Bfeher: Created page with "NXT|NXT {| class="wikiText" |- |The ROBOTC Natural Language Library aims at making learning and using text-based..."

2012-04-18T20:32:35Z

Created page with "<yambe:breadcrumb self="Natural Language">NXT|NXT</yambe:breadcrumb> {| class="wikiText" |- |The ROBOTC Natural Language Library aims at making learning and using text-based..."

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<yambe:breadcrumb self="Natural Language">NXT|NXT</yambe:breadcrumb>

{| class="wikiText"
|-
|The ROBOTC Natural Language Library aims at making learning and using text-based programming languages easier for beginners. The Natural Language Library is filled with commands that are both easy to use and easy to remember. Natural Language commands encompass entire robot behaviors into a single command.

Natural Language can be enabled in ROBOTC by going to the Robot menu, then Platform Type, and then by selecting one of the Natural Language options.
|-
|}

{{tl|1|1}}

== Video ==
{| class="wikiText"
|-
|This video explains the ROBOTC Natural Language:
{{#ev:youtubehd|KtUsc1x_h6M}}
|-
|}

== Setup Functions ==
=== robotType ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void robotType(tRobotType type = none)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:robot_type.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Choose which robot you want to write a program for.

Acceptable robots: Rembot or none (no setup).

(If you don't use this function at all, it will default to none!)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''type''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|The robot model to use. (default: none)
| style="border-style: solid; border-width: 1px 0px 0px 0px"|none rembot
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
robotType(); // default (none) is used
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
robotType(rembot); // rembot will be used
</syntaxhighlight>
|-
|}
|-
|}
 

== Wait Functions ==
=== wait ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void wait(float waitTime = 1.0)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:wait_seconds.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Wait an amount of time measured in seconds.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''waitTime''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|Amount of time to wait, in seconds. (default: 1.0)
| style="border-style: solid; border-width: 1px 0px 0px 0px"|Any floating point amount:
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
!
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.####
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.0000 to +2,048.0000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.###
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.000 to +32,768.000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.##
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.00 to +262,144.00
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.#
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.0 to +2,097,200.0
|-
|}
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
wait(); // wait for 1.0 seconds (default)
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
wait(2.7); // wait for 2.7 seconds
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== waitInMilliseconds ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void waitInMilliseconds(long waitTime = 1000)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:wait_milliseconds.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Wait an amount of time measured in milliseconds.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''waitTime''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|Amount of time to wait, in seconds. (default: 1000)
| style="border-style: solid; border-width: 1px 0px 0px 0px"|Any integer amount from 0 to +2,147,483,647.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
waitInMilliseconds(); // wait for 1000 milliseconds (default)
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
waitInMilliseconds(2700); // wait for 2700 milliseconds (2.7 seconds)
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

== Movement Functions ==
=== startMotor ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void startMotor(tMotor motorPort = motorA, byte speed = 75)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:set_motor.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Set a motor to a speed.

Range: -100 to 100

Acceptable Motors: ports A through C,
(and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''motorPort''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The motor port to use. (default: motorA)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|motorA motorB motorC Or their names setup in Motors and Sensors Setup.
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''speed''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The speed to set the motor to. (default: 75)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-100 to +100
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
startMotor(); // starts motorA at speed 75 (default)
wait();
stopMotor();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
startMotor(motorB, -25); // start motorB at speed -25
wait(0.5); // wait 0.5 seconds
stopMotor(motorB); // stop motorB
</syntaxhighlight>
|-
|}
|-
|}
 

=== stopMotor ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void stopMotor(tMotor motorPort = motorA)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:arm_stop.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Stops a motor.

Acceptable Motors: ports A through C,
(and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''motorPort''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|The motor port to use. (default: motorA)
| style="border-style: solid; border-width: 1px 0px 0px 0px"|motorA motorB motorC Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
startMotor();
wait();
stopMotor(); // stop motorA (default)
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
startMotor(motorB, -25); // start motorB at speed -25
wait(0.5); // wait 0.5 seconds
stopMotor(motorB); // stop motorB
</syntaxhighlight>
|-
|}
|-
|}
 

== Robot Movement Functions ==
=== forward ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void forward(byte speed = 75)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:forward.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Both wheels rotate forward at the same speed and the robot moves straight forward.

