Component: Formula AllCode (Mechatronics)

Author	Matrix TSL
Version	1.3 (Release)
Category	Mechatronics

Formula AllCode component

A component to allow all the features of the Formula AllCode robot to be investigated. Fully simulated component which can interact with simulated objects on the panel as well as control the real hardware.

Examples

Example 1 - LED Knightrider

Everyone remembers the iconic back and forth LED effect on "KIT" the classic TV series Knight Rider.

Here is a simple program that replicates the effect using the LEDs on the Formula AllCode.

Knightrider Example

Example 2 - Drive in a Shape

The logo movement commands combine motor control with encoder feedback to try and ensure that the robot's motors are moving as expected.

Here is a simple program that drives the Formula AllCode in a triangle pattern followed by a square pattern using the Logo movement commands.

DriveShapes Example

Example 3 - Following a Line

A simple program to follow a line using the robot's line sensors, includes a simulated line using panel primitive objects.

Line Follow Example

Downloadable macro reference

PlayNote

Outputs a single tone from the onboard speaker for the period specified.

Parameters

UINT Note

Sets the pitch of the note in Hz. Range: 1 - 10000

UINT Time

Time period to play the note for in milliseconds. Range: 0 - 65535 ms

Return value

This call does not return a value

LEDOn

Switches on a single LED on the front of the Formula Allcode.

Parameters

BYTE LED

Which LED to switch on, range 0-7

Return value

This call does not return a value

BluetoothTransmit

Sends a byte via the Bluetooth data connection.

Parameters

BYTE Data

Return value

This call does not return a value

LCDPrintString

Prints a string to the graphical LCD.

Parameters

BYTE X

The horizontal start pixel. Range 0-127

BYTE Y

Y coordinate to print the string. Range 0-31

<- STRING Data

This parameter may be returned back to the caller

UINT Transparent

Return value

This call does not return a value

LogoConfigure

The Logo movement may sometimes be slightly off in terms of distance or angle.

Before tweaking the factory values check that the wheels are pushed well onto their shafts but not tight against the FA body. Also check the tyre is on the wheel correctly.

Parameters

FLOAT Distance

mm per encoder step. default = 0.32

FLOAT Angle

mm of travel per degree. default = 0.7295

Return value

This call does not return a value

Stop

Stops both motors.

Parameters

This macro has no parameters

Return value

This call does not return a value

ReadBattery

Reads the current voltage level from the LiPo battery.

Return value is the battery voltage in Volts.

Take care not to run the battery too low.

Voltages lower than 3.4V may damage the battery.

Parameters

This macro has no parameters

Return value

FLOAT

LEDOff

Switches off a single LED on the front of the Formula Allcode.

Parameters

BYTE LED

Which LED to switch on, range 0-7

Return value

This call does not return a value

LCDPrintNumber

Prints a numeric value to the graphical LCD.

Parameters

BYTE X

The horizontal start pixel. Range 0-127

BYTE Y

Y coordinate to print the string. Range 0-31

UINT Number

BYTE Transparent

Return value

This call does not return a value

LEDWrite

Allows control of all 8-LEDs on the front of the Formula Allcode.

Parameters

BYTE LED_Byte

8-bit binary value to write to the 8 LEDs

Return value

This call does not return a value

BluetoothCheckConnection

Checks the status of the Bluetooth connection.

Returns 0 for not paired and 1 for paired.

Parameters

This macro has no parameters

Return value

BYTE

ReadMic

Reads the current audio signal level from the on-board microphone.

Return value range: 0 to 4095

Parameters

This macro has no parameters

Return value

UINT

AudioQueueLength

Retreives the current length of valid data within the audio queue

Parameters

This macro has no parameters

Return value

UINT

AudioAddToBuffer

Writes a value to the 16-bit audio output buffer.

Parameters

UINT Data

Return value

This call does not return a value

ReadSwitch

Reads the value of one of the switches from the front of the Formula Allcode.

Parameters

BYTE Switch

Which switch do we want to read 0=Left, 1=Right

Return value

BYTE

CheckLine

Checks to see if a line sensor is within the master threshold distance.

Returns 0 if the IR reading is below the threshold.

Returns 1 if the IR reading is greater than or equal to the threshold.

Parameters

BYTE Sensor

Range: 0 to 1 - 0=Left, 1=Right

Return value

BYTE

AudioStreamControl

Allows control of the audio output functionality via the onboard speaker.

Data is loaded into the audio output buffer using the AddToBuffer function.

