Component: Robot Arm AllCode API (Misc): Difference between revisions

Latest revision as of 14:37, 13 July 2026

Author	Matrix TSL
Version	1.0
Category	Misc

Robot Arm AllCode API component

Matrix 5-axis Robot Arm with Gripper. Compatible with the Matrix Robot ARM Training Curriculum and Hardware. Features gripper pressure sensor, light sensor, colour sensor, Potentiometer, Magnetic sensor.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_RA_API_Component_Source.fcsx

Please click here to view the component source code (Beta): FC_Comp_Source_RA_API_Component_Source.fcsx

Detailed description

No detailed description exists yet for this component

Examples

No additional examples

Macro reference

Beep

	Beep
Allows the beeper to output a warning
- BYTE	Iterations
Number of times to repeat
- UINT	OnDelay
Delay in ms
- UINT	OffDelay
Delay in ms
- BYTE	Return

GetAPIVersion

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

GotoPosition

	GotoPosition
Recalls a previously saved position for the ARMs 5 axis.
- BYTE	Index
Save Index - Range 0-29
- VOID	Return

GripperClose

	GripperClose
Fully closes the gripper at the end of the arm ready to pick something up. Closes to a defined pressure using the built in pressure sensor. Returns 0 if nothing detected in the gripper Returns 1 if a valid object is detected
- BYTE	Pressure
Range 1 - 100, Default Pressure = 20
- BYTE	Return

GripperOpen

	GripperOpen
Fully opens the gripper at the end of the arm ready to pick something up.
- VOID	Return

KineGetXYZ

	KineGetXYZ
Calculates the current XYZ position from the current servo position coordinates
- BYTE	Index
Range 0-2 : 0=X, 1=Y, 2=Z
- INT	Return

KineSetXYZ

	KineSetXYZ
Sets the XYZ position and calculates the various servo motor angles required. Returns 0=Impossible, 1=InPosition
- INT	X

- INT	Y

- INT	Z

- BYTE	Return

LCDClear

	LCDClear
Clears the entire contents of the display.
- VOID	Return

LCDClearLine

	LCDClearLine
Clears a single line on the display and then moves the cursor to the start of the line to allow you to start populating the line with data.
- BYTE	Line
The line to clear, zero being the first (top) line of the display
- VOID	Return

LCDCursor

	LCDCursor
Moves the cursor on the LCD Display
- BYTE	X
Set the cursor position in the X plane, 0 is the left most cell (0-15)
- BYTE	Y
Set the cursor position in the Y plane, 0 is the top most cell (0-1)
- VOID	Return

LCDPrintNum

	LCDPrintNum
Will allow you to print a number. This is limited to a signed-INT, -32768 to 32767
- INT	Number
Enter the number or variable to print to the LCD
- VOID	Return

LCDPrintStr

	LCDPrintStr
Breaks down a string of text and sends it to the LCD via the private RawSend(byte, mask) macro
- STRING	PrintString
Enter the text or variable to print to the LCD
- VOID	Return

LCDVerbose

	LCDVerbose
Controls if the LCD is in user mode or verbose API mode,
- BYTE	Mode
0=User Mode, 1=API Verbose Mode
- VOID	Return

LEDOff

	LEDOff
Switches off a single LED, LA0-LA7
- BYTE	Index
0=LA0, 1=LA1, 2=LA2, 3=LA3, 4=LA4, 5=LA5, 6=LA6, 7=LA7
- VOID	Return

LEDOn

	LEDOn
Switches on a single LED, LA0-LA7
- BYTE	Index
0=LA0, 1=LA1, 2=LA2, 3=LA3, 4=LA4, 5=LA5, 6=LA6, 7=LA7
- VOID	Return

LEDWrite

	LEDWrite
Allows a value to be sent to control all eight LEDs LA0-LA7 at once
- BYTE	Value
(0-63) 0b000000
- VOID	Return

MotorsMoving

	MotorsMoving
Checks to see if any of the motors are still moving.
- BYTE	Return

Park

	Park
Parks the Robot ARM and switches off the servo motors
- VOID	Return

ReadColour

	ReadColour
Samples the Colour Sensor and reads the levels of Red, Green and Blue Light back as a 16-bit UINT variable. The colour format is 0b0BBBBBGGGGGRRRRR. The ReadColourChannel macro can be used to get individual channel colours.
- UINT	Return

ReadColourChannel

	ReadColourChannel
Reads a single colour channel from the value returned from the ReadColour macro.
- BYTE	Index
0=Red, 1=Green, 2=Blue
- UINT	Colour

