
 
 
{| 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'''
|-
| colspan="2" | Clears the MIAC display 
|-
|-
| 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="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| 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" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Operating Mode
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Mode
|-
| colspan="2" | Configures how the simulation component functions, does it simply simulate or does it control real hardware. 
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" | API Connection Type
| width="90%" class="mtx-class-macrohead" | '''CommsWrite'''
|-
| colspan="2" | API connection mode. COM - Bluetooth / RS232 / RS485 WIFI - Network 
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | AutoDetect Port
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="90%" | Baud
|-
| colspan="2" |  
|}==Macro reference==
 
{| 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;" | '''CommsWrite'''
|-
|-
| colspan="2" | Writes a byte to the alt communications channel 
| colspan="2" | Writes a byte to the alt communications channel 
Line 824: Line 265:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===GetAPIVersion===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WriteTrans'''
| width="90%" class="mtx-class-macrohead" | '''GetAPIVersion'''
|-
|-
| colspan="2" | Allows all transistor outputs to be switched on or off in a single command. 
| colspan="2" | Gets the API version of the Robot ARM Firmware 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | Range: 0-15 or 0b0000 to 0b1111 
|-
| 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''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDBacklight===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPixel'''
| width="90%" class="mtx-class-macrohead" | '''LCDBacklight'''
|-
|-
| colspan="2" | Controls a single pixel on the MIAC display 
| colspan="2" | Controls the brightness of the LCD backlight. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
| width="90%" | Brightness
|-
|-
| colspan="2" | Range: 0-119 
| colspan="2" | Range: 0-100 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | State
|-
| colspan="2" | Range: 0-1 
|-
|-
| 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 870: Line 298:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDBitmap===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardCreate'''
| width="90%" class="mtx-class-macrohead" | '''LCDBitmap'''
|-
| colspan="2" | Attempts to create a specific file on the card. Returns 0  for success, 255 for no card or error. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''CardDelete'''
|-
| colspan="2" | Attempts to delete a specific file on the card. Returns 0  for success, 255 for no card or error. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''LCDBitmap'''
|-
|-
| colspan="2" | Draws a bitmap file from the SD card onto the MIAC display 
| colspan="2" | Draws a bitmap file from the SD card onto the MIAC display 
Line 934: Line 327:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDClear===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAPIVersion'''
| width="90%" class="mtx-class-macrohead" | '''LCDClear'''
|-
|-
| colspan="2" | Gets the API version of the Robot ARM Firmware 
| colspan="2" | Clears the MIAC display 
|-
|-
| 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''
|}
 
 
{| 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;" | '''LCDNumber'''
|-
| colspan="2" | Prints a number to the MIAC display starting from the current cursor position. 
|-
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Value
|-
| colspan="2" | Range: -32678 - 32767 
|-
|-
| 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 965: Line 341:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDCursor===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardInserted'''
| width="90%" class="mtx-class-macrohead" | '''LCDCursor'''
|-
|-
| colspan="2" | Checks to see if a card is present. Returns 0  for no card or 1 for card detected 
| colspan="2" | Sets the cursor position for the MIAC display 
|-
|-
| 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''
|}
 
 
{| 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;" | '''ReadRTC'''
|-
| colspan="2" | Reads a value from the real time clock module. Used for getting the time or date. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Unit
| width="90%" | X
|-
| colspan="2" | 0=Second 1=Minute 2=Hour 3=Day 4=Month 5=Year 
|-
| 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''
|}
 
 
{| 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;" | '''CardOpen'''
|-
| colspan="2" | Attempts to open a specific file from the card. Returns 0  for file found and opened, 239 for file not found and 255 for no card. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''CommsRead'''
|-
| colspan="2" | Reads a byte from the alt communications channel 
|-
|-
| colspan="2" | Range: 0-21 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Timeout
| width="90%" | Y
|-
|-
| colspan="2" | Range: 0-255 : 0 = Don't wait / 1-255 = ms 
| colspan="2" | Range: 0-4 
|-
| 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''
|}
 
 
{| 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;" | '''ReadKey'''
|-
| colspan="2" | Reads a keypress from the keypad. 
|-
|-
| 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''
|}
 
 
{| 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;" | '''WriteRTC'''
|-
| colspan="2" | Writes a value to the real time clock module. Used for setting the time or date. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Unit
|-
| colspan="2" | 0=Second 1=Minute 2=Hour 3=Day 4=Month 5=Year 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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'''
|-
| colspan="2" | Controls the brightness of the LCD backlight. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Brightness
|-
| colspan="2" | Range: 0-100 
|-
| 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''
|}
 
