The ROBOTC Compiler supports several different data types. Some are standard C return types and others are custom created for ROBOTC.
Data Types will be marked with the following tags if applicable: [arduino 328], [arduino Mega], [cortex], [nxt], [pic], [tetrix].
Standard C data types
data type
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
bool
|
A Boolean value; either true or false.
Note that false is equivalent to zero (0), and true is equivalent to any non-zero number (both positive and negative).
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
byte
|
A whole number ranging from -128 to 127.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
char
|
A whole number ranging from -128 to 127. Can be interpreted as a character value.
For example, 42 = 'B' and vice versa.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
float
|
A floating-point number (decimal) with the following length and accuracy restrictions:
|
|
0.####
|
0.0000 to +2,048.0000
|
0.###
|
0.000 to +32,768.000
|
0.##
|
0.00 to +262,144.00
|
0.#
|
0.0 to +2,097,200.0
|
|
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
long
|
A whole number ranging from -2,147,483,648 to 2,147,483,647.
|
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
int
|
A whole number ranging from -32,768 to 32,767.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
short
|
A whole number ranging from -32,768 to 32,767.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
string
|
A sequence of characters.
|
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
word
|
A whole number ranging from -32,768 to 32,767.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
ubyte
|
An unsigned byte (0 to 255).
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
void
|
This means that the function doesn't return anything.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
|
ROBOTC data types
TBaudRate
TBaudRate
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
baudRate1200
|
= 0
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate2400
|
= 1
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate4800
|
= 2
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate9600
|
= 3
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate14400
|
= 4
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate19200
|
= 5
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate28800
|
= 6
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate38400
|
= 7
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate57600
|
= 8
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate76800
|
= 9
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate100000
|
= 10
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate115200
|
= 11
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate200000
|
= 12
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate230400
|
= 13
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate250000
|
= 14
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRateUndefined
|
= 15
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
|
TBTCommands
TBTCommands
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
SENDFILE
|
= 0
|
|
|
|
[nxt]
|
|
[tetrix]
|
SEARCH
|
= 1 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
STOPSEARCH
|
= 2 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
CONNECT
|
= 3
|
|
|
|
[nxt]
|
|
[tetrix]
|
DISCONNECT
|
= 4
|
|
|
|
[nxt]
|
|
[tetrix]
|
DISCONNECTALL
|
= 5
|
|
|
|
[nxt]
|
|
[tetrix]
|
REMOVEDEVICE
|
= 6
|
|
|
|
[nxt]
|
|
[tetrix]
|
VISIBILITY
|
= 7
|
|
|
|
[nxt]
|
|
[tetrix]
|
SETCMDMODE
|
= 8 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
OPENSTREAM
|
= 9
|
|
|
|
[nxt]
|
|
[tetrix]
|
SENDDATA
|
= 10 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
FACTORYRESET
|
= 11
|
|
|
|
[nxt]
|
|
[tetrix]
|
BTON
|
= 12
|
|
|
|
[nxt]
|
|
[tetrix]
|
BTOFF
|
= 13
|
|
|
|
[nxt]
|
|
[tetrix]
|
SETBTNAME
|
= 14
|
|
|
|
[nxt]
|
|
[tetrix]
|
EXTREAD
|
= 15 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
PinReq
|
= 16 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
CONNECTREQ
|
= 17 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
IDLE
|
= 18
|
|
|
|
[nxt]
|
|
[tetrix]
|
LinkQualityReq
|
= 19. Requests quality of link from Bluecore.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opSetRawDataMode
|
= 20. Sets Bluecore into Raw Data mode.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opSetDefaultPIN
|
= 21. Sets default Passcode. Immediate command. Bluecore interaction not required.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opGetDefaultPIN
|
= 22. Retrieves default Passcode. Immediate command. Bluecore interaction not required.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opSetSessionPIN
|
= 23. Sets session Passcode. Immediate command. Initialized to "default" passcode on power up
|
|
|
|
[nxt]
|
|
[tetrix]
|
opGetSessionPIN
|
= 24. Retrieves session Passcode. Immediate command. Bluecore interaction not required.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opResetSessionPIN
|
= 25. Resets session Passcode to default passcode.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opGetFriendlyName
|
= 26. Gets the Bluetooth "Friendly Name" String.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opGetBTAddress
|
= 27
|
|
|
|
[nxt]
|
|
[tetrix]
|
opGetMyContactInfo
|
= 28. // Gets info on selected "My Contacts" list.
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TButtons
TButtons
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
kNoButton
|
= -1
|
|
|
|
[nxt]
|
|
[tetrix]
|
kExitButton
|
= 0. NXT Exit button.
|
|
|
|
[nxt]
|
|
[tetrix]
|
kRightButton
|
= 1. NXT Right-Arrow button.
|
|
|
|
[nxt]
|
|
[tetrix]
|
kLeftButton
|
= 2. NXT Left-Arrow button.
|
|
|
|
[nxt]
|
|
[tetrix]
|
kEnterButton
|
= 3. NXT Enter button (orange square).