Parameters

BYTE Mode

0=Off, 8=8-bit Mode, 16=16-bit Mode

BYTE SampleRate

Sets the sample rate 0=8KHz, 1=16KHz

Return value

This call does not return a value

SpinLeft

Spins the formula flowcode on the spot in an anticlockwise direction as seen from above.

Parameters

BYTE Power

Amount of power to use to drive motor. Range 0-100

Return value

This call does not return a value

LogoTurnLeft

Rotates the robot left by a specific angle using the encoders as feedback to ensure

the robot turns evenly. Automatically stops at the specified turn angle.

Parameters

UINT Angle

Angle in degrees you wish to rotate. Range 1-65536

Return value

This call does not return a value

Forward

Drives both motors of the formula flowcode forwards with the power specified.

Parameters

BYTE Power

Amount of power to use to drive motor. Range 0-100

Return value

This call does not return a value

LCDWriteByte

No additional information

Parameters

BYTE Data

BYTE X

BYTE Y

Return value

This call does not return a value

BluetoothReceive

Attempt to read a byte from the Bluetooth receive queue.

Parameters

This macro has no parameters

Return value

BYTE

LCDDrawLine

Draws a line on the LCD.

Parameters

BYTE X1

Range 0-127

BYTE Y1

Range 0-31

BYTE X2

Range 0-127

BYTE Y2

Range 0-31

Return value

This call does not return a value

BluetoothQueueLength

Reads the length of received Bluetooth data in bytes.

Parameters

This macro has no parameters

Return value

UINT

BluetoothTransmitString

Sends a string via the Bluetooth data connection.

Parameters

<- STRING Data

This parameter may be returned back to the caller

Return value

This call does not return a value

LCDBacklight

Controls the brighness of the LCD backlight

Parameters

BYTE Brightness

Range: 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness

Return value

This call does not return a value

AudioReadFromBuffer

Allows the audio buffer to be used for other streaming data such as recording the mic.

Parameters

This macro has no parameters

Return value

UINT

ReadLineSensor

Reads the analogue value from the specified IR line sensor.

Return value range: 0 to 4095

4095 represents the object is reflecting the most light.

Parameters

BYTE Channel

Range: 0 to 1 - 0=Left, 1=Right

Return value

UINT

LogoTurnRight

Rotates the robot right by a specific angle using the encoders as feedback to ensure the robot turns evenly. Automatically stops at the specified turn angle.

Parameters

UINT Angle

Angle in degrees you wish to rotate. Range 1-65536

Return value

This call does not return a value

SpinRight

Spins the formula flowcode on the spot in a clockwise direction as seen from above.

Parameters

BYTE Power

Amount of power to use to drive motor. Range 0-100

Return value

This call does not return a value

CheckIR

Checks to see if a IR sensor is within the master threshold distance.

Returns 0 if the IR reading is below the threshold.

Returns 1 if the IR reading is greater than or equal to the threshold.

Parameters

BYTE Sensor

Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left

Return value

BYTE

LCDPlotPixel

Allows a single pixel on the LCD to be set or cleared.

Parameters

BYTE X

Sets the X coordinate - Range 0-127

BYTE Y

Sets the Y coordinate - Range 0-31

Return value

This call does not return a value

LCDSetBackgroundColour

Sets the pixel colour to drive the LCD.

Default colour is 1 where a set pixel is black and the background is white.

Parameters

BYTE Colour

Range 0-1 : 0=White, 1=Black

Return value

This call does not return a value

ReadIRSensor

Reads the analogue value from the specified IR distance sensor.

Return value range: 0 to 4095

4095 represents the object is very close.

Parameters

BYTE Channel

Range: 0 to 7 - 0=Left, 1=Front Left, 2=Front, 3=Front Right, 4=Right, 5=Rear Right, 6=Rear, 7=Rear Left

Return value

UINT

SetMotors

Sets the speed and direction of the Formula Allcode motors.

Parameters

INT Left

Valid Range = -100 to 100

INT Right

Valid Range = -100 to 100

Return value

This call does not return a value

LogoBackwards

Drives the robot backward using the encoders as feedback to ensure

the robot drives straight. Automatically stops at the specified distance.

Parameters

UINT Distance

Distance you want to robot to drive in mm. Range 1-65535

Return value

This call does not return a value

EncoderReset

Resets the encoder counters to 0

Parameters

This macro has no parameters

Return value

This call does not return a value

Reverse

Drives both motors of the formula flowcode backwards with the power specified.