 
{| 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;" | '''WriteRelay'''
|-
| colspan="2" | Allows a single relay to be switched on or off. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 1-4 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | 0 = Off, 1 = On 
|-
|-
| 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 1,109: Line 365:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDLine===
|-
{| 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;" | '''LCDPrint'''
|-
|-
| colspan="2" | Prints a string to the MIAC display starting from the current cursor position. 
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
|-
| width="90%" class="mtx-class-macrohead" | '''LCDLine'''
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | data
|-
| colspan="2" | Range: 0-21 
|-
| 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''
|}
 
 
{| 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;" | '''LCDLine'''
|-
|-
| colspan="2" | Draws a single pixel width line on the MIAC display 
| colspan="2" | Draws a single pixel width line on the MIAC display 
Line 1,160: Line 399:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDNumber===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadInputs'''
| width="90%" class="mtx-class-macrohead" | '''LCDNumber'''
|-
|-
| colspan="2" | Reads all digital inputs at once and returns as a binary value. Input 1 = Bit 0 Input 8 = Bit 7 
| colspan="2" | Prints a number to the MIAC display starting from the current cursor position. 
|-
|-
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| 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;" | '''CardReadByte'''
|-
| colspan="2" | Reads a byte from the open file. 
|-
|-
| 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''
|}
 
 
{| 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;" | '''WriteRelays'''
|-
| colspan="2" | Allows all relays to be switched on or off in a single command. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
| width="90%" | Value
|-
|-
| colspan="2" | Range: 0-15 or 0b0000 to 0b1111 
| colspan="2" | Range: -32678 - 32767 
|-
|-
| 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 1,204: Line 418:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDOptions===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardWriteByte'''
| width="90%" class="mtx-class-macrohead" | '''LCDOptions'''
|-
| colspan="2" | Appends a byte to the end of the open file. Returns 0 for success. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | data
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''LCDRect'''
|-
| colspan="2" | Draws a single pixel rectangle on the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range: 0-49 
|-
| 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''
|}
 
 
{| 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;" | '''ReadAnalogInput'''
|-
| colspan="2" | Reads a single digital input. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''CommsBaud'''
|-
| colspan="2" | Sets the Baud rate of the alt communications channel 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Baud
|-
| colspan="2" | Range: 0-7 : 0=1200 / 7=115200 
|-
| 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''
|}
 
 
{| 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;" | '''LCDOptions'''
|-
|-
| colspan="2" | Controls some of the LCD options 
| colspan="2" | Controls some of the LCD options 
Line 1,319: Line 447:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDPixel===
|-
{| 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;" | '''LCDVerbose'''
|-
| colspan="2" | Controls the Verbose mode.  When enabled the LCD automatically displays an account of the incoming API commands and parameters. When switched off the LCD is free for the user to control as required. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | Range: 0-1 : 0=Off or User Mode / 1=API Verbose Mode 
|-
| 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''
|}
 
 
{| 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;" | '''ReadDigitalInput'''
|-
| colspan="2" | Reads a single digital input. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''PWMConfig'''
|-
| colspan="2" | Sets the PWM configuration. Channel = 0 - 1 : 0 = EN_AB, A, B / 1 = EN_CD, C, D Period = 0 - 65535 Scaler = 0 - 3 :  0=1:1 1=1:8 2=1:64 3=1:256 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 0-1 
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Period
|-
| colspan="2" | Range: 0-65535 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Scaler
|-
| colspan="2" | Range: 0-3 
|-
| 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''
|}
 
 
{| 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;" | '''PWMEnable'''
|-
| colspan="2" | Allows pulse width modulated transistor outputs to be switched on or off. Bit 0 = Enable AB Bit 1 = A / Bit 2 = B Bit 3 = C / Bit 4 = D Bit 5 = Enable CD 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | EnableMask
|-
| colspan="2" | Range 0-63 or 0b00000 to 0b111111 
|-
| 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''
|}
 
 
{| 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;" | '''PWMDuty'''
|-
| colspan="2" | Sets a single PWM channel duty. Channel = 0 - 5 : 0=EN_AB, 1=A, 2=B, 3=C, 4=D, 5=EN_CD Duty = 0 - 65535 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 0-5 
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Duty
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''LCDCursor'''
|-
| colspan="2" | Sets the cursor position for the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Range: 0-21 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Range: 0-4 
|-
| 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''
|}
 
 
{| 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;" | '''WriteTran'''
|-
| colspan="2" | Allows a single transistor output to be switched on or off. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 1-4 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | 0 = Off, 1 = On 
|-
| 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''
|}
 