- BYTE	Return

ReadPressure

	ReadPressure
Read the value of the pressure sensor on the ARM gripper. Returns the value as a byte
- BYTE	Return

ReadSwitch

	ReadSwitch
Read the value of a single switch. Returns the value as a byte
- BYTE	index
0=SA0, 1=SA1, 2=SA2, 3=SA3, 4=SA4, 5=SA5, 6=SA6, 7=SA7
- BYTE	Return

SetAllServos

	SetAllServos
Move all the servo positions between 0-180 Deg
- BYTE	Servo0_Base
Position of servo0 in degrees (0-180)
- BYTE	Servo1_Shoulder
Position of servo1 in degrees (0-180)
- BYTE	Servo2_Elbow
Position of servo2 in degrees (0-180)
- BYTE	Servo3_Wrist
Position of servo3 in degrees (0-180)
- BYTE	Servo4_WristRotate
Position of servo4 in degrees (0-180)
- VOID	Return

SetServo

	SetServo
Move the specified servo motor position between 0-180 Deg
- BYTE	Index
Range 0-4 : 0=Base, 1=Shoulder, 2=Elbow, 3=Wrist, 4=WristRotate
- BYTE	Position
Position of servo in degrees (0-180)
- VOID	Return

SetTrim

	SetTrim
Allows minor adjustment on the 5 axis servo motors
- BYTE	Index
Motor Index Range 0-4
- BYTE	Trim
Amount of Trim Range 0-255, Default Value 128
- VOID	Return

StoreCoords

	StoreCoords
Stores the provided coordinates as a position the ARM can recall.
- BYTE	Index
Save Index - Range 0-29
- BYTE	Position0
Range: 0-180
- BYTE	Position1
Range: 0-180
- BYTE	Position2
Range: 0-180
- BYTE	Position3
Range: 0-180
- BYTE	Position4
Range: 0-180
- VOID	Return

StorePosition

	StorePosition
Stores the current position of the ARMs 5 axis.
- BYTE	Index
Save Index - Range 0-29
- VOID	Return