Parameters

BYTE Power

Amount of power to use to drive motor. Range 0-100

Return value

This call does not return a value

WaitForSwitch

Waits for the specified switch to be pressed.

Parameters

BYTE Switch

Which switch do we want to wait for 0=Left, 1=Right, 2=Either, 3=Both

Return value

This call does not return a value

ReadLDR

Reads the current light level from the on board light sensor.

Return value range: 0 to 4095

4095 represents the maximum level of light and 0 represents the minimal level of light.

Parameters

This macro has no parameters

Return value

UINT

LCDDrawRectangle

Draws a rectange on the LCD.

Parameters

BYTE X1

Range 0-127

BYTE Y1

Range 0-31

BYTE X2

Range 0-127

BYTE Y2

Range 0-31

BYTE Transparent

Sets the transparency of the box, 0=Box contains background colour, 1=Box contains previous pixel data

BYTE Solid

Chooses to fill the box with colour, 0=Box contains transparency data, 1=Box contains foreground colour

Return value

This call does not return a value

EncoderReadCount

Reads one of the motor encoder counters.

Each encoder count is equal to 0.314159 mm.

Parameters

BYTE Channel

0 = LeftCount, 1=RightCount

Return value

UINT

CheckUSB

Checks to see if a USB cable is connected to the robot.

Returns 0 for no connection and 1 for an active connection.

Parameters

This macro has no parameters

Return value

BYTE

LCDSetForegroundColour

Sets the pixel colour to drive the LCD.

Default colour is 1 where a set pixel is black and the background is white.

Parameters

BYTE Colour

Range 0-1 : 0=White, 1=Black

Return value

This call does not return a value

Initialise

Starts up the Formula Allcode PWM for motor control and performs the wait for button press if enabled.

Parameters

This macro has no parameters

Return value

This call does not return a value

LogoForwards

Drives the robot forward using the encoders as feedback to ensure

the robot drives straight. Automatically stops at the specified distance.

Parameters

UINT Distance

Distance you want to robot to drive in mm. Range 1-65535

Return value

This call does not return a value

LogoSetSpeed

Sets the cruise speed for LOGO type macros.

Default speed 20%.

Parameters

BYTE Speed

Range 1-100, Default 60

Return value

This call does not return a value

LCDClear

Clears the contents of the graphical LCD.

Parameters

This macro has no parameters

Return value

This call does not return a value

Simulation macro reference

This component does not contain any simulation macros

Property reference

Wait For Button

This property is of type True or false and can be referenced with the variable name wait_b4_start.

Determines if the program will automatically wait for one of the front switches to be pressed before executing the program.

Ran as part of the initialise function after the various components have been initialised.

Show Creation Info

This property is of type Fixed list of ints and can be referenced with the variable name CreationInfo.

Specifies what information is shown to the user on calling the initialise function.

The time and date shown are the compilation time and date to help pinpoint the firmware version.

Bluetooth Reset

This property is of type True or false and can be referenced with the variable name BlueReset.

Decides if the Bluetooth data connection can reset the Formula AllCode.

Used by mLoader when programming via Bluetooth to allow reprogramming without having to physically touch the robot.

To ensure programming security set this option to No.

Use Motor Feedback

This property is of type True or false and can be referenced with the variable name MotFeedback.

Controls when the motor feedback is used.

No - Speed control feedback is not used for SetMotors commands.

Yes - Speed control feedback is used for the SetMotors commands.

SetMotors commands include Forward, Backward, SpinLeft, SpinRight as well as SetMotors itself.

Logo functions always use feedback.

IR Distance

This property is of type Unsigned integer and can be referenced with the variable name IRdistance.

IR Threshold used with the CheckIR macro

Line Sensitivity

This property is of type Unsigned integer and can be referenced with the variable name LineSensitivity.

No additional information

Sim Speed (1 - 100)

This property is of type Unsigned integer and can be referenced with the variable name sim_speed.

Sets the simulated amount of movement relative to the speed of the Formula Allcode.

Timer Interval (ms)

This property is of type Unsigned integer and can be referenced with the variable name timer_interval.

Interval in milliseconds between each simulated movement of the Formula Allcode robot.

Collision Method

This property is of type Fixed list of ints and can be referenced with the variable name collision_mode.

Select which objects the robot sensors will interact with.

Light Source

This property is of type Panel object and can be referenced with the variable name LightSource.

Panel object specified as the simulation light source.

Used when simulating "find the light" type tasks.