 
{| 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'''
|-
| colspan="2" | Clears the MIAC display 
|-
|-
| 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="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| 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" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Operating Mode
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Mode
|-
| colspan="2" | Configures how the simulation component functions, does it simply simulate or does it control real hardware. 
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | API Connection Type
|-
| colspan="2" | API connection mode. COM - Bluetooth / RS232 / RS485 WIFI - Network 
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | AutoDetect Port
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="90%" | Baud
|-
| colspan="2" |  
|}==Macro reference==
 
{| 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" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CommsWrite'''
| width="90%" class="mtx-class-macrohead" | '''LCDPixel'''
|-
| colspan="2" | Writes a byte to the alt communications channel 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
|-
| colspan="2" | Range: 0-255 
|-
| 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''
|}
 
 
{| 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;" | '''WriteTrans'''
|-
| colspan="2" | Allows all transistor outputs to be switched on or off in a single command. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | Range: 0-15 or 0b0000 to 0b1111 
|-
| 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''
|}
 
 
{| 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;" | '''LCDPixel'''
|-
|-
| colspan="2" | Controls a single pixel on the MIAC display 
| colspan="2" | Controls a single pixel on the MIAC display 
Line 1,586: Line 476:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDPrint===
|-
{| 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;" | '''CardCreate'''
|-
| colspan="2" | Attempts to create a specific file on the card. Returns 0  for success, 255 for no card or error. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''CardDelete'''
|-
| colspan="2" | Attempts to delete a specific file on the card. Returns 0  for success, 255 for no card or error. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''LCDBitmap'''
|-
| colspan="2" | Draws a bitmap file from the SD card onto the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" | Range: 0-1 
|-
| 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''
|}
 
 
{| 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;" | '''GetAPIVersion'''
|-
| colspan="2" | Gets the API version of the Robot ARM Firmware 
|-
|-
| 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''
|}
 
 
{| 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;" | '''LCDNumber'''
|-
| colspan="2" | Prints a number to the MIAC display starting from the current cursor position. 
|-
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Value
|-
| colspan="2" | Range: -32678 - 32767 
|-
| 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''
|}
 
 
{| 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;" | '''CardInserted'''
|-
| colspan="2" | Checks to see if a card is present. Returns 0  for no card or 1 for card detected 
|-
|-
| 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''
|}
 
 
{| 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;" | '''ReadRTC'''
|-
| colspan="2" | Reads a value from the real time clock module. Used for getting the time or date. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Unit
|-
| colspan="2" | 0=Second 1=Minute 2=Hour 3=Day 4=Month 5=Year 
|-
| 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''
|}
 
 
{| 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;" | '''CardOpen'''
|-
| colspan="2" | Attempts to open a specific file from the card. Returns 0  for file found and opened, 239 for file not found and 255 for no card. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''CommsRead'''
|-
| colspan="2" | Reads a byte from the alt communications channel 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Timeout
|-
| colspan="2" | Range: 0-255 : 0 = Don't wait / 1-255 = ms 
|-
| 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''
|}
 
 
{| 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;" | '''ReadKey'''
|-
| colspan="2" | Reads a keypress from the keypad. 
|-
|-
| 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''
|}
 
 
{| 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;" | '''WriteRTC'''
|-
| colspan="2" | Writes a value to the real time clock module. Used for setting the time or date. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Unit
|-
| colspan="2" | 0=Second 1=Minute 2=Hour 3=Day 4=Month 5=Year 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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'''
|-
| colspan="2" | Controls the brightness of the LCD backlight. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Brightness
|-
| colspan="2" | Range: 0-100 
|-
| 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''
|}
 
 
{| 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;" | '''WriteRelay'''
|-
| colspan="2" | Allows a single relay to be switched on or off. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 1-4 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | 0 = Off, 1 = On 
|-
| 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''
|}
 
 
{| 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" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrint'''
| width="90%" class="mtx-class-macrohead" | '''LCDPrint'''
|-
|-
| colspan="2" | Prints a string to the MIAC display starting from the current cursor position. 
| colspan="2" | Prints a string to the MIAC display starting from the current cursor position. 
Line 1,843: Line 495:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDRect===
|-
{| 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;" | '''LCDLine'''
|-
| colspan="2" | Draws a single pixel width line on the MIAC display 
|-
|-
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" class="mtx-class-macrohead" | '''LCDRect'''
| width="90%" | X1
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range: 0-49 
|-
| 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''
|}
 
 
{| 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;" | '''ReadInputs'''
|-
| colspan="2" | Reads all digital inputs at once and returns as a binary value. Input 1 = Bit 0 Input 8 = Bit 7 
|-
|-
| 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''
|}
 
 
{| 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;" | '''CardReadByte'''
|-
| colspan="2" | Reads a byte from the open file. 
|-
|-
| 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''
|}
 