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TFileHandle
TFileHandle
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
TFileHandle
|
#define TFileHandle short
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TFileIOResult
TFileIOResult
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
ioRsltSuccess
|
= (0x00FF & (SUCCESS >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltInProgress
|
= (0x00FF & (0x01))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltReqPIN
|
= (0x00FF & (0x02))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNoMoreHandles
|
= (0x00FF & (NOMOREHANDLES >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNoSpace
|
= (0x00FF & (NOSPACE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNoMoreFiles
|
= (0x00FF & (NOMOREFILES >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltEofExpected
|
= (0x00FF & (EOFEXSPECTED >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltEndOfFile
|
= (0x00FF & (ENDOFFILE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNotLinearFile
|
= (0x00FF & (NOTLINEARFILE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileNotFound
|
= (0x00FF & (FILENOTFOUND >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltHandleAlreadyClosed
|
= (0x00FF & (HANDLEALREADYCLOSED >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNoLinearSpace
|
= (0x00FF & (NOLINEARSPACE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltUndefinedError
|
= (0x00FF & (UNDEFINEDERROR >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileIsBusy
|
= (0x00FF & (FILEISBUSY >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNoWriteBuffers
|
= (0x00FF & (NOWRITEBUFFERS >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltAppendNotPossible
|
= (0x00FF & (APPENDNOTPOSSIBLE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileIsFull
|
= (0x00FF & (FILEISFULL >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileExists
|
= (0x00FF & (FILEEXISTS >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltModuleNotFound
|
= (0x00FF & (MODULENOTFOUND >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltOutOfBoundery
|
= (0x00FF & (OUTOFBOUNDERY >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltIllegalFilename
|
= (0x00FF & (ILLEGALFILENAME >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltIllegalHandle
|
= (0x00FF & (ILLEGALHANDLE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltBTBusy
|
= (0x00FF & (BTBUSY >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltBTConnectFail
|
= (0x00FF & (BTCONNECTFAIL >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltBTTimeout
|
= (0x00FF & (BTTIMEOUT >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileTxTimeout
|
= (0x00FF & (FILETX_TIMEOUT >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileTxDSTExists
|
= (0x00FF & (FILETX_DSTEXISTS >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileTxSRCMissing
|
= (0x00FF & (FILETX_SRCMISSING >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileTxStreamError
|
= (0x00FF & (FILETX_STREAMERROR >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileTxCloseError
|
= (0x00FF & (FILETX_CLOSEERROR >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltCommChannelBusError
|
= (0x00FF & -35). (0xDD Something went wrong on the communications bus)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltCommBufferFull
|
= (0x00FF & -34). (0xDE No room in comm buffer)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltCommChannelBad
|
= (0x00FF & -33). (0xDF Specified channel/connection is not valid)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltCommChannelNotReady
|
= (0x00FF & -32). (0xE0 Specified channel/connection not configured or busy)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_COMM_BUFFER_FULL
|
= ((short) ioRsltCommBufferFull)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_COMM_CHAN_INVALID
|
= ((short) ioRsltCommChannelBad)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_INVALID_PORT
|
= (0x00FF & -16)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_INVALID_FIELD
|
= (0x00FF & -17)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_INVALID_QUEUE
|
= (0x00FF & -18)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_INVALID_SIZE
|
= (0x00FF & -19)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltCommPending
|
= (0x00FF & STAT_COMM_PENDING)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltEmptyMailbox
|
= (0x00FF & STAT_MSG_EMPTY_MAILBOX)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltBadArgs
|
= (0x00FF & ERR_ARG)
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TI2CStatus
TI2CStatus
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
NO_ERR
|
= 0
|
|
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
STAT_COMM_PENDING
|
= 32
|
|
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
ERR_COMM_CHAN_NOT_READY
|
= -32
|
|
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
ERR_COMM_BUS_ERR
|
= -35
|
|
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
|
TMailboxIDs
TMailboxIDs
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
mailbox1
|
= 0
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox2
|
= 1
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox3
|
= 2
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox4
|
= 3
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox5
|
= 4
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox6
|
= 5
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox7
|
= 6
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox8
|
= 7
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox9
|
= 8
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox10
|
= 9
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox11
|
= 10 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox12
|
= 11 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox13
|
= 12 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox14
|
= 13 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox15
|
= 14 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox16
|
= 15 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox17
|
= 16 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox18
|
= 17 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox19
|
= 18 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox20
|
= 19 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TMotorRegulation
TMotorRegulation
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
mtrNoReg
|
= 0
|
|
|
|
[nxt]
|
|
[tetrix]
|
mtrSpeedReg
|
= 1
|
|
|
|
[nxt]
|
|
[tetrix]
|
mtrSyncRegMaster
|
= 2
|
|
|
|
[nxt]
|
|
[tetrix]
|
mtrSyncRegSlave
|
= 3
|
|
|
|
[nxt]
|
|
[tetrix]
|
mtrEncoderReg
|
= 4
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TNxtRunState
TNxtRunState
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
runStateIdle
|
= 0x00. Published IOMAP value. Do Not Change.
|
|
|
|
[nxt]
|
|
[tetrix]
|
runStateRampUp
|
= 0x10. Published IOMAP value. Do Not Change.
|
|
|
|
[nxt]
|
|
[tetrix]
|
runStateRunning
|
= 0x20. Published IOMAP value. Do Not Change.
|
|
|
|
[nxt]
|
|
[tetrix]
|
runStateRampDown
|
= 0x40. Published IOMAP value. Do Not Change.
|
|
|
|
[nxt]
|
|
[tetrix]
|
runStateHoldPosition
|
= 0x01
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TPCJoystick
TPCJoystick
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
joy1_x1
|
(short) -128 to +127
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
joy1_x2
|
(short) -128 to +127
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
joy1_y1
|
(short) -128 to +127
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
joy1_y2
|
(short) -128 to +127
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
joy1_Buttons
|
(short) Bit map for 12-buttons.