Range: -100 to 100
(Forward will always move your robot forward.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''speed''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|The speed to move forward at. (default: 75)
| style="border-style: solid; border-width: 1px 0px 0px 0px"|-100 to +100
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(); // move forward at speed 75 (default)
wait();
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // move forward at speed 50
wait(2.0); // wait 2.0 seconds
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== backward ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void backward(byte speed = -75)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:backward.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Both wheels rotate backward at the same speed and the robot moves straight backward.

Range: -100 to 100
(Backward will always move your robot backward.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''speed''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|The speed to move backward at. (default: -75)
| style="border-style: solid; border-width: 1px 0px 0px 0px"|-100 to +100
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
backward(); // move backward at speed -75 (default)
wait();
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
backward(-50); // move backward at speed -50
wait(2.0); // wait 2.0 seconds
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== pointTurn ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void pointTurn(tDirections direction = right, byte speed = 75)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:point_turn.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Both wheels rotate at the same speed but in opposite directions, causing the robot to turn around it's center. This makes a sharp turn in place.

Range: -100 to 100
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''direction''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The direction to turn. (default: right)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|right left
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''speed''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The speed to move turn at. (default: 75)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-100 to +100
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
pointTurn(); // point turn right at speed 75 (default)
wait();
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
pointTurn(left, 50); // point turn LEFT at speed 50
wait(0.4); // wait 0.4 seconds
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== swingTurn ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void swingTurn(tDirections direction = right, byte speed = 75)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:swing_turn.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) One wheel rotates while the other does not move, causing the robot to turn around the stopped wheel. This makes a wide turn.

Range: -100 to 100
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''direction''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The direction to turn. (default: right)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|right left
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''speed''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The speed to move turn at. (default: 75)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-100 to +100
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
swingTurn(); // swing turn right at speed 75 (default)
wait();
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
swingTurn(left, 50); // swing turn LEFT at speed 50
wait(0.75); // wait 0.75 seconds
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== stop ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void stop()
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:stop.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Both wheels do not move, causing the robot to stop.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
wait();
stop(); // stop the robot
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // move forward at speed 50
wait(2.0); // wait 2.0 seconds
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== lineTrackForTime ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void lineTrackForTime(float trackTime = 5.0, int threshold = 45, tSensors sensorPort = S3)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:lineTrackTime.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot will track a black line on a white surface for a specified time in seconds.

Threshold Range: (dark) 0 to 100 (light)

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''trackTime''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of time in seconds to track a line. (default: 5.0)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any floating point amount:
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
!
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.####
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.0000 to +2,048.0000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.###
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.000 to +32,768.000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.##
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.00 to +262,144.00
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.#
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.0 to +2,097,200.0
|-
|}
|-
| style="border-style: solid; border-width: 0px 0px 1px 0px"|''threshold''
| style="border-style: solid; border-width: 0px 0px 1px 0px"|The threshold to compare colors against. (default: 45)
| style="border-style: solid; border-width: 0px 0px 1px 0px"|0 to +100
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the light sensor. (default: S3)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
lineTrackForTime(); /* track a black line for 5.0 seconds,
using a threshold of 45 and a
light sensor in port S3 (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
lineTrackForTime(7.5, 25, S1); /* track a black line for 7.5 seconds,
using a threshold of 25 and a
light sensor in port S1 */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== lineTrackForRotations ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void lineTrackForRotations(float rotations = 3.0, int threshold = 45, tSensors sensorPort = S3)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:lineTrackDist.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot will track a black line on a white surface for a specified distance in rotations.

