Component: Formula AllCode API (AllCode)

Author	Matrix Ltd
Version	1.2
Category	AllCode

Formula AllCode API component

A simulation only component to allow the Formula AllCode robot to be controlled via it's API interface and Bluetooth data connection without having to compile or re-program the robot.

Component Source Code

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

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

Detailed description

No detailed description exists yet for this component

Examples

The COM port for the Formula AllCode can be set via the panel properties which can be exposed to the SCADA runtime user.

LED Control

Controls the LEDs on the Formula AllCode by collecting the analogue value of a potentiometer on the simulation panel and sending the value to the robot.

LED Control Example

Motor Control Using Keypad

Uses the keypad on the simulation panel to control the speed and direction of the motors. Key 2 drives the robot forwards, 8 drives backwards, 4 and 6 turn the robot on the spot.

Motor Control Example

Motor Control Using Joystick

A simple example showing how to drive the Formula AllCode robot around in API mode using a panel based joystick control.

Formula AllCode Bluetooth

Proximity Alarm

Reads the front IR sensor on the Formula AllCode from the Flowcode simulation. If a near object is sensed then the Flowcode simulation will speak the word "Hello" using the Speech component.

Proximity Alarm Example

Driving Simulation using the API component

An example showing how to use the API component to drive the Formula AllCode robot component on the simulation panel.

FA API Sim Demo

JCB Bot Blog

Blog with example code showing how to drive the Formula AllCode robot using Key Mappings and how to add extra features such as a 3D printed cover and servo motors to operate a digger arm and bucket.

JCB Bot

Macro reference

Backwards

	Backwards
Drives the robot backwards - waits for the distance to be traversed before returning
- UINT	Distance
Distance in mm
- VOID	Return

CardBitmap

	CardBitmap
Displays a monochrome bitmap read from the card on the LCD
- BYTE	X
Range 0-127
- BYTE	Y
Range 0-31
- STRING	Filename
- BYTE	Return

CardCreate

	CardCreate
Attempts to create a file on the SD card 255=Error, 1=File Already Exists, 0=Create OK
- STRING	Filename
- BYTE	Return

CardErase

	CardErase
Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK
- STRING	Filename
- BYTE	Return

CardInit

	CardInit
Attempts to startup the SD card 255=No Card, 254=Init Fail, 0=Init OK
- BYTE	Return

CardOpen

	CardOpen
Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK
- STRING	Filename
- BYTE	Return

CardPlayback

	CardPlayback
Plays back a .Wav file audio stream from the card
- STRING	Filename
- BYTE	Return

CardReadByte

	CardReadByte
Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end
- BYTE	Return

CardRecordMic

	CardRecordMic
Records an audio stream on the card from the microphone
- BYTE	BitDepth
0=8-bit, 1=16-bit
- BYTE	SampleRate
Sample Rate 0=8KHz, 1=16KHz
- UINT	RecordTime
Time to record for in seconds, Range 0-65535
- STRING	Filename
- BYTE	Return

CardWriteByte

	CardWriteByte
Appends a byte to the end of the currently open file
- BYTE	Data
- VOID	Return

EncoderRead

	EncoderRead
Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit.
- BYTE	index
0=Left, 1=Right
- UINT	Return

EncoderReset

	EncoderReset
Resets the motor encoder counters
- VOID	Return

Forwards

	Forwards
Drives the robot forwards - waits for the distance to be traversed before returning
- UINT	Distance
Distance in mm
- VOID	Return

GetConsoleHandle

	GetConsoleHandle
Gets the handle to the console allowing data displaying on the panel etc.
- HANDLE	Return

GetProp

	GetProp
Allows the property filter for the COM port list to be copied to a parent component.
- STRING	PropName
- STRING	Return

LCDBacklight

	LCDBacklight
Allows the LCD backlight brighntess to be adjusted
- BYTE	Intensity
Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness
- VOID	Return

LCDClear

	LCDClear
Clears the LCD
- VOID	Return

LCDDrawLine

	LCDDrawLine
Allows a single pixel width line to be drawn on the LCD
- BYTE	X1
X Pixel 0-127
- BYTE	Y1
Y Pixel 0-31
- BYTE	X2
X Pixel 0-127
- BYTE	Y2
Y Pixel 0-31
- VOID	Return

LCDDrawPixel

	LCDDrawPixel
Allows a single pixel on the LCD to be set or cleared
- BYTE	X
X Pixel 0-127
- BYTE	Y
Y Pixel 0-31
- BYTE	State
0=White (Off), 1=Black (On)
- VOID	Return

LCDDrawRect

	LCDDrawRect
Allows a rectangle to be drawn on the LCD
- BYTE	X1
X Pixel 0-127
- BYTE	Y1
Y Pixel 0-31
- BYTE	X2
X Pixel 0-127
- BYTE	Y2
Y Pixel 0-31
- VOID	Return

