Difference between revisions of "Component: Control (AllCode)"

Revision as of 11:59, 3 February 2023

Author	Matrix TSL
Version	1.0
Category	AllCode

Control component

Drives the Matrix Control hardware via the AllCode API.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_temp/Control_ComponentSource.fcsx

Please click here to view the component source code (Beta): FC_Comp_Source_temp/Control_ComponentSource.fcsx

Detailed description

No detailed description exists yet for this component

Examples

No additional examples

Macro reference

CheckErrorStatus

	CheckErrorStatus
Returns the Error status value indicating if there has been any errors. 0 = No Error 1 = Timeout Error
- BYTE	Return

GetAPI

	GetAPI
Gets the API version number
- BYTE	Return

GetDataArray

	GetDataArray
Collects a data array from the Control board. Returns number of samples collected.
- FLOAT	data

- BYTE	Return

GetFeedback

	GetFeedback
Gets the feedback as a value in real world units
- FLOAT	Return

GetOutput

	GetOutput
Gets the output value as an integer value betwen 0 and 100 representing the output PWM duty
- BYTE	Return

GetPIDComponent

	GetPIDComponent
Gets one of the PID controller output components in real world units
- BYTE	Index
Range 0-2, 0=P, 1=I, 2=D
- FLOAT	Return

GetWifiIP

	GetWifiIP
Collects the IP address of the robot arm WIFI connection.
- STRING	Return

Initialise

	Initialise

- VOID	Return

ResetToBoot

	ResetToBoot
Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro,
- VOID	Return

SetAutoOnOff

	SetAutoOnOff
Enable the auto PID control using the on-board microcontroller
- BYTE	Channel
Range: 0-1
- BYTE	Enable
0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz
- VOID	Return

SetAutoOnOffParam

	SetAutoOnOffParam
Sets the Hysteresis parameter for the Auto on-board On/Off
- FLOAT	Hysteresis
Hysterists in real world units
- VOID	Return

SetAutoPID

	SetAutoPID
Enable the auto PID control using the on-board microcontroller
- BYTE	Channel
Range: 0-1
- BYTE	Enable
0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz
- VOID	Return

SetAutoPIDFlip

	SetAutoPIDFlip
Controls if the PID response is flipped, a negative response vs a positive
- BOOL	Flip
Default: 0=Not Flipped, 1=Flipped
- VOID	Return

SetAutoPIDParam

	SetAutoPIDParam
Sets one of the P, I, D parameters for the Auto on-board PID
- BYTE	Index
Range: 0-5 Where 0=P, 1=I, 2=D, 3=IntClamp, 4=DFilt, 5=FiltCo
- FLOAT	Value
Range: 0.0 to 65.535
- VOID	Return

SetAutoPrescaler

	SetAutoPrescaler
Configures the automatic mode prescaler, for running really slowly. Defaults off so no need to call this unless you are using it.
- BYTE	Prescaler
0=Off, 2=Div by 2, 3=Div By 3 etc
- VOID	Return

SetBluetoothDetails

	SetBluetoothDetails
Configures the Bluetooth device name and pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.
- STRING	Name
Bluetooth Device String, Max 20 Characters
- STRING	Pin
Pin String, 4 Numeric Characters e.g. "1234"
- VOID	Return

SetBluetoothMode

	SetBluetoothMode
Configures the Bluetooth mode.
- BOOL	Mode
0=Disabled, 1=Enabled
- VOID	Return

SetCANID

	SetCANID
Stores the specified CAN ID into an internal none volatile memory location.
- UINT	ID

- VOID	Return

SetCANMode

	SetCANMode
Configures if the CAN API mde is enabled or disabled.
- BYTE	Mode
0=Disabled / 1=Enabled
- VOID	Return

SetEthernetIP

	SetEthernetIP
Configures the Ethernet IP Address.
- STRING	IP
IP Address string e.g. "192.168.1.100"
- VOID	Return