Threshold Range: (dark) 0 to 100 (light)

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''rotations''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of axle rotations to track a line. (default: 3.0)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any floating point amount:
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
!
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.####
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-2,048.0000 to +2,048.0000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.###
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-32,768.000 to +32,768.000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.##
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-262,144.00 to +262,144.00
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.#
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-2,097,200.0 to +2,097,200.0
|-
|}
|-
| style="border-style: solid; border-width: 0px 0px 1px 0px"|''threshold''
| style="border-style: solid; border-width: 0px 0px 1px 0px"|The threshold to compare colors against. (default: 45)
| style="border-style: solid; border-width: 0px 0px 1px 0px"|0 to +100
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the light sensor. (default: S3)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
lineTrackForRotations(); /* track a black line for 3.0 rotations,
using a threshold of 45 and a
light sensor in port S3 (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
lineTrackForRotations(4.75, 25, S1); /* track a black line for 4.75 rotations,
using a threshold of 25 and a
light sensor in port S1 */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== moveStraightForTime ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void moveStraightForTime(float seconds = 5.0, tMotor rightEncoderPort = motorB, tMotor leftEncoderPort = motorC)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:move_straight_time.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot will use encoders to maintain a straight course for a length of time in seconds.

*NOTE: This function only supports moving forward and only at one speed setting. Future implementations may include moving backwards and variable speeds.

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''seconds''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of time in seconds to drive straight forward. (default: 5.0)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any floating point amount:
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
!
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.####
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.0000 to +2,048.0000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.###
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.000 to +32,768.000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.##
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.00 to +262,144.00
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.#
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.0 to +2,097,200.0
|-
|}
|-
| style="border-style: solid; border-width: 0px 0px 1px 0px"|''rightEncoderPort''
| style="border-style: solid; border-width: 0px 0px 1px 0px"|The right-side motor encoder. (default: motorB)
| style="border-style: solid; border-width: 0px 0px 1px 0px"|motorA motorB motorC Or their names setup in Motors and Sensors Setup.
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''leftEncoderPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The left-side motor encoder. (default: motorC)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|motorA motorB motorC Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
moveStraightForTime(); /* move straight forward for 5.0 seconds,
using motorB as the right-side encoder and
motorC as the left-side encoder (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
moveStraightForTime(7.5, motorA, motorC); /* move straight forward for 7.5 seconds,
using motorA as the right-side encoder
and motorC as the left-side encoder */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== moveStraightForRotations ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void moveStraightForRotations(float rotations = 1.0, tMotor rightEncoderPort = motorB, tMotor leftEncoderPort = motorC)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:move_straight_dist.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot will use encoders to maintain a straight course for a distance in rotations (360 encoder counts = 1 rotation).

*NOTE: This function only supports moving forward and only at one speed setting. Future implementations may include moving backwards and variable speeds.

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''rotations''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of axle rotations to drive straight forward. (default: 1.0)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any floating point amount:
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
!
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.####
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-2,048.0000 to +2,048.0000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.###
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-32,768.000 to +32,768.000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.##
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-262,144.00 to +262,144.00
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.#
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-2,097,200.0 to +2,097,200.0
|-
|}
|-
| style="border-style: solid; border-width: 0px 0px 1px 0px"|''rightEncoderPort''
| style="border-style: solid; border-width: 0px 0px 1px 0px"|The right-side motor encoder. (default: motorB)
| style="border-style: solid; border-width: 0px 0px 1px 0px"|motorA motorB motorC Or their names setup in Motors and Sensors Setup.
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''leftEncoderPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The left-side motor encoder. (default: motorC)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|motorA motorB motorC Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
moveStraightForRotations(); /* move straight forward for 1.0 rotations,
using motorB as the right-side encoder and
motorC as the left-side encoder (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
moveStraightForRotations(4.75, motorA, motorC); /* move straight forward for 4.75 rotations,
using motorA as the right-side encoder
and motorC as the left-side encoder */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== tankControl ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void tankControl(short &rightJoystick = joystick.joy1_y2, short &leftJoystick = joystick.joy1_y1, short threshold = 10)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:tank_control.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot will be remote controlled in such a way that the left motor is mapped to the left joystick and the right motor is mapped to the right joystick.