 
{| 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;" | '''WriteRelays'''
|-
| colspan="2" | Allows all relays to be switched on or off in a single command. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | Range: 0-15 or 0b0000 to 0b1111 
|-
| 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''
|}
 
 
{| 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;" | '''CardWriteByte'''
|-
| colspan="2" | Appends a byte to the end of the open file. Returns 0 for success. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | data
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''LCDRect'''
|-
|-
| colspan="2" | Draws a single pixel rectangle on the MIAC display 
| colspan="2" | Draws a single pixel rectangle on the MIAC display 
Line 1,971: Line 529:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===LCDVerbose===
|-
{| 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;" | '''ReadAnalogInput'''
|-
| colspan="2" | Reads a single digital input. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
|-
| colspan="2" |  
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
|-
| width="90%" class="mtx-class-macrohead" | '''LCDVerbose'''
| 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''
|}
 
 
{| 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;" | '''CommsBaud'''
|-
| colspan="2" | Sets the Baud rate of the alt communications channel 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Baud
|-
| colspan="2" | Range: 0-7 : 0=1200 / 7=115200 
|-
| 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''
|}
 
 
{| 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;" | '''LCDOptions'''
|-
| colspan="2" | Controls some of the LCD options 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Foreground
|-
| colspan="2" | Range: 0-1 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Background
|-
| colspan="2" | Range: 0-1 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Transparent
|-
| colspan="2" | Range: 0-1 
|-
| 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''
|}
 
 
{| 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;" | '''LCDVerbose'''
|-
|-
| colspan="2" | Controls the Verbose mode.  When enabled the LCD automatically displays an account of the incoming API commands and parameters. When switched off the LCD is free for the user to control as required. 
| colspan="2" | Controls the Verbose mode.  When enabled the LCD automatically displays an account of the incoming API commands and parameters. When switched off the LCD is free for the user to control as required. 
Line 2,053: Line 548:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===PWMConfig===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadDigitalInput'''
| width="90%" class="mtx-class-macrohead" | '''PWMConfig'''
|-
| colspan="2" | Reads a single digital input. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''PWMConfig'''
|-
|-
| colspan="2" | Sets the PWM configuration. Channel = 0 - 1 : 0 = EN_AB, A, B / 1 = EN_CD, C, D Period = 0 - 65535 Scaler = 0 - 3 :  0=1:1 1=1:8 2=1:64 3=1:256 
| colspan="2" | Sets the PWM configuration. Channel = 0 - 1 : 0 = EN_AB, A, B / 1 = EN_CD, C, D Period = 0 - 65535 Scaler = 0 - 3 :  0=1:1 1=1:8 2=1:64 3=1:256 
Line 2,099: Line 577:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===PWMDuty===
|-
{| 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;" | '''PWMEnable'''
|-
| colspan="2" | Allows pulse width modulated transistor outputs to be switched on or off. Bit 0 = Enable AB Bit 1 = A / Bit 2 = B Bit 3 = C / Bit 4 = D Bit 5 = Enable CD 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | EnableMask
|-
| colspan="2" | Range 0-63 or 0b00000 to 0b111111 
|-
| 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''
|}
 
 
{| 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" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PWMDuty'''
| width="90%" class="mtx-class-macrohead" | '''PWMDuty'''
|-
|-
| colspan="2" | Sets a single PWM channel duty. Channel = 0 - 5 : 0=EN_AB, 1=A, 2=B, 3=C, 4=D, 5=EN_CD Duty = 0 - 65535 
| colspan="2" | Sets a single PWM channel duty. Channel = 0 - 5 : 0=EN_AB, 1=A, 2=B, 3=C, 4=D, 5=EN_CD Duty = 0 - 65535 
Line 2,140: Line 601:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===PWMEnable===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDCursor'''
| width="90%" class="mtx-class-macrohead" | '''PWMEnable'''
|-
|-
| colspan="2" | Sets the cursor position for the MIAC display 
| colspan="2" | Allows pulse width modulated transistor outputs to be switched on or off. Bit 0 = Enable AB Bit 1 = A / Bit 2 = B Bit 3 = C / Bit 4 = D Bit 5 = Enable CD 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
| width="90%" | EnableMask
|-
|-
| colspan="2" | Range: 0-21 
| colspan="2" | Range 0-63 or 0b00000 to 0b111111 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Range: 0-4 
|-
|-
| 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 2,163: Line 620:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadAnalogInput===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WriteTran'''
| width="90%" class="mtx-class-macrohead" | '''ReadAnalogInput'''
|-
|-
| colspan="2" | Allows a single transistor output to be switched on or off. 
| colspan="2" | Reads a single digital input. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
| width="90%" | Channel
|-
| colspan="2" | Range 1-4 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
|-
| colspan="2" | 0 = Off, 1 = On 
|-
| 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''
|}
{| 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'''
|-
| colspan="2" | Clears the MIAC display 
|-
|-
| 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="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| 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" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Operating Mode
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Mode
|-
| colspan="2" | Configures how the simulation component functions, does it simply simulate or does it control real hardware. 
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | API Connection Type
|-
| colspan="2" | API connection mode. COM - Bluetooth / RS232 / RS485 WIFI - Network 
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | AutoDetect Port
|-
|-
| colspan="2" |  
| colspan="2" |  
|-
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Baud
|-
| colspan="2" |  
|}==Macro reference==
 