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
joy1_TopHat
|
(short) Value of -1 = not pressed, otherwise 0 to 7 for selected "octant".
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
|
tSensors
tSensors
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
S1
|
= 0
|
|
|
|
[nxt]
|
|
[tetrix]
|
S2
|
= 1
|
|
|
|
[nxt]
|
|
[tetrix]
|
S3
|
= 2
|
|
|
|
[nxt]
|
|
[tetrix]
|
S4
|
= 3
|
|
|
|
[nxt]
|
|
[tetrix]
|
in1
|
= 0
|
|
|
[cortex]
|
|
[pic]
|
|
in2
|
= 1
|
|
|
[cortex]
|
|
[pic]
|
|
in3
|
= 2
|
|
|
[cortex]
|
|
[pic]
|
|
in4
|
= 3
|
|
|
[cortex]
|
|
[pic]
|
|
in5
|
= 4
|
|
|
[cortex]
|
|
[pic]
|
|
in6
|
= 5
|
|
|
[cortex]
|
|
[pic]
|
|
in7
|
= 6
|
|
|
[cortex]
|
|
[pic]
|
|
in8
|
= 7
|
|
|
[cortex]
|
|
[pic]
|
|
in9
|
= 8
|
|
|
|
|
[pic]
|
|
in10
|
= 9
|
|
|
|
|
[pic]
|
|
in11
|
= 10
|
|
|
|
|
[pic]
|
|
in12
|
= 11
|
|
|
|
|
[pic]
|
|
in13
|
= 12
|
|
|
|
|
[pic]
|
|
in14
|
= 13
|
|
|
|
|
[pic]
|
|
in15
|
= 14
|
|
|
|
|
[pic]
|
|
in16
|
= 15
|
|
|
|
|
[pic]
|
|
dgtl1
|
= 8
|
|
|
[cortex]
|
|
|
|
dgtl2
|
= 9
|
|
|
[cortex]
|
|
|
|
dgtl3
|
= 10
|
|
|
[cortex]
|
|
|
|
dgtl4
|
= 11
|
|
|
[cortex]
|
|
|
|
dgtl5
|
= 12
|
|
|
[cortex]
|
|
|
|
dgtl6
|
= 13
|
|
|
[cortex]
|
|
|
|
dgtl7
|
= 14
|
|
|
[cortex]
|
|
|
|
dgtl8
|
= 15
|
|
|
[cortex]
|
|
|
|
dgtl9
|
= 16
|
|
|
[cortex]
|
|
|
|
dgtl10
|
= 17
|
|
|
[cortex]
|
|
|
|
dgtl11
|
= 18
|
|
|
[cortex]
|
|
|
|
dgtl12
|
= 19
|
|
|
[cortex]
|
|
|
|
I2C_1
|
= 20
|
|
|
[cortex]
|
|
|
|
I2C_2
|
= 21
|
|
|
[cortex]
|
|
|
|
I2C_3
|
= 22
|
|
|
[cortex]
|
|
|
|
I2C_4
|
= 23
|
|
|
[cortex]
|
|
|
|
I2C_5
|
= 24
|
|
|
[cortex]
|
|
|
|
I2C_6
|
= 25
|
|
|
[cortex]
|
|
|
|
I2C_7
|
= 26
|
|
|
[cortex]
|
|
|
|
I2C_8
|
= 27
|
|
|
[cortex]
|
|
|
|
|
The ROBOTC Compiler supports several different data types. Some are standard C return types and others are custom created for ROBOTC.
Data Types will be marked with the following tags if applicable: [arduino 328], [arduino Mega], [cortex], [nxt], [pic], [tetrix].
Standard C data types
data type
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
bool
|
A Boolean value; either true or false.
Note that false is equivalent to zero (0), and true is equivalent to any non-zero number (both positive and negative).
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
byte
|
A whole number ranging from -128 to 127.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
char
|
A whole number ranging from -128 to 127. Can be interpreted as a character value.
For example, 42 = 'B' and vice versa.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
float
|
A floating-point number (decimal) with the following length and accuracy restrictions:
|
|
0.####
|
0.0000 to +2,048.0000
|
0.###
|
0.000 to +32,768.000
|
0.##
|
0.00 to +262,144.00
|
0.#
|
0.0 to +2,097,200.0
|
|
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
long
|
A whole number ranging from -2,147,483,648 to 2,147,483,647.
|
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
int
|
A whole number ranging from -32,768 to 32,767.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
short
|
A whole number ranging from -32,768 to 32,767.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
string
|
A sequence of characters.
|
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
word
|
A whole number ranging from -32,768 to 32,767.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
ubyte
|
An unsigned byte (0 to 255).
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
void
|
This means that the function doesn't return anything.