LCDPrintNumber

	LCDPrintNumber
Prints a 16-bit signed number to the LCD
- BYTE	X
X Pixel 0-127
- BYTE	Y
LCD Y coordinate 0-31
- INT	Number
Range -32768 to 32767
- VOID	Return

LCDPrintString

	LCDPrintString
Prints a string to the LCD
- BYTE	X
X Pixel 0-127
- BYTE	Y
LCD Y Coordinate 0-31
- STRING	Data
- VOID	Return

LCDVerbose

	LCDVerbose
Allows the LCD to automatically report the API commands as they get processed. Default - verbose on
- BYTE	State
0=Off 1=On
- VOID	Return

LEDOff

	LEDOff
Clears a single LED 0-7
- BYTE	index
Range: 0-7
- VOID	Return

LEDOn

	LEDOn
Sets a single LED 0-7
- BYTE	index
Range: 0-7
- VOID	Return

LEDWrite

	LEDWrite
Sets the value of the LEDs as an 8-bit output
- BYTE	Value
LED value 0=All Off, 255 = All On
- VOID	Return

Left

	Left
Rotates the robot left - waits for the angle to be traversed before returning
- UINT	Angle
Angle to turn in degrees
- VOID	Return

PlayNote

	PlayNote
Plays a note using the speaker on the FA
- UINT	Note
Range 1 to 65535 in Hz
- UINT	Delay
Number of milliseconds to play the note for
- VOID	Return

ReadAllSensors

	ReadAllSensors
Samples all of the robot's sensors at once, storing the values locally
- VOID	Return

ReadAllValue

	ReadAllValue
Reads a single value stored from the read all command Index dictates which sensor value to read
- BYTE	Index
0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel
- UINT	Return

ReadAxis

	ReadAxis
Reads a single X/Y/Z axis from the accelerometer sensor.
- BYTE	index
0=X, 1=Y, 2=Z
- INT	Return

ReadBearing

	ReadBearing
Reads the compass bearing based on the degrees clockwise from magnetic north.
- INT	Return

ReadIR

	ReadIR
Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft
- BYTE	index
0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft
- UINT	Return

ReadLight

	ReadLight
Reads the light sensor 0-4095 - 4095 = Max Brightness
- UINT	Return

ReadLine

	ReadLine
Reads one of the IR line sensors 0-1 0=Left, 1=Right
- BYTE	index
0=Left, 1=Right
- UINT	Return

ReadMic

	ReadMic
Reads the microphone sensor 0 - 4095
- UINT	Return

ReadSwitch

	ReadSwitch
Read the switch value
- BYTE	index
0 (left) or 1 (right)
- BYTE	Return

Right

	Right
Rotates the robot right - waits for the angle to be traversed before returning
- UINT	Angle
Angle to turn in degrees
- VOID	Return

SampleAccel

	SampleAccel
Samples the accelerometer 0 = no new data, 1 = new data available
- BYTE	Return

SampleMag

	SampleMag
Samples the magnetometer 0 = no new data, 1 = new data available
- BYTE	Return

ServoAutoMoveToPosition

	ServoAutoMoveToPosition
Allows one of the servo positions to move gradually to a new position
- BYTE	Channel
Range 0-3
- BYTE	Position
Range 0-255
- VOID	Return

ServoDisable

	ServoDisable
Allows one of the servo outputs 0-3 to be disabled
- BYTE	Channel
Range 0-3
- VOID	Return

ServoEnable

	ServoEnable
Allows one of the servo outputs 0-3 to be enabled
- BYTE	Channel
Range 0-3
- VOID	Return

ServoSetAutoMoveSpeed

	ServoSetAutoMoveSpeed
Changes the speed of the auto movements Default - 1
- BYTE	Speed
Range 1-50
- VOID	Return

ServoSetPosition

	ServoSetPosition
Allows one of the servo positions to be assigned
- BYTE	Channel
Range 0-3
- BYTE	Position
Range 0-255
- VOID	Return

SetLogoSpeed

	SetLogoSpeed
Sets the speed of logo movements
- BYTE	Speed
Logo Speed 1-100 - Default 40
- VOID	Return

SetMotors

	SetMotors
Sets the motor speeds without feedback Range -100 to 100
- INT	Left
Range -100 to 100
- INT	Right
Range -100 to 100
- VOID	Return

SetProp

	SetProp
Allows the COM port property to be set from a parent component.
- STRING	PropName
- ULONG	PropVal
- VOID	Return

Property reference

	Properties
	COM Port
Selects which port to communicate with, only lists ports which are currently available.
	Refresh COM Ports
When set to yes the COM port list is rescanned for newly connected or available ports. Note that refreshing the ports list may take a few seconds depending on the number of connected ports.
	Baud
Baud rate passed to the COM port to control the rate of data.
	Label