{| 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;" | '''CommsWrite'''
|-
| colspan="2" | Writes a byte to the alt communications channel 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Data
|-
| colspan="2" | Range: 0-255 
|-
| 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''
|}
|}




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadDigitalInput===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WriteTrans'''
| width="90%" class="mtx-class-macrohead" | '''ReadDigitalInput'''
|-
|-
| colspan="2" | Allows all transistor outputs to be switched on or off in a single command. 
| colspan="2" | Reads a single digital input. 
|-
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
| width="90%" | Channel
|-
| colspan="2" | Range: 0-15 or 0b0000 to 0b1111 
|-
| 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''
|}
 
 
{| 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;" | '''LCDPixel'''
|-
| colspan="2" | Controls a single pixel on the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | State
|-
| colspan="2" | Range: 0-1 
|-
| 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''
|}
 
 
{| 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;" | '''CardCreate'''
|-
| colspan="2" | Attempts to create a specific file on the card. Returns 0  for success, 255 for no card or error. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
|-
| colspan="2" |  
| colspan="2" |  
Line 2,320: Line 658:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadInputs===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardDelete'''
| width="90%" class="mtx-class-macrohead" | '''ReadInputs'''
|-
|-
| colspan="2" | Attempts to delete a specific file on the card. Returns 0 for success, 255 for no card or error. 
| colspan="2" | Reads all digital inputs at once and returns as a binary value. Input 1 = Bit 0 Input 8 = Bit 7 
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
|-
| 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-u8-icon.png]] - BYTE
Line 2,338: Line 672:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadKey===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBitmap'''
| width="90%" class="mtx-class-macrohead" | '''ReadKey'''
|-
|-
| colspan="2" | Draws a bitmap file from the SD card onto the MIAC display 
| colspan="2" | Reads a keypress from the keypad. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" | Range: 0-1 
|-
| 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''
|}
 
 
{| 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;" | '''GetAPIVersion'''
|-
| colspan="2" | Gets the API version of the Robot ARM Firmware 
|-
|-
|-
|-
Line 2,379: Line 686:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===ReadRTC===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDNumber'''
| width="90%" class="mtx-class-macrohead" | '''ReadRTC'''
|-
| colspan="2" | Prints a number to the MIAC display starting from the current cursor position. 
|-
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Value
|-
| colspan="2" | Range: -32678 - 32767 
|-
| 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''
|}
 
 
{| 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;" | '''CardInserted'''
|-
| colspan="2" | Checks to see if a card is present. Returns 0  for no card or 1 for card detected 
|-
|-
| 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''
|}
 
 
{| 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;" | '''ReadRTC'''
|-
|-
| colspan="2" | Reads a value from the real time clock module. Used for getting the time or date. 
| colspan="2" | Reads a value from the real time clock module. Used for getting the time or date. 
Line 2,428: Line 705:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===WriteRTC===
|-
{| 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;" | '''CardOpen'''
|-
| colspan="2" | Attempts to open a specific file from the card. Returns 0  for file found and opened, 239 for file not found and 255 for no card. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | Filename
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''CommsRead'''
|-
| colspan="2" | Reads a byte from the alt communications channel 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Timeout
|-
| colspan="2" | Range: 0-255 : 0 = Don't wait / 1-255 = ms 
|-
| 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''
|}
 
 
{| 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" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadKey'''
| width="90%" class="mtx-class-macrohead" | '''WriteRTC'''
|-
| colspan="2" | Reads a keypress from the keypad. 
|-
|-
| 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''
|}
 
 
{| 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;" | '''WriteRTC'''
|-
|-
| colspan="2" | Writes a value to the real time clock module. Used for setting the time or date. 
| colspan="2" | Writes a value to the real time clock module. Used for setting the time or date. 
Line 2,500: Line 729:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===WriteRelay===
|-
{| 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;" | '''LCDBacklight'''
|-
| colspan="2" | Controls the brightness of the LCD backlight. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Brightness
|-
| colspan="2" | Range: 0-100 
|-
| 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''
|}
 