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
|
ROBOTC data types
TBaudRate
TBaudRate
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
baudRate1200
|
= 0
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate2400
|
= 1
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate4800
|
= 2
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate9600
|
= 3
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate14400
|
= 4
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate19200
|
= 5
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate28800
|
= 6
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate38400
|
= 7
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate57600
|
= 8
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate76800
|
= 9
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate100000
|
= 10
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate115200
|
= 11
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate200000
|
= 12
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate230400
|
= 13
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRate250000
|
= 14
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
baudRateUndefined
|
= 15
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
|
[pic]
|
|
|
TBTCommands
TBTCommands
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
SENDFILE
|
= 0
|
|
|
|
[nxt]
|
|
[tetrix]
|
SEARCH
|
= 1 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
STOPSEARCH
|
= 2 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
CONNECT
|
= 3
|
|
|
|
[nxt]
|
|
[tetrix]
|
DISCONNECT
|
= 4
|
|
|
|
[nxt]
|
|
[tetrix]
|
DISCONNECTALL
|
= 5
|
|
|
|
[nxt]
|
|
[tetrix]
|
REMOVEDEVICE
|
= 6
|
|
|
|
[nxt]
|
|
[tetrix]
|
VISIBILITY
|
= 7
|
|
|
|
[nxt]
|
|
[tetrix]
|
SETCMDMODE
|
= 8 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
OPENSTREAM
|
= 9
|
|
|
|
[nxt]
|
|
[tetrix]
|
SENDDATA
|
= 10 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
FACTORYRESET
|
= 11
|
|
|
|
[nxt]
|
|
[tetrix]
|
BTON
|
= 12
|
|
|
|
[nxt]
|
|
[tetrix]
|
BTOFF
|
= 13
|
|
|
|
[nxt]
|
|
[tetrix]
|
SETBTNAME
|
= 14
|
|
|
|
[nxt]
|
|
[tetrix]
|
EXTREAD
|
= 15 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
PinReq
|
= 16 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
CONNECTREQ
|
= 17 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
IDLE
|
= 18
|
|
|
|
[nxt]
|
|
[tetrix]
|
LinkQualityReq
|
= 19. Requests quality of link from Bluecore.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opSetRawDataMode
|
= 20. Sets Bluecore into Raw Data mode.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opSetDefaultPIN
|
= 21. Sets default Passcode. Immediate command. Bluecore interaction not required.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opGetDefaultPIN
|
= 22. Retrieves default Passcode. Immediate command. Bluecore interaction not required.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opSetSessionPIN
|
= 23. Sets session Passcode. Immediate command. Initialized to "default" passcode on power up
|
|
|
|
[nxt]
|
|
[tetrix]
|
opGetSessionPIN
|
= 24. Retrieves session Passcode. Immediate command. Bluecore interaction not required.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opResetSessionPIN
|
= 25. Resets session Passcode to default passcode.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opGetFriendlyName
|
= 26. Gets the Bluetooth "Friendly Name" String.
|
|
|
|
[nxt]
|
|
[tetrix]
|
opGetBTAddress
|
= 27
|
|
|
|
[nxt]
|
|
[tetrix]
|
opGetMyContactInfo
|
= 28. // Gets info on selected "My Contacts" list.
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TButtons
TButtons
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
kNoButton
|
= -1
|
|
|
|
[nxt]
|
|
[tetrix]
|
kExitButton
|
= 0. NXT Exit button.
|
|
|
|
[nxt]
|
|
[tetrix]
|
kRightButton
|
= 1. NXT Right-Arrow button.
|
|
|
|
[nxt]
|
|
[tetrix]
|
kLeftButton
|
= 2. NXT Left-Arrow button.
|
|
|
|
[nxt]
|
|
[tetrix]
|
kEnterButton
|
= 3. NXT Enter button (orange square).
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TFileHandle
TFileHandle
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
TFileHandle
|
#define TFileHandle short
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TFileIOResult
TFileIOResult
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
ioRsltSuccess
|
= (0x00FF & (SUCCESS >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltInProgress
|
= (0x00FF & (0x01))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltReqPIN
|
= (0x00FF & (0x02))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNoMoreHandles
|
= (0x00FF & (NOMOREHANDLES >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNoSpace
|
= (0x00FF & (NOSPACE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNoMoreFiles
|
= (0x00FF & (NOMOREFILES >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltEofExpected
|
= (0x00FF & (EOFEXSPECTED >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltEndOfFile
|
= (0x00FF & (ENDOFFILE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNotLinearFile
|
= (0x00FF & (NOTLINEARFILE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileNotFound
|
= (0x00FF & (FILENOTFOUND >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltHandleAlreadyClosed
|
= (0x00FF & (HANDLEALREADYCLOSED >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNoLinearSpace
|
= (0x00FF & (NOLINEARSPACE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltUndefinedError
|
= (0x00FF & (UNDEFINEDERROR >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileIsBusy
|
= (0x00FF & (FILEISBUSY >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltNoWriteBuffers
|
= (0x00FF & (NOWRITEBUFFERS >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltAppendNotPossible
|
= (0x00FF & (APPENDNOTPOSSIBLE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileIsFull
|
= (0x00FF & (FILEISFULL >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileExists
|