SetEthernetMode

	SetEthernetMode
Configures the Ethernet mode.
- BYTE	Mode
0=Disabled, 1=Enabled
- VOID	Return

SetEthernetPort

	SetEthernetPort
Configures the Ethernet Port number. Default 1245.
- UINT	Port
Default 1245
- VOID	Return

SetFeedbackMethod

	SetFeedbackMethod
Sets feedback method to dictate which control application we are running
- BYTE	FBMethod
Range: 0-3 Where 0=Level, 1=Flow, 2=Pressure, 3=Temp
- FLOAT	InputScaler
Feedback scaling factor used to convert the feedback reading into a meaningful value
- FLOAT	OutputScaler
Value used to convert input to 0-100% duty
- VOID	Return

SetLogDivider

	SetLogDivider
Configures the rate of the PID logging.
- BYTE	Divider
Divides the rate by the selected value
- VOID	Return

SetManualDuty

	SetManualDuty
Sets duty parameter for one of the manual controlled outputs
- BYTE	Channel
Range: 0-1
- FLOAT	Duty
Duty Cycle Output in Percentage Range 0 - 100%
- VOID	Return

SetSetpoint

	SetSetpoint
Sets Setpoint parameter for the Auto on-board PID
- FLOAT	Setpoint
Required Output in Real World Units
- VOID	Return

SetWIFIPort

	SetWIFIPort
Configures the WIFI Port number. Default 1245.
- UINT	Port
Default 1245
- VOID	Return

SetWifiDetails

	SetWifiDetails
Configures the WIFI SSID and Password strings and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.
- STRING	SSID
Netword ID String, Max 32 Characters
- STRING	Password
Password String, Max 32 Characters
- VOID	Return

SetWifiMode

	SetWifiMode
Configures the WIFI mode. When enabled the control system can either create its own WIFI network or join an existing WIFI network,
- BYTE	Mode
0=Disabled, 1=Host Network, 2=Join Network
- VOID	Return

ZeroSensor

	ZeroSensor
Zeros the attached sensor reading. Useful for Pressure and Level control applications.
- VOID	Return

Property reference

	Properties
	Comms Method
Selects the method to communicate with the Matrix 3 Axis Robot Arm. USB connection requires the USB drivers to be installed. Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel. WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth. CAN connection does not simulate and works on embedded hardware e.g. the MIAC.
	COM Port Settings
	Autodetect
Autodetects the COM port, only works for USB AllCode connection.
	COM Port
Selects which port to communicate with, only lists ports which are currently available.
	Text Colour