 
{| 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" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''WriteRelay'''
| width="90%" class="mtx-class-macrohead" | '''WriteRelay'''
|-
|-
| colspan="2" | Allows a single relay to be switched on or off. 
| colspan="2" | Allows a single relay to be switched on or off. 
Line 2,541: Line 753:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===WriteRelays===
|-
{| 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;" | '''LCDPrint'''
|-
| colspan="2" | Prints a string to the MIAC display starting from the current cursor position. 
|-
|-
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
| width="90%" | data
|-
| colspan="2" | Range: 0-21 
|-
| 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''
|}
 
 
{| 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;" | '''LCDLine'''
|-
| colspan="2" | Draws a single pixel width line on the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range: 0-49 
|-
| 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''
|}
 
 
{| 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;" | '''ReadInputs'''
|-
| colspan="2" | Reads all digital inputs at once and returns as a binary value. Input 1 = Bit 0 Input 8 = Bit 7 
|-
|-
| 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''
|}
 
 
{| 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;" | '''CardReadByte'''
|-
| colspan="2" | Reads a byte from the open file. 
|-
|-
|-
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" class="mtx-class-macrohead" | '''WriteRelays'''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
 
 
{| 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;" | '''WriteRelays'''
|-
|-
| colspan="2" | Allows all relays to be switched on or off in a single command. 
| colspan="2" | Allows all relays to be switched on or off in a single command. 
Line 2,636: Line 772:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===WriteTran===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardWriteByte'''
| width="90%" class="mtx-class-macrohead" | '''WriteTran'''
|-
|-
| colspan="2" | Appends a byte to the end of the open file. Returns 0 for success. 
| colspan="2" | Allows a single transistor output to be switched on or off. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | data
|-
| colspan="2" |  
|-
| 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''
|}
 
 
{| 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;" | '''LCDRect'''
|-
| colspan="2" | Draws a single pixel rectangle on the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X1
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y1
|-
| colspan="2" | Range: 0-49 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X2
|-
| colspan="2" | Range: 0-119 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y2
|-
| colspan="2" | Range: 0-49 
|-
| 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''
|}
 
 
{| 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;" | '''ReadAnalogInput'''
|-
| colspan="2" | Reads a single digital input. 
|-
|-
|-
|-
Line 2,698: Line 784:
| width="90%" | Channel
| width="90%" | Channel
|-
|-
| colspan="2" |  
| colspan="2" | Range 1-4 
|-
| 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''
|}
 
 
{| 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;" | '''CommsBaud'''
|-
| colspan="2" | Sets the Baud rate of the alt communications channel 
|-
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Baud
| width="90%" | Value
|-
|-
| colspan="2" | Range: 0-7 : 0=1200 / 7=115200 
| colspan="2" | 0 = Off, 1 = On 
|-
|-
| 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 2,723: Line 796:




{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
===WriteTrans===
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDOptions'''
| width="90%" class="mtx-class-macrohead" | '''WriteTrans'''
|-
|-
| colspan="2" | Controls some of the LCD options 
| colspan="2" | Allows all transistor outputs to be switched on or off in a single command. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Foreground
|-
| colspan="2" | Range: 0-1 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Background
|-
|-
| colspan="2" | Range: 0-1 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Transparent
|-
| colspan="2" | Range: 0-1 
|-
| 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''
|}
{| 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;" | '''LCDVerbose'''
|-
| colspan="2" | Controls the Verbose mode.  When enabled the LCD automatically displays an account of the incoming API commands and parameters. When switched off the LCD is free for the user to control as required. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | Range: 0-1 : 0=Off or User Mode / 1=API Verbose Mode 
|-
| 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''
|}
{| 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;" | '''ReadDigitalInput'''
|-
| colspan="2" | Reads a single digital input. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" |  
|-
| 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''
|}
{| 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;" | '''PWMConfig'''
|-
| colspan="2" | Sets the PWM configuration. Channel = 0 - 1 : 0 = EN_AB, A, B / 1 = EN_CD, C, D Period = 0 - 65535 Scaler = 0 - 3 :  0=1:1 1=1:8 2=1:64 3=1:256 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 0-1 
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Period
|-
| colspan="2" | Range: 0-65535 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Scaler
|-
| colspan="2" | Range: 0-3 
|-
| 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''
|}
{| 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;" | '''PWMEnable'''
|-
| colspan="2" | Allows pulse width modulated transistor outputs to be switched on or off. Bit 0 = Enable AB Bit 1 = A / Bit 2 = B Bit 3 = C / Bit 4 = D Bit 5 = Enable CD 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | EnableMask
|-
| colspan="2" | Range 0-63 or 0b00000 to 0b111111 
|-
| 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''
|}
{| 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;" | '''PWMDuty'''
|-
| colspan="2" | Sets a single PWM channel duty. Channel = 0 - 5 : 0=EN_AB, 1=A, 2=B, 3=C, 4=D, 5=EN_CD Duty = 0 - 65535 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 0-5 
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Duty
|-
| colspan="2" |  
|-
| 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''
|}
{| 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;" | '''LCDCursor'''
|-
| colspan="2" | Sets the cursor position for the MIAC display 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | X
|-
| colspan="2" | Range: 0-21 
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Y
|-
| colspan="2" | Range: 0-4 
|-
| 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''
|}
{| 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;" | '''WriteTran'''
|-
| colspan="2" | Allows a single transistor output to be switched on or off. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Channel
|-
| colspan="2" | Range 1-4 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Value
| width="90%" | Value
|-
|-
| colspan="2" | 0 = Off, 1 = On 
| colspan="2" | Range: 0-15 or 0b0000 to 0b1111 
|-
| 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''
|}
 