= (0x00FF & (FILEEXISTS >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltModuleNotFound
|
= (0x00FF & (MODULENOTFOUND >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltOutOfBoundery
|
= (0x00FF & (OUTOFBOUNDERY >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltIllegalFilename
|
= (0x00FF & (ILLEGALFILENAME >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltIllegalHandle
|
= (0x00FF & (ILLEGALHANDLE >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltBTBusy
|
= (0x00FF & (BTBUSY >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltBTConnectFail
|
= (0x00FF & (BTCONNECTFAIL >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltBTTimeout
|
= (0x00FF & (BTTIMEOUT >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileTxTimeout
|
= (0x00FF & (FILETX_TIMEOUT >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileTxDSTExists
|
= (0x00FF & (FILETX_DSTEXISTS >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileTxSRCMissing
|
= (0x00FF & (FILETX_SRCMISSING >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileTxStreamError
|
= (0x00FF & (FILETX_STREAMERROR >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltFileTxCloseError
|
= (0x00FF & (FILETX_CLOSEERROR >> 8))
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltCommChannelBusError
|
= (0x00FF & -35). (0xDD Something went wrong on the communications bus)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltCommBufferFull
|
= (0x00FF & -34). (0xDE No room in comm buffer)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltCommChannelBad
|
= (0x00FF & -33). (0xDF Specified channel/connection is not valid)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltCommChannelNotReady
|
= (0x00FF & -32). (0xE0 Specified channel/connection not configured or busy)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_COMM_BUFFER_FULL
|
= ((short) ioRsltCommBufferFull)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_COMM_CHAN_INVALID
|
= ((short) ioRsltCommChannelBad)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_INVALID_PORT
|
= (0x00FF & -16)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_INVALID_FIELD
|
= (0x00FF & -17)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_INVALID_QUEUE
|
= (0x00FF & -18)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ERR_INVALID_SIZE
|
= (0x00FF & -19)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltCommPending
|
= (0x00FF & STAT_COMM_PENDING)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltEmptyMailbox
|
= (0x00FF & STAT_MSG_EMPTY_MAILBOX)
|
|
|
|
[nxt]
|
|
[tetrix]
|
ioRsltBadArgs
|
= (0x00FF & ERR_ARG)
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TI2CStatus
TI2CStatus
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
NO_ERR
|
= 0
|
|
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
STAT_COMM_PENDING
|
= 32
|
|
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
ERR_COMM_CHAN_NOT_READY
|
= -32
|
|
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
ERR_COMM_BUS_ERR
|
= -35
|
|
|
[cortex]
|
[nxt]
|
|
[tetrix]
|
|
TMailboxIDs
TMailboxIDs
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
mailbox1
|
= 0
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox2
|
= 1
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox3
|
= 2
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox4
|
= 3
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox5
|
= 4
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox6
|
= 5
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox7
|
= 6
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox8
|
= 7
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox9
|
= 8
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox10
|
= 9
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox11
|
= 10 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox12
|
= 11 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox13
|
= 12 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox14
|
= 13 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox15
|
= 14 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox16
|
= 15 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox17
|
= 16 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox18
|
= 17 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox19
|
= 18 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
mailbox20
|
= 19 (For Internal use only!)
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TMotorRegulation
TMotorRegulation
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
mtrNoReg
|
= 0
|
|
|
|
[nxt]
|
|
[tetrix]
|
mtrSpeedReg
|
= 1
|
|
|
|
[nxt]
|
|
[tetrix]
|
mtrSyncRegMaster
|
= 2
|
|
|
|
[nxt]
|
|
[tetrix]
|
mtrSyncRegSlave
|
= 3
|
|
|
|
[nxt]
|
|
[tetrix]
|
mtrEncoderReg
|
= 4
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TNxtRunState
TNxtRunState
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
runStateIdle
|
= 0x00. Published IOMAP value. Do Not Change.
|
|
|
|
[nxt]
|
|
[tetrix]
|
runStateRampUp
|
= 0x10. Published IOMAP value. Do Not Change.
|
|
|
|
[nxt]
|
|
[tetrix]
|
runStateRunning
|
= 0x20. Published IOMAP value. Do Not Change.
|
|
|
|
[nxt]
|
|
[tetrix]
|
runStateRampDown
|
= 0x40. Published IOMAP value. Do Not Change.
|
|
|
|
[nxt]
|
|
[tetrix]
|
runStateHoldPosition
|
= 0x01
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TPCJoystick
TPCJoystick
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
joy1_x1
|
(short) -128 to +127
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
joy1_x2
|
(short) -128 to +127
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
joy1_y1
|
(short) -128 to +127
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
joy1_y2
|
(short) -128 to +127
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
joy1_Buttons
|
(short) Bit map for 12-buttons.
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
joy1_TopHat
|
(short) Value of -1 = not pressed, otherwise 0 to 7 for selected "octant".