*NOTE: This function only supports 2 channels and works best with the joystics.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''rightJoystick''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The joystick to use as the RIGHT-side joystick. (default: joystick.joy1_y2)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any joystick: joy1_x1 joy1_x2 joy1_y1 joy1_y2 joy2_x1 joy2_x2 joy2_y1 joy2_y2
|-
| style="border-style: solid; border-width: 0px 0px 1px 0px"|''leftJoystick''
| style="border-style: solid; border-width: 0px 0px 1px 0px"|The joystick to use as the LEFT-side joystick. (default: joystick.joy1_y1)
| style="border-style: solid; border-width: 0px 0px 1px 0px"|Any joystick: joy1_x1 joy1_x2 joy1_y1 joy1_y2 joy2_x1 joy2_x2 joy2_y1 joy2_y2
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''threshold''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|This variable eliminates 'noise' caused by joysticks not returning back to the exact center. (default: 10)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0 to 100
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
while(true)
{
tankControl(); /* control the robot in 'tank' fashion
with the RIGHT joystick as joy1_y2 and
the LEFT joystick as joy1_y1, with a
threshold of 10 (default) */
}
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
while(true)
{
tankControl(joystick.joy1_y1, joystick.joy1_y2, 5); /* control the robot in 'tank' fashion
with the RIGHT joystick as joy1_y1 and
the LEFT joystick as joy1_y2, with a
threshold of 5 */
}
</syntaxhighlight>
|-
|}
|-
|}
 

=== arcadeControl ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void arcadeControl(short &verticalJoystick = joystick.joy1_y2, short &horizontalJoystick = joystick.joy1_y1, short threshold = 10)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:arcade_control.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot will be remote controlled in such a way that the movement of the robot is mapped to a single joystick, much like a retro arcade game.

*NOTE: This function only supports 2 channels and works best with the joystics.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''verticalJoystick''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The joystick to use as the vertical joystick. (default: joystick.joy1_y2)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any joystick: joy1_x1 joy1_x2 joy1_y1 joy1_y2 joy2_x1 joy2_x2 joy2_y1 joy2_y2
|-
| style="border-style: solid; border-width: 0px 0px 1px 0px"|''horizontalJoystick''
| style="border-style: solid; border-width: 0px 0px 1px 0px"|The joystick to use as the horizontal joystick. (default: joystick.joy1_x2)
| style="border-style: solid; border-width: 0px 0px 1px 0px"|Any joystick: joy1_x1 joy1_x2 joy1_y1 joy1_y2 joy2_x1 joy2_x2 joy2_y1 joy2_y2
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''threshold''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|This variable eliminates 'noise' caused by joysticks not returning back to the exact center. (default: 10)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0 to 100
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
while(true)
{
arcadeControl(); /* control the robot in 'arcade' fashion
with the VERTICAL joystick as joy1_y2
and the HORIZONTAL joystick as joy1_x2,
with a threshold of 10 (default) */
}
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
while(true)
{
arcadeControl(joystick.joy1_y1, joystick.joy1_y2, 5); /* control the robot in 'arcade' fashion
with the VERTICAL joystick as joy1_y1
and the HORIZONTAL joystick as joy1_y2,
with a threshold of 5 */
}
</syntaxhighlight>
|-
|}
|-
|}
 

== Until Functions ==
=== untilTouch ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilTouch(tSensors sensorPort = S1)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:touch_in.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the touch sensor is pressed in.

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''sensorPort''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|The sensor port to use for the light sensor. (default: S1)
| style="border-style: solid; border-width: 1px 0px 0px 0px"|S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilTouch(); // wait until the touch sensor in port S1 is pressed (default)
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
untilTouch(S3); // wait until the touch sensor in port S3 is pressed
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== untilRelease ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilRelease(tSensors sensorPort = S1)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:touch_out.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the touch sensor is released.