 
{| 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'''
|-
| colspan="2" | Clears the MIAC display 
|-
|-
|-
| 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
| width="90%" style="border-top: 2px solid #000;" | ''Return''
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}
|}




==Property reference==
==Property reference==


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-prop-icon.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''  
| width="90%" class="mtx-class-macrohead" | '''Properties'''  
|-
|-
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
| width="90%" class="mtx-class-propfolder" | Connections
|-
|-
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Operating Mode
| width="90%" class="mtx-class-propfolder" | Operating Mode
|-
|-
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Latest revision as of 14:36, 13 July 2026

Author Matrix TSL
Version 1.0
Category MIAC: PC Peripheral


MIAC AllCode component

MIAC AllCode. dsPIC version of the MIAC loaded with the AllCode firmware. Usefull for SCADA, Control or Test applications. Allows you to control the MIAC using the programming language of choice. Compatible with simulation / Bluetooth / Wifi / RS232 and RS485

Component Source Code

Please click here to download the component source project: FC_Comp_Source_MIAC_AllCode_Firmware.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_MIAC_AllCode_Firmware.fcfx

Detailed description

No detailed description exists yet for this component

Examples

Bluetooth based examples.

MIAC AllCode Bluetooth


WIFI based examples.

MIAC AllCode WIFI


USB Driver

USB Serial Driver







Macro reference

CardCreate

CardCreate
Attempts to create a specific file on the card. Returns 0 for success, 255 for no card or error. 
- STRING Filename
 
- BYTE Return


CardDelete

CardDelete
Attempts to delete a specific file on the card. Returns 0 for success, 255 for no card or error. 
- STRING Filename
 
- BYTE Return


CardInserted

CardInserted
Checks to see if a card is present. Returns 0 for no card or 1 for card detected 
- BYTE Return


CardOpen

CardOpen
Attempts to open a specific file from the card. Returns 0 for file found and opened, 239 for file not found and 255 for no card. 
- STRING Filename
 
- BYTE Return


CardReadByte

CardReadByte
Reads a byte from the open file. 
- BYTE Return


CardWriteByte

CardWriteByte
Appends a byte to the end of the open file. Returns 0 for success. 
- BYTE data
 
- BYTE Return


CommsBaud

CommsBaud
Sets the Baud rate of the alt communications channel 
- BYTE Baud
Range: 0-7 : 0=1200 / 7=115200 
- VOID Return


CommsRead

CommsRead
Reads a byte from the alt communications channel 
- BYTE Timeout
Range: 0-255 : 0 = Don't wait / 1-255 = ms 
- BYTE Return


CommsWrite

CommsWrite
Writes a byte to the alt communications channel 
- BYTE Data
Range: 0-255 
- VOID Return


GetAPIVersion

GetAPIVersion
Gets the API version of the Robot ARM Firmware 
- BYTE Return


LCDBacklight

LCDBacklight
Controls the brightness of the LCD backlight. 
- BYTE Brightness
Range: 0-100 
- VOID Return


LCDBitmap

LCDBitmap
Draws a bitmap file from the SD card onto the MIAC display 
- BYTE X
Range: 0-119 
- BYTE Y
Range: 0-49 
- STRING Filename
Range: 0-1 
- VOID Return


LCDClear

LCDClear
Clears the MIAC display 
- VOID Return


LCDCursor

LCDCursor
Sets the cursor position for the MIAC display 
- BYTE X
Range: 0-21 
- BYTE Y
Range: 0-4 
- VOID Return