|
[arduino 328]
|
[arduino Mega]
|
|
[nxt]
|
|
[tetrix]
|
|
tSensors
tSensors
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
S1
|
= 0
|
|
|
|
[nxt]
|
|
[tetrix]
|
S2
|
= 1
|
|
|
|
[nxt]
|
|
[tetrix]
|
S3
|
= 2
|
|
|
|
[nxt]
|
|
[tetrix]
|
S4
|
= 3
|
|
|
|
[nxt]
|
|
[tetrix]
|
in1
|
= 0
|
|
|
[cortex]
|
|
[pic]
|
|
in2
|
= 1
|
|
|
[cortex]
|
|
[pic]
|
|
in3
|
= 2
|
|
|
[cortex]
|
|
[pic]
|
|
in4
|
= 3
|
|
|
[cortex]
|
|
[pic]
|
|
in5
|
= 4
|
|
|
[cortex]
|
|
[pic]
|
|
in6
|
= 5
|
|
|
[cortex]
|
|
[pic]
|
|
in7
|
= 6
|
|
|
[cortex]
|
|
[pic]
|
|
in8
|
= 7
|
|
|
[cortex]
|
|
[pic]
|
|
in9
|
= 8
|
|
|
|
|
[pic]
|
|
in10
|
= 9
|
|
|
|
|
[pic]
|
|
in11
|
= 10
|
|
|
|
|
[pic]
|
|
in12
|
= 11
|
|
|
|
|
[pic]
|
|
in13
|
= 12
|
|
|
|
|
[pic]
|
|
in14
|
= 13
|
|
|
|
|
[pic]
|
|
in15
|
= 14
|
|
|
|
|
[pic]
|
|
in16
|
= 15
|
|
|
|
|
[pic]
|
|
dgtl1
|
= 8
|
|
|
[cortex]
|
|
|
|
dgtl2
|
= 9
|
|
|
[cortex]
|
|
|
|
dgtl3
|
= 10
|
|
|
[cortex]
|
|
|
|
dgtl4
|
= 11
|
|
|
[cortex]
|
|
|
|
dgtl5
|
= 12
|
|
|
[cortex]
|
|
|
|
dgtl6
|
= 13
|
|
|
[cortex]
|
|
|
|
dgtl7
|
= 14
|
|
|
[cortex]
|
|
|
|
dgtl8
|
= 15
|
|
|
[cortex]
|
|
|
|
dgtl9
|
= 16
|
|
|
[cortex]
|
|
|
|
dgtl10
|
= 17
|
|
|
[cortex]
|
|
|
|
dgtl11
|
= 18
|
|
|
[cortex]
|
|
|
|
dgtl12
|
= 19
|
|
|
[cortex]
|
|
|
|
I2C_1
|
= 20
|
|
|
[cortex]
|
|
|
|
I2C_2
|
= 21
|
|
|
[cortex]
|
|
|
|
I2C_3
|
= 22
|
|
|
[cortex]
|
|
|
|
I2C_4
|
= 23
|
|
|
[cortex]
|
|
|
|
I2C_5
|
= 24
|
|
|
[cortex]
|
|
|
|
I2C_6
|
= 25
|
|
|
[cortex]
|
|
|
|
I2C_7
|
= 26
|
|
|
[cortex]
|
|
|
|
I2C_8
|
= 27
|
|
|
[cortex]
|
|
|
|
|
tSensors (Arduino 328)
tSensors
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
anlg0 through anlg5
|
Analog IN ports
|
[arduino 328]
|
|
|
|
|
|
dgtl0
|
also RX port
|
[arduino 328]
|
|
|
|
|
|
dgtl1
|
also TX port
|
[arduino 328]
|
|
|
|
|
|
dgtl2
|
Digital port
|
[arduino 328]
|
|
|
|
|
|
dgtl3
|
PWM port
|
[arduino 328]
|
|
|
|
|
|
dgtl4
|
Digital port
|
[arduino 328]
|
|
|
|
|
|
dgtl5
|
PWM port
|
[arduino 328]
|
|
|
|
|
|
dgtl6
|
PWM port
|
[arduino 328]
|
|
|
|
|
|
dgtl7
|
PWM port
|
[arduino 328]
|
|
|
|
|
|
dgtl8
|
PWM port
|
[arduino 328]
|
|
|
|
|
|
dgtl9
|
PWM port
|
[arduino 328]
|
|
|
|
|
|
dgtl10
|
PWM port
|
[arduino 328]
|
|
|
|
|
|
dgtl11
|
PWM port
|
[arduino 328]
|
|
|
|
|
|
dgtl12
|
Digital port
|
[arduino 328]
|
|
|
|
|
|
dgtl13
|
Digital port
|
[arduino 328]
|
|
|
|
|
|
TSounds
TSounds
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundBlip
|
= 0
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundBeepBeep
|
= 1
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundDownwardTones
|
= 2
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundUpwardTones
|
= 3
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundLowBuzz
|
= 4
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundFastUpwardTones
|
= 5
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundShortBlip
|
= 6
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundException
|
= 7
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundLowBuzzShort
|
= 8
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
|
TSynchedMotors
TSynchedMotors
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
synchNone
|
= 0
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchAB
|
= 1
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchAC
|
= 2
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchBA
|
= 3
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchBC
|
= 4
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchCA
|
= 5
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchCB
|
= 6
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TTimers
TTimers
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
T1
|
= 0
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
T2
|
= 1
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
T3
|
= 2
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
T4
|
= 3
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
|
TUARTs
TUARTs
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
uartOne
|
= 0
|
|
|
[cortex]
|
|
[pic]
|
|
uartTwo
|
= 1
|
|
|
[cortex]
|
|
[pic]
|
|
uartThree
|
= 2
|
|
|
[cortex]
|
|
[pic]
|
|
UART0
|
= 0
|
[arduino 328]
|
[arduino Mega]
|
|
|
|
|
UART1
|
= 1
|
[arduino 328]
|
[arduino Mega]
|
|
|
|
|