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''sensorPort''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|The sensor port to use for the light sensor. (default: S1)
| style="border-style: solid; border-width: 1px 0px 0px 0px"|S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilRelease(); // wait until the touch sensor in port S1 is released (default)
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
untilRelease(S3); // wait until the touch sensor in port S3 is released
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== untilBump ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilBump(tSensors sensorPort = S1, int delayTimeMS = 10)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:touch_bump.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the touch sensor is pressed in and then released out. A delay time in milliseconds can be specified.

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)

Acceptable Range for Delay Time:
0 to 2,147,483,647.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''sensorPort''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The sensor port to use for the light sensor. (default: S1)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''delayTimeMS''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The amount of milliseconds that MUST PASS between press and release of the sensor for it to count. (default: 10)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|Any whole integer amount from 0 to 2,147,483,647.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilBump(); /* wait until the touch sensor in port S1 is pressed and
then released with a delay time of 10 milliseconds (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
untilBump(S3, 100); /* wait until the touch sensor in port S3 is pressed and
then released with a delay time of 100 milliseconds */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== untilSonarGreaterThan ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilSonarGreaterThan(short distance = 30, tSensors sensorPort = S4)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:sonar_greater.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the sonar sensor reads a value greater than a set distance in centimeters.

Range: 0 to 254 (A value of 255 means it cannot detect anything.)

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''distance''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The distance in centimeters that an object must be farther than to count (default: 30)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 255.
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor. (default: S4)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilSonarGreaterThan(); /* wait until the sonar sensor in port S4 detects
an object farther than 30cm away (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
untilSonarGreaterThan(45, S2); /* wait until the sonar sensor in port S2
detects an object farther than 45cm away */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== untilSonarLessThan ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilSonarLessThan(short distance = 30, tSensors sensorPort = S4)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:sonar_less.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the sonar sensor reads a value less than a set distance in centimeters.

Range: 0 to 254 (A value of 255 means it cannot detect anything.)

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''distance''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The distance in centimeters that an object must be closer than to count (default: 30)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 255.
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor. (default: S4)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilSonarLessThan(); /* wait until the sonar sensor in port S4 detects
an object closer than 30cm away (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
untilSonarLessThan(45, S2); /* wait until the sonar sensor in port S2
detects an object closer than 45cm away */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== untilSoundGreaterThan ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilSoundGreaterThan(int threshold = 50, tSensors sensorPort = S2)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:sound_greater.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the sound sensor reads a value greater than a set threshold level.

Range: (quiet) 0 to 100 (loud)

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''threshold''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The threshold value that a sound must be louder than to count (default: 50)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 100.
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor. (default: S2)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilSoundGreaterThan(); /* wait until the sound sensor in port S2
detects a sound louder than 50 (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
untilSoundGreaterThan(85, S3); /* wait until the sound sensor in port
S3 detects a sound louder than 85 */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== untilSoundLessThan ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilSoundLessThan(int threshold = 50, tSensors sensorPort = S2)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:sound_less.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the sound sensor reads a value less than a set threshold level.

Range: (quiet) 0 to 100 (loud)

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''threshold''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The threshold value that a sound must be quieter than to count (default: 50)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 100.
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor. (default: S2)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilSoundLessThan(); /* wait until the sound sensor in port S2
detects a sound quieter than 50 (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
untilSoundLessThan(15, S3); /* wait until the sound sensor in port
S3 detects a sound quieter than 15 */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== untilButtonPress ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilButtonPress(short button = centerBtnNXT)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:press_right.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until a button on the NXT is pressed.

Acceptable Buttons:
centerBtnNXT, rightBtnNXT, leftBtnNXT
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''button''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|The button to press. (default: centerBtnNXT)
| style="border-style: solid; border-width: 1px 0px 0px 0px"|centerBtnNXT rightBtnNXT leftBtnNXT 
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilButtonPress(); /* wait until the center button
is pressed on the NXT LCD (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
untilButtonPress(rightBtnNXT); /* wait until the right button
is pressed on the NXT LCD */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== untilLight ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilLight(int threshold = 30, tSensors sensorPort = S3)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:until_light.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the light sensor reads a value lighter than the threshold.