Property reference

	Properties
	Connections
	Operating Mode
	Mode

@@ Line 93: / Line 93: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Beep'''
+| width="90%" class="mtx-class-macrohead" | '''Beep'''
 |-
 | colspan="2" | Allows the beeper to output a warning&nbsp;
@@ Line 122: / Line 122: @@
 |-
 | 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" | '''GetAPIVersion'''
 |-
 | colspan="2" | Gets the API version of the Robot ARM Firmware&nbsp;
@@ Line 136: / Line 136: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GotoPosition'''
+| width="90%" class="mtx-class-macrohead" | '''GotoPosition'''
 |-
 | colspan="2" | Recalls a previously saved position for the ARMs 5 axis.&nbsp;
@@ Line 155: / Line 155: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GripperClose'''
+| width="90%" class="mtx-class-macrohead" | '''GripperClose'''
 |-
 | colspan="2" | Fully closes the gripper at the end of the arm ready to pick something up. Closes to a defined pressure using the built in pressure sensor. Returns 0 if nothing detected in the gripper Returns 1 if a valid object is detected&nbsp;
@@ Line 174: / Line 174: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GripperOpen'''
+| width="90%" class="mtx-class-macrohead" | '''GripperOpen'''
 |-
 | colspan="2" | Fully opens the gripper at the end of the arm ready to pick something up.&nbsp;
@@ Line 188: / Line 188: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''KineGetXYZ'''
+| width="90%" class="mtx-class-macrohead" | '''KineGetXYZ'''
 |-
 | colspan="2" | Calculates the current XYZ position from the current servo position coordinates &nbsp;
@@ Line 207: / Line 207: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''KineSetXYZ'''
+| width="90%" class="mtx-class-macrohead" | '''KineSetXYZ'''
 |-
 | colspan="2" | Sets the XYZ position and calculates the various servo motor angles required. Returns 0=Impossible, 1=InPosition&nbsp;
@@ Line 236: / Line 236: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
+| width="90%" class="mtx-class-macrohead" | '''LCDClear'''
 |-
 | colspan="2" | Clears the entire contents of the display.&nbsp;
@@ Line 250: / Line 250: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClearLine'''
+| width="90%" class="mtx-class-macrohead" | '''LCDClearLine'''
 |-
 | colspan="2" | Clears a single line on the display and then moves the cursor to the start of the line to allow you to start populating the line with data.&nbsp;
@@ Line 269: / Line 269: @@
 |-
 | 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" | '''LCDCursor'''
 |-
 | colspan="2" | Moves the cursor on the LCD Display&nbsp;
@@ Line 293: / Line 293: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintNum'''
+| width="90%" class="mtx-class-macrohead" | '''LCDPrintNum'''
 |-
 | colspan="2" | Will allow you to print a number. This is limited to a signed-INT, -32768 to 32767&nbsp;
@@ Line 312: / Line 312: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintStr'''
+| width="90%" class="mtx-class-macrohead" | '''LCDPrintStr'''
 |-
 | colspan="2" | Breaks down a string of text and sends it to the LCD via the private RawSend(byte, mask) macro&nbsp;
@@ Line 331: / Line 331: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDVerbose'''
+| width="90%" class="mtx-class-macrohead" | '''LCDVerbose'''
 |-
 | colspan="2" | Controls if the LCD is in user mode or verbose API mode,&nbsp;
@@ Line 350: / Line 350: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOff'''
+| width="90%" class="mtx-class-macrohead" | '''LEDOff'''
 |-
 | colspan="2" | Switches off a single LED, LA0-LA7&nbsp;
@@ Line 369: / Line 369: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn'''
+| width="90%" class="mtx-class-macrohead" | '''LEDOn'''
 |-
 | colspan="2" | Switches on a single LED, LA0-LA7&nbsp;
@@ Line 388: / Line 388: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDWrite'''
+| width="90%" class="mtx-class-macrohead" | '''LEDWrite'''
 |-
 | colspan="2" | Allows a value to be sent to control all eight LEDs LA0-LA7 at once&nbsp;
@@ Line 407: / Line 407: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MotorsMoving'''
+| width="90%" class="mtx-class-macrohead" | '''MotorsMoving'''
 |-
 | colspan="2" | Checks to see if any of the motors are still moving.&nbsp;
@@ Line 421: / Line 421: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Park'''
+| width="90%" class="mtx-class-macrohead" | '''Park'''
 |-
 | colspan="2" | Parks the Robot ARM and switches off the servo motors&nbsp;
@@ Line 435: / Line 435: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadColour'''
+| width="90%" class="mtx-class-macrohead" | '''ReadColour'''
 |-
 | colspan="2" | Samples the Colour Sensor and reads the levels of Red, Green and Blue Light back as a 16-bit UINT variable. The colour format is 0b0BBBBBGGGGGRRRRR. The ReadColourChannel macro can be used to get individual channel colours.&nbsp;
@@ Line 449: / Line 449: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadColourChannel'''
+| width="90%" class="mtx-class-macrohead" | '''ReadColourChannel'''
 |-
 | colspan="2" | Reads a single colour channel from the value returned from the ReadColour macro.&nbsp;
@@ Line 473: / Line 473: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadPressure'''
+| width="90%" class="mtx-class-macrohead" | '''ReadPressure'''
 |-
 | colspan="2" | Read the value of the pressure sensor on the ARM gripper. Returns the value as a byte&nbsp;
@@ Line 487: / Line 487: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch'''
+| width="90%" class="mtx-class-macrohead" | '''ReadSwitch'''
 |-
 | colspan="2" | Read the value of a single switch.  Returns the value as a byte&nbsp;
@@ Line 506: / Line 506: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAllServos'''
+| width="90%" class="mtx-class-macrohead" | '''SetAllServos'''
 |-
 | colspan="2" | Move all the servo positions between 0-180 Deg&nbsp;
@@ Line 545: / Line 545: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetServo'''
+| width="90%" class="mtx-class-macrohead" | '''SetServo'''
 |-
 | colspan="2" | Move the specified servo motor position between 0-180 Deg&nbsp;
@@ Line 569: / Line 569: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTrim'''
+| width="90%" class="mtx-class-macrohead" | '''SetTrim'''
 |-
 | colspan="2" | Allows minor adjustment on the 5 axis servo motors&nbsp;
@@ Line 593: / Line 593: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StoreCoords'''
+| width="90%" class="mtx-class-macrohead" | '''StoreCoords'''
 |-
 | colspan="2" | Stores the provided coordinates as a position the ARM can recall.&nbsp;
@@ Line 637: / Line 637: @@
 |-
 | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
-| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StorePosition'''
+| width="90%" class="mtx-class-macrohead" | '''StorePosition'''
 |-
 | colspan="2" | Stores the current position of the ARMs 5 axis.&nbsp;
@@ Line 656: / Line 656: @@
 {| 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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