UART2
|
= 2
|
[arduino 328]
|
[arduino Mega]
|
|
|
|
|
UART3
|
= 3
|
[arduino 328]
|
[arduino Mega]
|
|
|
|
|
|
TVexJoysticks
TVexJoysticks
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
Ch1
|
= 0
|
|
|
[cortex]
|
|
[pic]
|
|
Ch2
|
= 1
|
|
|
[cortex]
|
|
[pic]
|
|
Ch3
|
= 2
|
|
|
[cortex]
|
|
[pic]
|
|
Ch4
|
= 3
|
|
|
[cortex]
|
|
[pic]
|
|
Ch5
|
= 4
|
|
|
[cortex]
|
|
[pic]
|
|
Ch6
|
= 5
|
|
|
[cortex]
|
|
[pic]
|
|
Btn5U
|
= Btn5D + 1
|
|
|
[cortex]
|
|
[pic]
|
|
Btn5D
|
= 14
|
|
|
[cortex]
|
|
[pic]
|
|
Btn6U
|
= Btn5D + 3
|
|
|
[cortex]
|
|
[pic]
|
|
Btn6D
|
= Btn5D + 2
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7U
|
= Btn5D + 10
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7D
|
= Btn5D + 8
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7L
|
= Btn5D + 9
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7R
|
= Btn5D + 11
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8U
|
= Btn5D + 6
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8D
|
= Btn5D + 4
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8L
|
= Btn5D + 5
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8R
|
= Btn5D + 7
|
|
|
[cortex]
|
|
[pic]
|
|
AccelX
|
= 38
|
|
|
[cortex]
|
|
[pic]
|
|
AccelY
|
= AccelX + 1
|
|
|
[cortex]
|
|
[pic]
|
|
AccelZ
|
= AccelX + 2
|
|
|
[cortex]
|
|
[pic]
|
|
Ch1Xmtr2
|
= 6
|
|
|
[cortex]
|
|
[pic]
|
|
Ch2Xmtr2
|
= 7
|
|
|
[cortex]
|
|
[pic]
|
|
Ch3Xmtr2
|
= 8
|
|
|
[cortex]
|
|
[pic]
|
|
Ch4Xmtr2
|
= 9
|
|
|
[cortex]
|
|
[pic]
|
|
Ch5Xmtr2
|
= 10
|
|
|
[cortex]
|
|
[pic]
|
|
Ch6Xmtr2
|
= 11
|
|
|
[cortex]
|
|
[pic]
|
|
Btn5UXmtr2
|
= Btn5DXmtr2 + 1
|
|
|
[cortex]
|
|
[pic]
|
|
Btn5DXmtr2
|
= 26
|
|
|
[cortex]
|
|
[pic]
|
|
Btn6UXmtr2
|
= Btn5DXmtr2 + 3
|
|
|
[cortex]
|
|
[pic]
|
|
Btn6DXmtr2
|
= Btn5DXmtr2 + 2
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7UXmtr2
|
= Btn5DXmtr2 + 10
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7DXmtr2
|
= Btn5DXmtr2 + 8
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7LXmtr2
|
= Btn5DXmtr2 + 9
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7RXmtr2
|
= Btn5DXmtr2 + 11
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8UXmtr2
|
= Btn5DXmtr2 + 6
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8DXmtr2
|
= Btn5DXmtr2 + 4
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8LXmtr2
|
= Btn5DXmtr2 + 5
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8RXmtr2
|
= Btn5DXmtr2 + 7
|
|
|
[cortex]
|
|
[pic]
|
|
AccelXXmtr2
|
= 41
|
|
|
[cortex]
|
|
[pic]
|
|
AccelYXmtr2
|
= AccelXXmtr2 + 1
|
|
|
[cortex]
|
|
[pic]
|
|
AccelZXmtr2
|
= AccelXXmtr2 + 2
|
|
|
[cortex]
|
|
[pic]
|
|
|
TVexReceiverState
TVexReceiverState
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
vrNoXmiters
|
= 0 No transmitters connected
|
|
|
[cortex]
|
|
|
|
vrXmit1
|
= 0x01 1: Transmitter 1 connected
|
|
|
[cortex]
|
|
|
|
vrXmit2
|
= 0x02 1: Transmitter 2 connected
|
|
|
[cortex]
|
|
|
|
vrBit2
|
= 0x04 unused
|
|
|
[cortex]
|
|
|
|
vrCompetitionSwitch
|
= 0x08 0: No Comp Switch 1: Competition Switch attached
|
|
|
[cortex]
|
|
|
|
vrResetSlave
|
= 0x10 unused
|
|
|
[cortex]
|
|
|
|
vrGameController
|
= 0x20 0: Legacy75MHz 1: Game Controller
|
|
|
[cortex]
|
|
|
|
vrAutonomousMode
|
= 0x40 0: Driver Control 1: Autonomous Mode
|
|
|
[cortex]
|
|
|
|
vrDisabled
|
= 0x80 0: Enabled 1: Disabled
|
|
|
[cortex]
|
|
|
|
|
TSounds
TSounds
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundBlip
|
= 0
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundBeepBeep
|
= 1
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundDownwardTones
|
= 2
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundUpwardTones
|
= 3
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundLowBuzz
|
= 4
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundFastUpwardTones
|
= 5
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundShortBlip
|
= 6
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundException
|
= 7
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
soundLowBuzzShort
|
= 8
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
|
TSynchedMotors
TSynchedMotors
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
synchNone
|
= 0
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchAB
|
= 1
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchAC
|
= 2
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchBA
|
= 3
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchBC
|
= 4
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchCA
|
= 5
|
|
|
|
[nxt]
|
|
[tetrix]
|
synchCB
|
= 6
|
|
|
|
[nxt]
|
|
[tetrix]
|
|
TTimers
TTimers
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
T1
|
= 0
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
T2
|
= 1
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
T3
|
= 2
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
T4
|
= 3
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
|
TUARTs
TUARTs
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
uartOne
|
= 0
|
|
|
[cortex]
|
|
[pic]
|
|
uartTwo
|
= 1
|
|
|
[cortex]
|
|
[pic]
|
|
uartThree
|
= 2
|
|
|
[cortex]
|
|
[pic]
|
|
UART0
|
= 0
|
[arduino 328]
|
[arduino Mega]
|
|
|
|
|
UART1
|
= 1
|
[arduino 328]
|
[arduino Mega]
|
|
|
|
|
UART2
|
= 2
|
[arduino 328]
|
[arduino Mega]
|
|
|
|
|
UART3
|
= 3
|
[arduino 328]
|
[arduino Mega]
|
|
|
|
|
|
TVexJoysticks
TVexJoysticks
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
Ch1
|
= 0
|
|
|
[cortex]
|
|
[pic]
|
|
Ch2
|
= 1
|
|
|
[cortex]
|
|
[pic]
|
|
Ch3
|
= 2
|
|
|
[cortex]
|
|
[pic]
|
|
Ch4
|
= 3
|
|
|
[cortex]
|
|
[pic]
|
|
Ch5
|
= 4
|
|
|
[cortex]
|
|
[pic]
|
|
Ch6
|
= 5
|
|
|
[cortex]
|
|
[pic]
|
|
Btn5U
|
= Btn5D + 1
|
|
|
[cortex]
|
|
[pic]
|
|
Btn5D
|
= 14
|
|
|
[cortex]
|
|
[pic]
|
|
Btn6U
|
= Btn5D + 3
|
|
|
[cortex]
|
|
[pic]
|
|
Btn6D
|
= Btn5D + 2
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7U
|
= Btn5D + 10
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7D
|
= Btn5D + 8
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7L
|
= Btn5D + 9
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7R
|
= Btn5D + 11
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8U
|
= Btn5D + 6
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8D
|
= Btn5D + 4
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8L
|
= Btn5D + 5
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8R
|
= Btn5D + 7
|
|
|
[cortex]
|
|
[pic]
|
|
AccelX
|
= 38
|
|
|
[cortex]
|
|
[pic]
|
|
AccelY
|
= AccelX + 1
|
|
|
[cortex]
|
|
[pic]
|
|
AccelZ
|
= AccelX + 2
|
|
|
[cortex]
|
|
[pic]
|
|
Ch1Xmtr2
|
= 6
|
|
|
[cortex]
|
|
[pic]
|
|
Ch2Xmtr2
|
= 7
|
|
|
[cortex]
|
|
[pic]
|
|
Ch3Xmtr2
|
= 8
|
|
|
[cortex]
|
|
[pic]
|
|
Ch4Xmtr2
|
= 9
|
|
|
[cortex]
|
|
[pic]
|
|
Ch5Xmtr2
|
= 10
|
|
|
[cortex]
|
|
[pic]
|
|
Ch6Xmtr2
|
= 11
|
|
|
[cortex]
|
|
[pic]
|
|
Btn5UXmtr2
|
= Btn5DXmtr2 + 1
|
|
|
[cortex]
|
|
[pic]
|
|
Btn5DXmtr2
|
= 26
|
|
|
[cortex]
|
|
[pic]
|
|
Btn6UXmtr2
|
= Btn5DXmtr2 + 3
|
|
|
[cortex]
|
|
[pic]
|
|
Btn6DXmtr2
|
= Btn5DXmtr2 + 2
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7UXmtr2
|
= Btn5DXmtr2 + 10
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7DXmtr2
|
= Btn5DXmtr2 + 8
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7LXmtr2
|
= Btn5DXmtr2 + 9
|
|
|
[cortex]
|
|
[pic]
|
|
Btn7RXmtr2
|
= Btn5DXmtr2 + 11
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8UXmtr2
|
= Btn5DXmtr2 + 6
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8DXmtr2
|
= Btn5DXmtr2 + 4
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8LXmtr2
|
= Btn5DXmtr2 + 5
|
|
|
[cortex]
|
|
[pic]
|
|
Btn8RXmtr2
|
= Btn5DXmtr2 + 7
|
|
|
[cortex]
|
|
[pic]
|
|
AccelXXmtr2
|
= 41
|
|
|
[cortex]
|
|
[pic]
|
|
AccelYXmtr2
|
= AccelXXmtr2 + 1
|
|
|
[cortex]
|
|
[pic]
|
|
AccelZXmtr2
|
= AccelXXmtr2 + 2
|
|
|
[cortex]
|
|
[pic]
|
|
|
TVexReceiverState
TVexReceiverState
Command
|
Comments
|
[arduino 328]
|
[arduino Mega]
|
[cortex]
|
[nxt]
|
[pic]
|
[tetrix]
|
vrNoXmiters
|
= 0 No transmitters connected
|
|
|
[cortex]
|
|
|
|
vrXmit1
|
= 0x01 1: Transmitter 1 connected
|
|
|
[cortex]
|
|
|
|
vrXmit2
|
= 0x02 1: Transmitter 2 connected
|
|
|
[cortex]
|
|
|
|
vrBit2
|
= 0x04 unused
|
|
|
[cortex]
|
|
|
|
vrCompetitionSwitch
|
= 0x08 0: No Comp Switch 1: Competition Switch attached
|
|
|
[cortex]
|
|
|
|
vrResetSlave
|
= 0x10 unused
|
|
|
[cortex]
|
|
|
|
vrGameController
|
= 0x20 0: Legacy75MHz 1: Game Controller
|
|
|
[cortex]
|
|
|
|
vrAutonomousMode
|
= 0x40 0: Driver Control 1: Autonomous Mode
|
|
|
[cortex]
|
|
|
|
vrDisabled
|
= 0x80 0: Enabled 1: Disabled
|
|
|
[cortex]
|
|
|
|
|
|