LCDLine

LCDLine
Draws a single pixel width line on the MIAC display 
- BYTE X1
Range: 0-119 
- BYTE Y1
Range: 0-49 
- BYTE X2
Range: 0-119 
- BYTE Y2
Range: 0-49 
- VOID Return


LCDNumber

LCDNumber
Prints a number to the MIAC display starting from the current cursor position. 
- INT Value
Range: -32678 - 32767 
- VOID Return


LCDOptions

LCDOptions
Controls some of the LCD options 
- BYTE Foreground
Range: 0-1 
- BYTE Background
Range: 0-1 
- BYTE Transparent
Range: 0-1 
- VOID Return


LCDPixel

LCDPixel
Controls a single pixel on the MIAC display 
- BYTE X
Range: 0-119 
- BYTE Y
Range: 0-49 
- BYTE State
Range: 0-1 
- VOID Return


LCDPrint

LCDPrint
Prints a string to the MIAC display starting from the current cursor position. 
- STRING data
Range: 0-21 
- VOID Return


LCDRect

LCDRect
Draws a single pixel rectangle on the MIAC display 
- BYTE X1
Range: 0-119 
- BYTE Y1
Range: 0-49 
- BYTE X2
Range: 0-119 
- BYTE Y2
Range: 0-49 
- VOID Return


LCDVerbose

LCDVerbose
Controls the Verbose mode. When enabled the LCD automatically displays an account of the incoming API commands and parameters. When switched off the LCD is free for the user to control as required. 
- BYTE Mode
Range: 0-1 : 0=Off or User Mode / 1=API Verbose Mode 
- VOID Return


PWMConfig

PWMConfig
Sets the PWM configuration. Channel = 0 - 1 : 0 = EN_AB, A, B / 1 = EN_CD, C, D Period = 0 - 65535 Scaler = 0 - 3 : 0=1:1 1=1:8 2=1:64 3=1:256 
- BYTE Channel
Range 0-1 
- UINT Period
Range: 0-65535 
- BYTE Scaler
Range: 0-3 
- VOID Return


PWMDuty

PWMDuty
Sets a single PWM channel duty. Channel = 0 - 5 : 0=EN_AB, 1=A, 2=B, 3=C, 4=D, 5=EN_CD Duty = 0 - 65535 
- BYTE Channel
Range 0-5 
- UINT Duty
 
- VOID Return


PWMEnable

PWMEnable
Allows pulse width modulated transistor outputs to be switched on or off. Bit 0 = Enable AB Bit 1 = A / Bit 2 = B Bit 3 = C / Bit 4 = D Bit 5 = Enable CD 
- BYTE EnableMask
Range 0-63 or 0b00000 to 0b111111 
- VOID Return


ReadAnalogInput

ReadAnalogInput
Reads a single digital input. 
- BYTE Channel
 
- UINT Return


ReadDigitalInput

ReadDigitalInput
Reads a single digital input. 
- BYTE Channel
 
- BYTE Return


ReadInputs

ReadInputs
Reads all digital inputs at once and returns as a binary value. Input 1 = Bit 0 Input 8 = Bit 7 
- BYTE Return


ReadKey

ReadKey
Reads a keypress from the keypad. 
- BYTE Return


ReadRTC

ReadRTC
Reads a value from the real time clock module. Used for getting the time or date. 
- BYTE Unit
0=Second 1=Minute 2=Hour 3=Day 4=Month 5=Year 
- BYTE Return


WriteRTC

WriteRTC
Writes a value to the real time clock module. Used for setting the time or date. 
- BYTE Unit
0=Second 1=Minute 2=Hour 3=Day 4=Month 5=Year 
- BYTE Value
 
- VOID Return


WriteRelay

WriteRelay
Allows a single relay to be switched on or off. 
- BYTE Channel
Range 1-4 
- BYTE Value
0 = Off, 1 = On 
- VOID Return


WriteRelays

WriteRelays
Allows all relays to be switched on or off in a single command. 
- BYTE Value
Range: 0-15 or 0b0000 to 0b1111 
- VOID Return


WriteTran

WriteTran
Allows a single transistor output to be switched on or off. 
- BYTE Channel
Range 1-4 
- BYTE Value
0 = Off, 1 = On 
- VOID Return


WriteTrans

WriteTrans
Allows all transistor outputs to be switched on or off in a single command. 
- BYTE Value
Range: 0-15 or 0b0000 to 0b1111 
- VOID Return


Property reference

Properties
Connections
Operating Mode
Mode
Configures how the simulation component functions, does it simply simulate or does it control real hardware. 
API Connection Type
API connection mode. COM - Bluetooth / RS232 / RS485 WIFI - Network 
AutoDetect Port
 
Baud
 
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