Range: (light) 0 to 100 (dark)

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''threshold''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The threshold value that an object must be lighter than to count (default: 30)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 100.
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor. (default: S3)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilLight(); /* wait until the light sensor in port S3
detects an object lighter than 30 (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
untilLight(75, S1); /* wait until the light sensor in port S1
detects an object lighter than 75 */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== untilDark ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilDark(int threshold = 30, tSensors sensorPort = S3)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:until_dark.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the light sensor reads a value darker than the threshold.

Range: (light) 0 to 100 (dark)

Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''threshold''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The threshold value that an object must be darker than to count (default: 30)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 100.
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor. (default: S3)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilDark(); /* wait until the light sensor in port S3
detects an object darker than 30 (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // go forward at speed 50
untilDark(75, S1); /* wait until the light sensor in port S1
detects an object darker than 75 */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== untilRotations ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilRotations(float rotations = 1.0, tMotor motorPort = motorB)
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:rotations.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the motor encoder rotations match the desired value.

Range: -262,144.00 to +262,144.00

Acceptable Encoders: motor ports A through C (and your names for them given in Motors and Sensors Setup.)
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
|-
| style="border-style: solid; border-width: 1px 0px 1px 0px"|''rotations''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of axle rotations to reach. (default: 1.0)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any floating point amount:
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|
!
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.####
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-2,048.0000 to +2,048.0000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.###
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-32,768.000 to +32,768.000
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.##
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-262,144.00 to +262,144.00
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|0.#
| style="border-style: solid; border-width: 0px 0px 0px 0px"|-2,097,200.0 to +2,097,200.0
|-
|}
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|''motorPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The motor encoder to use. (default: motorB)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|motorA motorB motorC Or their names setup in Motors and Sensors Setup.
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilRotations(); /* wait until the motor encoder on
motorB counts 1.0 rotations (default) */
stop();
</syntaxhighlight>
|-
|}
|-
|
{| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
|-
| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // move forward at speed 50
untilRotations(2.75, motorA); /* wait until the motor encoder on
motorA counts 2.75 rotations */
stop(); // stop
</syntaxhighlight>
|-
|}
|-
|}
 

=== untilEncoderCounts ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
|-
| class="functionType"| void untilEncoderCounts(long distance = 360, tMotor motorPort = motorB)
|-
|
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| style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:encoder_counts.png]]
| style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the motor encoder rotations match the desired value.

Range: -2,147,483,648 to +2,147,483,647

Acceptable Encoders: motor ports A through C (and your names for them given in Motors and Sensors Setup.)
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! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
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| style="border-style: solid; border-width: 1px 0px 1px 0px"|''distance''
| style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of encoder counts to reach. (default: 360)
| style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from -2,147,483,648 to +2,147,483,647.
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| style="border-style: solid; border-width: 0px 0px 0px 0px"|''motorPort''
| style="border-style: solid; border-width: 0px 0px 0px 0px"|The motor encoder to use. (default: motorB)
| style="border-style: solid; border-width: 0px 0px 0px 0px"|motorA motorB motorC Or their names setup in Motors and Sensors Setup.
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! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
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| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward();
untilEncoderCounts(); /* wait until the motor encoder on
motorB counts 360 ticks (default) */
stop();
</syntaxhighlight>
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! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
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| style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
forward(50); // move forward at speed 50
untilEncoderCounts(990, motorA); /* wait until the motor encoder on
motorA counts 990 ticks (default) */
stop(); // stop
</syntaxhighlight>
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NXT Natural Language - Revision history

Bfeher: Created page with "NXT|NXT {| class="wikiText" |- |The ROBOTC Natural Language Library aims at making learning and using text-based..."