@@ Line 17: / Line 17: @@
 ==Component Source Code==
-Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_Control_ComponentSource.fcsx FC_Comp_Source_Control_ComponentSource.fcsx]
+Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_temp/Control_ComponentSource.fcsx FC_Comp_Source_temp/Control_ComponentSource.fcsx]
-Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_Control_ComponentSource.fcsx FC_Comp_Source_Control_ComponentSource.fcsx]
+Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_temp/Control_ComponentSource.fcsx FC_Comp_Source_temp/Control_ComponentSource.fcsx]
 ==Detailed description==
@@ Line 61: / Line 61: @@
 ''<span style="color:red;">No additional examples</span>''
@@ Line 69: / Line 71: @@
 ==Macro reference==
-===SetAutoPrescaler===
+===CheckErrorStatus===
 {| 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;" | '''SetAutoPrescaler'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CheckErrorStatus'''
 |-
-| colspan="2" | Configures the automatic mode prescaler, for running really slowly. Defaults off so no need to call this unless you are using it.&nbsp;
+| colspan="2" | Returns the Error status value indicating if there has been any errors. 0 = No Error 1 = Timeout Error&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Prescaler
-|-
-| colspan="2" | 0=Off, 2=Div by 2, 3=Div By 3 etc&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===GetOutput===
+===GetAPI===
 {| 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;" | '''GetOutput'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetAPI'''
 |-
-| colspan="2" | Gets the output value as an integer value betwen 0 and 100 representing the output PWM duty&nbsp;
+| colspan="2" | Gets the API version number&nbsp;
 |-
 |-
@@ Line 102: / Line 99: @@
-===SetAutoOnOff===
+===GetDataArray===
 {| 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;" | '''SetAutoOnOff'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetDataArray'''
 |-
-| colspan="2" | Enable the auto PID control using the on-board microcontroller&nbsp;
+| colspan="2" | Collects a data array from the Control board. Returns number of samples collected.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Channel
+| width="90%" | data
 |-
-| colspan="2" | Range: 0-1&nbsp;
+| colspan="2" | &nbsp;
 |-
-| 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%" | Enable
-|-
-| colspan="2" | 0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetWIFIPort===
+===GetFeedback===
 {| 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;" | '''SetWIFIPort'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetFeedback'''
 |-
-| colspan="2" | Configures the WIFI Port number.  Default 1245.&nbsp;
+| colspan="2" | Gets the feedback as a value in real world units&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Port
-|-
-| colspan="2" | Default 1245&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetAutoPIDFlip===
+===GetOutput===
 {| 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;" | '''SetAutoPIDFlip'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetOutput'''
 |-
-| colspan="2" | Controls if the PID response is flipped, a negative response vs a positive&nbsp;
+| colspan="2" | Gets the output value as an integer value betwen 0 and 100 representing the output PWM duty&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Flip
-|-
-| colspan="2" | Default: 0=Not Flipped, 1=Flipped&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetBluetoothDetails===
+===GetPIDComponent===
 {| 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;" | '''SetBluetoothDetails'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetPIDComponent'''
 |-
-| colspan="2" | Configures the Bluetooth device name and pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.&nbsp;
+| colspan="2" | Gets one of the PID controller output components in real world units&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Name
+| width="90%" | Index
 |-
-| colspan="2" | Bluetooth Device String, Max 20 Characters&nbsp;
+| colspan="2" | Range 0-2, 0=P, 1=I, 2=D&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Pin
-|-
-| colspan="2" | Pin String, 4 Numeric Characters e.g. "1234"&nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===GetDataArray===
+===GetWifiIP===
 {| 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;" | '''GetDataArray'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetWifiIP'''
 |-
-| colspan="2" | Collects a data array from the Control board. Returns number of samples collected.&nbsp;
+| colspan="2" | Collects the IP address of the robot arm WIFI connection.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | data
-|-
-| colspan="2" | &nbsp;
-|-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===GetWifiIP===
+===Initialise===
 {| 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;" | '''GetWifiIP'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 |-
-| colspan="2" | Collects the IP address of the robot arm WIFI connection.&nbsp;
+| colspan="2" | &nbsp;
 |-
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetWifiDetails===
+===ResetToBoot===
 {| 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;" | '''SetWifiDetails'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ResetToBoot'''
 |-
-| colspan="2" | Configures the WIFI SSID and Password strings and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.&nbsp;
+| colspan="2" | Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro,&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | SSID
 |-
-| colspan="2" | Netword ID String, Max 32 Characters&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | Password
-|-
-| colspan="2" | Password String, Max 32 Characters&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 245: / Line 207: @@
-===ResetToBoot===
+===SetAutoOnOff===
 {| 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;" | '''ResetToBoot'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoOnOff'''
+|-
+| colspan="2" | Enable the auto PID control using the on-board microcontroller&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Range: 0-1&nbsp;
 |-
-| colspan="2" | Resets the board into bootload mode for reprogramming. Comms port will be closed on calling this macro,&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Enable
 |-
+| colspan="2" | 0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 278: / Line 250: @@
-===SetWifiMode===
+===SetAutoPID===
 {| 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;" | '''SetWifiMode'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPID'''
+|-
+| colspan="2" | Enable the auto PID control using the on-board microcontroller&nbsp;
+|-
 |-
-| colspan="2" | Configures the WIFI mode. When enabled the control system can either create its own WIFI network or join an existing WIFI network,&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
 |-
+| colspan="2" | Range: 0-1&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Mode
+| width="90%" | Enable
 |-
-| colspan="2" | 0=Disabled, 1=Host Network, 2=Join Network&nbsp;
+| colspan="2" | 0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 297: / Line 274: @@
-===GetPIDComponent===
+===SetAutoPIDFlip===
 {| 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;" | '''GetPIDComponent'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPIDFlip'''
 |-
-| colspan="2" | Gets one of the PID controller output components in real world units&nbsp;
+| colspan="2" | Controls if the PID response is flipped, a negative response vs a positive&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
-| width="90%" | Index
+| width="90%" | Flip
 |-
-| colspan="2" | Range 0-2, 0=P, 1=I, 2=D&nbsp;
+| colspan="2" | Default: 0=Not Flipped, 1=Flipped&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetEthernetPort===
+===SetAutoPIDParam===
 {| 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;" | '''SetEthernetPort'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPIDParam'''
+|-
+| colspan="2" | Sets one of the P, I, D parameters for the Auto on-board PID&nbsp;
+|-
 |-
-| colspan="2" | Configures the Ethernet Port number.  Default 1245.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Index
 |-
+| colspan="2" | Range: 0-5 Where 0=P, 1=I, 2=D, 3=IntClamp, 4=DFilt, 5=FiltCo&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Port
+| width="90%" | Value
 |-
-| colspan="2" | Default 1245&nbsp;
+| colspan="2" | Range: 0.0 to 65.535&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 335: / Line 317: @@
-===SetEthernetIP===
+===SetAutoPrescaler===
 {| 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;" | '''SetEthernetIP'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAutoPrescaler'''
 |-
-| colspan="2" | Configures the Ethernet IP Address.&nbsp;
+| colspan="2" | Configures the automatic mode prescaler, for running really slowly. Defaults off so no need to call this unless you are using it.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | IP
+| width="90%" | Prescaler
 |-
-| colspan="2" | IP Address string e.g. "192.168.1.100"&nbsp;
+| colspan="2" | 0=Off, 2=Div by 2, 3=Div By 3 etc&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 354: / Line 336: @@
-===SetCANID===
+===SetBluetoothDetails===
 {| 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;" | '''SetCANID'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetBluetoothDetails'''
+|-
+| colspan="2" | Configures the Bluetooth device name and pin and stores into the none volatie memory onboard the robot arm. Call the SetBluetoothMode macro after this to action the change.&nbsp;
+|-
 |-
-| colspan="2" | Stores the specified CAN ID into an internal none volatile memory location.&nbsp;
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | Name
 |-
+| colspan="2" | Bluetooth Device String, Max 20 Characters&nbsp;
 |-
-| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
-| width="90%" | ID
+| width="90%" | Pin
 |-
-| colspan="2" | &nbsp;
+| colspan="2" | Pin String, 4 Numeric Characters e.g. "1234"&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 373: / Line 360: @@
-===GetFeedback===
+===SetBluetoothMode===
 {| 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;" | '''GetFeedback'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetBluetoothMode'''
+|-
+| colspan="2" | Configures the Bluetooth mode.&nbsp;
+|-
 |-
-| colspan="2" | Gets the feedback as a value in real world units&nbsp;
+| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="90%" | Mode
 |-
+| colspan="2" | 0=Disabled, 1=Enabled&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
+| 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''
 |}
-===GetAPI===
+===SetCANID===
 {| 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;" | '''GetAPI'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCANID'''
+|-
+| colspan="2" | Stores the specified CAN ID into an internal none volatile memory location.&nbsp;
+|-
 |-
-| colspan="2" | Gets the API version number&nbsp;
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | ID
 |-
+| colspan="2" | &nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetManualDuty===
+===SetCANMode===
 {| 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;" | '''SetManualDuty'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCANMode'''
 |-
-| colspan="2" | Sets duty parameter for one of the manual controlled outputs&nbsp;
+| colspan="2" | Configures if the CAN API mde is enabled or disabled.&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Channel
+| width="90%" | Mode
 |-
-| colspan="2" | Range: 0-1&nbsp;
+| colspan="2" | 0=Disabled / 1=Enabled&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Duty
-|-
-| colspan="2" | Duty Cycle Output in Percentage Range 0 - 100%&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 425: / Line 417: @@
-===CheckErrorStatus===
+===SetEthernetIP===
 {| 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;" | '''CheckErrorStatus'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetEthernetIP'''
+|-
+| colspan="2" | Configures the Ethernet IP Address.&nbsp;
+|-
 |-
-| colspan="2" | Returns the Error status value indicating if there has been any errors. 0 = No Error 1 = Timeout Error&nbsp;
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | IP
 |-
+| colspan="2" | IP Address string e.g. "192.168.1.100"&nbsp;
 |-
-| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 | width="90%" style="border-top: 2px solid #000;" | ''Return''
 |}
-===SetCANMode===
+===SetEthernetMode===
 {| 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;" | '''SetCANMode'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetEthernetMode'''
 |-
-| colspan="2" | Configures if the CAN API mde is enabled or disabled.&nbsp;
+| colspan="2" | Configures the Ethernet mode.&nbsp;
 |-
 |-
@@ Line 451: / Line 448: @@
 | width="90%" | Mode
 |-
-| colspan="2" | 0=Disabled / 1=Enabled&nbsp;
+| colspan="2" | 0=Disabled, 1=Enabled&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 458: / Line 455: @@
-===SetAutoPID===
+===SetEthernetPort===
 {| 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;" | '''SetAutoPID'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetEthernetPort'''
 |-
-| colspan="2" | Enable the auto PID control using the on-board microcontroller&nbsp;
+| colspan="2" | Configures the Ethernet Port number.  Default 1245.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Channel
+| width="90%" | Port
 |-
-| colspan="2" | Range: 0-1&nbsp;
+| colspan="2" | Default 1245&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Enable
-|-
-| colspan="2" | 0=Off, 1=5Hz, 2=10Hz, 3=20Hz, 4=50Hz, 5=100Hz, 6=200Hz, 7=500Hz, 8=1KHz&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 482: / Line 474: @@
-===SetLogDivider===
+===SetFeedbackMethod===
 {| 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;" | '''SetLogDivider'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFeedbackMethod'''
 |-
-| colspan="2" | Configures the rate of the PID logging.&nbsp;
+| colspan="2" | Sets feedback method to dictate which control application we are running&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Divider
+| width="90%" | FBMethod
+|-
+| colspan="2" | Range: 0-3 Where 0=Level, 1=Flow, 2=Pressure, 3=Temp&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | InputScaler
+|-
+| colspan="2" | Feedback scaling factor used to convert the feedback reading into a meaningful value&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
+| width="90%" | OutputScaler
 |-
-| colspan="2" | Divides the rate by the selected value&nbsp;
+| colspan="2" | Value used to convert input to 0-100% duty&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 501: / Line 503: @@
-===ZeroSensor===
+===SetLogDivider===
 {| 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;" | '''ZeroSensor'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLogDivider'''
+|-
+| colspan="2" | Configures the rate of the PID logging.&nbsp;
+|-
 |-
-| colspan="2" | Zeros the attached sensor reading.  Useful for Pressure and Level control applications.&nbsp;
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Divider
 |-
+| colspan="2" | Divides the rate by the selected value&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 515: / Line 522: @@
-===SetAutoPIDParam===
+===SetManualDuty===
 {| 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;" | '''SetAutoPIDParam'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetManualDuty'''
 |-
-| colspan="2" | Sets one of the P, I, D parameters for the Auto on-board PID&nbsp;
+| colspan="2" | Sets duty parameter for one of the manual controlled outputs&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | Index
+| width="90%" | Channel
 |-
-| colspan="2" | Range: 0-5 Where 0=P, 1=I, 2=D, 3=IntClamp, 4=DFilt, 5=FiltCo&nbsp;
+| colspan="2" | Range: 0-1&nbsp;
 |-
 | width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Value
+| width="90%" | Duty
 |-
-| colspan="2" | Range: 0.0 to 65.535&nbsp;
+| colspan="2" | Duty Cycle Output in Percentage Range 0 - 100%&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 539: / Line 546: @@
-===SetEthernetMode===
+===SetSetpoint===
 {| 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;" | '''SetEthernetMode'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetSetpoint'''
 |-
-| colspan="2" | Configures the Ethernet mode.&nbsp;
+| colspan="2" | Sets Setpoint parameter for the Auto on-board PID&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Mode
+| width="90%" | Setpoint
 |-
-| colspan="2" | 0=Disabled, 1=Enabled&nbsp;
+| colspan="2" | Required Output in Real World Units&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 558: / Line 565: @@
-===SetBluetoothMode===
+===SetWIFIPort===
 {| 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;" | '''SetBluetoothMode'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWIFIPort'''
 |-
-| colspan="2" | Configures the Bluetooth mode.&nbsp;
+| colspan="2" | Configures the WIFI Port number.  Default 1245.&nbsp;
 |-
 |-
-| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
-| width="90%" | Mode
+| width="90%" | Port
 |-
-| colspan="2" | 0=Disabled, 1=Enabled&nbsp;
+| colspan="2" | Default 1245&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 577: / Line 584: @@
-===Initialise===
+===SetWifiDetails===
 {| 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;" | '''Initialise'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWifiDetails'''
+|-
+| colspan="2" | Configures the WIFI SSID and Password strings and stores into the none volatie memory onboard the robot arm. Call the SetWifiMode macro after this to action the change.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | SSID
+|-
+| colspan="2" | Netword ID String, Max 32 Characters&nbsp;
 |-
-| colspan="2" | &nbsp;
+| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+| width="90%" | Password
 |-
+| colspan="2" | Password String, Max 32 Characters&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 591: / Line 608: @@
-===SetFeedbackMethod===
+===SetWifiMode===
 {| 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;" | '''SetFeedbackMethod'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetWifiMode'''
 |-
-| colspan="2" | Sets feedback method to dictate which control application we are running&nbsp;
+| colspan="2" | Configures the WIFI mode. When enabled the control system can either create its own WIFI network or join an existing WIFI network,&nbsp;
 |-
 |-
 | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
-| width="90%" | FBMethod
+| width="90%" | Mode
 |-
-| colspan="2" | Range: 0-3 Where 0=Level, 1=Flow, 2=Pressure, 3=Temp&nbsp;
+| colspan="2" | 0=Disabled, 1=Host Network, 2=Join Network&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | InputScaler
-|-
-| colspan="2" | Feedback scaling factor used to convert the feedback reading into a meaningful value&nbsp;
-|-
-| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | OutputScaler
-|-
-| colspan="2" | Value used to convert input to 0-100% duty&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
@@ Line 620: / Line 627: @@
-===SetSetpoint===
+===ZeroSensor===
 {| 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;" | '''SetSetpoint'''
+| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ZeroSensor'''
 |-
-| colspan="2" | Sets Setpoint parameter for the Auto on-board PID&nbsp;
+| colspan="2" | Zeros the attached sensor reading.  Useful for Pressure and Level control applications.&nbsp;
-|-
-|-
-| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
-| width="90%" | Setpoint
 |-
-| colspan="2" | Required Output in Real World Units&nbsp;
 |-
 | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID