NXT Natural Language

NXT → Natural Language

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.

Color Key Function: Variable:

Video

This video explains the ROBOTC Natural Language:

Setup Functions

robotType

void robotType(tRobotType type = none)

(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!)

Parameter Explanation Acceptable Input type The robot model to use. (default: none) none rembot

Default Usage and Sample robotType(); // default (none) is used

Usage and Sample with Parameters robotType(rembot); // rembot will be used

Wait Functions

wait

void wait(float waitTime = 1.0)

(void) Wait an amount of time measured in seconds.

Parameter Explanation Acceptable Input waitTime Amount of time to wait, in seconds. (default: 1.0) Any floating point amount: 0.#### 0.0000 to +2,048.0000 0.### 0.000 to +32,768.000 0.## 0.00 to +262,144.00 0.# 0.0 to +2,097,200.0

Default Usage and Sample forward(); wait(); // wait for 1.0 seconds (default) stop();

Usage and Sample with Parameters forward(50); // go forward at speed 50 wait(2.7); // wait for 2.7 seconds stop(); // stop

waitInMilliseconds

void waitInMilliseconds(long waitTime = 1000)

(void) Wait an amount of time measured in milliseconds.

Parameter Explanation Acceptable Input waitTime Amount of time to wait, in seconds. (default: 1000) Any integer amount from 0 to +2,147,483,647.

Default Usage and Sample forward(); waitInMilliseconds(); // wait for 1000 milliseconds (default) stop();

Usage and Sample with Parameters forward(50); // go forward at speed 50 waitInMilliseconds(2700); // wait for 2700 milliseconds (2.7 seconds) stop(); // stop

Movement Functions

startMotor

void startMotor(tMotor motorPort = motorA, byte speed = 75)

(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.)

Parameter Explanation Acceptable Input motorPort The motor port to use. (default: motorA) motorA motorB motorC Or their names setup in Motors and Sensors Setup. speed The speed to set the motor to. (default: 75) -100 to +100

Default Usage and Sample startMotor(); // starts motorA at speed 75 (default) wait(); stopMotor();

Usage and Sample with Parameters startMotor(motorB, -25); // start motorB at speed -25 wait(0.5); // wait 0.5 seconds stopMotor(motorB); // stop motorB

stopMotor

void stopMotor(tMotor motorPort = motorA)

(void) Stops a motor. Acceptable Motors: ports A through C, (and your names for them given in Motors and Sensors Setup.)

Parameter Explanation Acceptable Input motorPort The motor port to use. (default: motorA) motorA motorB motorC Or their names setup in Motors and Sensors Setup.

Default Usage and Sample startMotor(); wait(); stopMotor(); // stop motorA (default)

Usage and Sample with Parameters startMotor(motorB, -25); // start motorB at speed -25 wait(0.5); // wait 0.5 seconds stopMotor(motorB); // stop motorB

Robot Movement Functions

forward

void forward(byte speed = 75)

(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.)

Parameter Explanation Acceptable Input speed The speed to move forward at. (default: 75) -100 to +100

Default Usage and Sample forward(); // move forward at speed 75 (default) wait(); stop();

Usage and Sample with Parameters forward(50); // move forward at speed 50 wait(2.0); // wait 2.0 seconds stop(); // stop

backward

void backward(byte speed = -75)

(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.)

Parameter Explanation Acceptable Input speed The speed to move backward at. (default: -75) -100 to +100

Default Usage and Sample backward(); // move backward at speed -75 (default) wait(); stop();

Usage and Sample with Parameters backward(-50); // move backward at speed -50 wait(2.0); // wait 2.0 seconds stop(); // stop

pointTurn

void pointTurn(tDirections direction = right, byte speed = 75)

(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

Parameter Explanation Acceptable Input direction The direction to turn. (default: right) right left speed The speed to move turn at. (default: 75) -100 to +100

Default Usage and Sample pointTurn(); // point turn right at speed 75 (default) wait(); stop();

Usage and Sample with Parameters pointTurn(left, 50); // point turn LEFT at speed 50 wait(0.4); // wait 0.4 seconds stop(); // stop

swingTurn

void swingTurn(tDirections direction = right, byte speed = 75)

(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

Parameter Explanation Acceptable Input direction The direction to turn. (default: right) right left speed The speed to move turn at. (default: 75) -100 to +100

Default Usage and Sample swingTurn(); // swing turn right at speed 75 (default) wait(); stop();

Usage and Sample with Parameters swingTurn(left, 50); // swing turn LEFT at speed 50 wait(0.75); // wait 0.75 seconds stop(); // stop

stop

void stop()

(void) Both wheels do not move, causing the robot to stop.

Default Usage and Sample forward(); wait(); stop(); // stop the robot

Usage and Sample with Parameters forward(50); // move forward at speed 50 wait(2.0); // wait 2.0 seconds stop(); // stop

lineTrackForTime

void lineTrackForTime(float trackTime = 5.0, int threshold = 45, tSensors sensorPort = S3)

(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.)

Parameter Explanation Acceptable Input trackTime The amount of time in seconds to track a line. (default: 5.0) Any floating point amount: 0.#### 0.0000 to +2,048.0000 0.### 0.000 to +32,768.000 0.## 0.00 to +262,144.00 0.# 0.0 to +2,097,200.0 threshold The threshold to compare colors against. (default: 45) 0 to +100 sensorPort The sensor port to use for the light sensor. (default: S3) S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample lineTrackForTime(); /* track a black line for 5.0 seconds, using a threshold of 45 and a light sensor in port S3 (default) */ stop();

Usage and Sample with Parameters 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

lineTrackForRotations

void lineTrackForRotations(float rotations = 3.0, int threshold = 45, tSensors sensorPort = S3)

(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.)

Parameter Explanation Acceptable Input rotations The amount of axle rotations to track a line. (default: 3.0) Any floating point amount: 0.#### -2,048.0000 to +2,048.0000 0.### -32,768.000 to +32,768.000 0.## -262,144.00 to +262,144.00 0.# -2,097,200.0 to +2,097,200.0 threshold The threshold to compare colors against. (default: 45) 0 to +100 sensorPort The sensor port to use for the light sensor. (default: S3) S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample lineTrackForRotations(); /* track a black line for 3.0 rotations, using a threshold of 45 and a light sensor in port S3 (default) */ stop();

Usage and Sample with Parameters 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

moveStraightForTime

void moveStraightForTime(float seconds = 5.0, tMotor rightEncoderPort = motorB, tMotor leftEncoderPort = motorC)

(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.)

Parameter Explanation Acceptable Input seconds The amount of time in seconds to drive straight forward. (default: 5.0) Any floating point amount: 0.#### 0.0000 to +2,048.0000 0.### 0.000 to +32,768.000 0.## 0.00 to +262,144.00 0.# 0.0 to +2,097,200.0 rightEncoderPort The right-side motor encoder. (default: motorB) motorA motorB motorC Or their names setup in Motors and Sensors Setup. leftEncoderPort The left-side motor encoder. (default: motorC) motorA motorB motorC Or their names setup in Motors and Sensors Setup.

Default Usage and Sample moveStraightForTime(); /* move straight forward for 5.0 seconds, using motorB as the right-side encoder and motorC as the left-side encoder (default) */ stop();

Usage and Sample with Parameters 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

moveStraightForRotations

void moveStraightForRotations(float rotations = 1.0, tMotor rightEncoderPort = motorB, tMotor leftEncoderPort = motorC)

(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.)

Parameter Explanation Acceptable Input rotations The amount of axle rotations to drive straight forward. (default: 1.0) Any floating point amount: 0.#### -2,048.0000 to +2,048.0000 0.### -32,768.000 to +32,768.000 0.## -262,144.00 to +262,144.00 0.# -2,097,200.0 to +2,097,200.0 rightEncoderPort The right-side motor encoder. (default: motorB) motorA motorB motorC Or their names setup in Motors and Sensors Setup. leftEncoderPort The left-side motor encoder. (default: motorC) motorA motorB motorC Or their names setup in Motors and Sensors Setup.

Default Usage and Sample moveStraightForRotations(); /* move straight forward for 1.0 rotations, using motorB as the right-side encoder and motorC as the left-side encoder (default) */ stop();

Usage and Sample with Parameters 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

tankControl

void tankControl(short &rightJoystick = joystick.joy1_y2, short &leftJoystick = joystick.joy1_y1, short threshold = 10)

(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.

Parameter Explanation Acceptable Input rightJoystick The joystick to use as the RIGHT-side joystick. (default: joystick.joy1_y2) Any joystick: joy1_x1 joy1_x2 joy1_y1 joy1_y2 joy2_x1 joy2_x2 joy2_y1 joy2_y2 leftJoystick The joystick to use as the LEFT-side joystick. (default: joystick.joy1_y1) Any joystick: joy1_x1 joy1_x2 joy1_y1 joy1_y2 joy2_x1 joy2_x2 joy2_y1 joy2_y2 threshold This variable eliminates 'noise' caused by joysticks not returning back to the exact center. (default: 10) 0 to 100

Default Usage and Sample 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) */ }

Usage and Sample with Parameters 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 */ }

arcadeControl

void arcadeControl(short &verticalJoystick = joystick.joy1_y2, short &horizontalJoystick = joystick.joy1_y1, short threshold = 10)

(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.

Parameter Explanation Acceptable Input verticalJoystick The joystick to use as the vertical joystick. (default: joystick.joy1_y2) Any joystick: joy1_x1 joy1_x2 joy1_y1 joy1_y2 joy2_x1 joy2_x2 joy2_y1 joy2_y2 horizontalJoystick The joystick to use as the horizontal joystick. (default: joystick.joy1_x2) Any joystick: joy1_x1 joy1_x2 joy1_y1 joy1_y2 joy2_x1 joy2_x2 joy2_y1 joy2_y2 threshold This variable eliminates 'noise' caused by joysticks not returning back to the exact center. (default: 10) 0 to 100

Default Usage and Sample 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) */ }

Usage and Sample with Parameters 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 */ }

Until Functions

untilTouch

void untilTouch(tSensors sensorPort = S1)

(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.)

Parameter Explanation Acceptable Input sensorPort The sensor port to use for the light sensor. (default: S1) S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample forward(); untilTouch(); // wait until the touch sensor in port S1 is pressed (default) stop();

Usage and Sample with Parameters forward(50); // go forward at speed 50 untilTouch(S3); // wait until the touch sensor in port S3 is pressed stop(); // stop

untilRelease

void untilRelease(tSensors sensorPort = S1)

(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.)

Parameter Explanation Acceptable Input sensorPort The sensor port to use for the light sensor. (default: S1) S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample forward(); untilRelease(); // wait until the touch sensor in port S1 is released (default) stop();

Usage and Sample with Parameters forward(50); // go forward at speed 50 untilRelease(S3); // wait until the touch sensor in port S3 is released stop(); // stop

untilBump

void untilBump(tSensors sensorPort = S1, int delayTimeMS = 10)

(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.

Parameter Explanation Acceptable Input sensorPort The sensor port to use for the light sensor. (default: S1) S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup. delayTimeMS The amount of milliseconds that MUST PASS between press and release of the sensor for it to count. (default: 10) Any whole integer amount from 0 to 2,147,483,647.

Default Usage and Sample forward(); untilBump(); /* wait until the touch sensor in port S1 is pressed and then released with a delay time of 10 milliseconds (default) */ stop();

Usage and Sample with Parameters 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

untilSonarGreaterThan

void untilSonarGreaterThan(short distance = 30, tSensors sensorPort = S4)

(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.)

Parameter Explanation Acceptable Input distance The distance in centimeters that an object must be farther than to count (default: 30) Any whole integer amount from 0 to 255. sensorPort The sensor port to use for the sonar sensor. (default: S4) S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample forward(); untilSonarGreaterThan(); /* wait until the sonar sensor in port S4 detects an object farther than 30cm away (default) */ stop();

Usage and Sample with Parameters 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

untilSonarLessThan

void untilSonarLessThan(short distance = 30, tSensors sensorPort = S4)

(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.)

Parameter Explanation Acceptable Input distance The distance in centimeters that an object must be closer than to count (default: 30) Any whole integer amount from 0 to 255. sensorPort The sensor port to use for the sonar sensor. (default: S4) S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample forward(); untilSonarLessThan(); /* wait until the sonar sensor in port S4 detects an object closer than 30cm away (default) */ stop();

Usage and Sample with Parameters 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

untilSoundGreaterThan

void untilSoundGreaterThan(int threshold = 50, tSensors sensorPort = S2)

(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.)

Parameter Explanation Acceptable Input threshold The threshold value that a sound must be louder than to count (default: 50) Any whole integer amount from 0 to 100. sensorPort The sensor port to use for the sonar sensor. (default: S2) S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample forward(); untilSoundGreaterThan(); /* wait until the sound sensor in port S2 detects a sound louder than 50 (default) */ stop();

Usage and Sample with Parameters 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

untilSoundLessThan

void untilSoundLessThan(int threshold = 50, tSensors sensorPort = S2)

(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.)

Parameter Explanation Acceptable Input threshold The threshold value that a sound must be quieter than to count (default: 50) Any whole integer amount from 0 to 100. sensorPort The sensor port to use for the sonar sensor. (default: S2) S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample forward(); untilSoundLessThan(); /* wait until the sound sensor in port S2 detects a sound quieter than 50 (default) */ stop();

Usage and Sample with Parameters 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

untilButtonPress

void untilButtonPress(short button = centerBtnNXT)

(void) The robot does what it was doing until a button on the NXT is pressed. Acceptable Buttons: centerBtnNXT, rightBtnNXT, leftBtnNXT

Parameter Explanation Acceptable Input button The button to press. (default: centerBtnNXT) centerBtnNXT rightBtnNXT leftBtnNXT

Default Usage and Sample forward(); untilButtonPress(); /* wait until the center button is pressed on the NXT LCD (default) */ stop();

Usage and Sample with Parameters forward(50); // go forward at speed 50 untilButtonPress(rightBtnNXT); /* wait until the right button is pressed on the NXT LCD */ stop(); // stop

untilLight

void untilLight(int threshold = 30, tSensors sensorPort = S3)

(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.)

Parameter Explanation Acceptable Input threshold The threshold value that an object must be lighter than to count (default: 30) Any whole integer amount from 0 to 100. sensorPort The sensor port to use for the sonar sensor. (default: S3) S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample forward(); untilLight(); /* wait until the light sensor in port S3 detects an object lighter than 30 (default) */ stop();

Usage and Sample with Parameters 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

untilDark

void untilDark(int threshold = 30, tSensors sensorPort = S3)

(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.)

Parameter Explanation Acceptable Input threshold The threshold value that an object must be darker than to count (default: 30) Any whole integer amount from 0 to 100. sensorPort The sensor port to use for the sonar sensor. (default: S3) S1 S2 S3 S4 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample forward(); untilDark(); /* wait until the light sensor in port S3 detects an object darker than 30 (default) */ stop();

Usage and Sample with Parameters 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

untilRotations

void untilRotations(float rotations = 1.0, tMotor motorPort = motorB)

(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.)

Parameter Explanation Acceptable Input rotations The amount of axle rotations to reach. (default: 1.0) Any floating point amount: 0.#### -2,048.0000 to +2,048.0000 0.### -32,768.000 to +32,768.000 0.## -262,144.00 to +262,144.00 0.# -2,097,200.0 to +2,097,200.0 motorPort The motor encoder to use. (default: motorB) motorA motorB motorC Or their names setup in Motors and Sensors Setup.

Default Usage and Sample forward(); untilRotations(); /* wait until the motor encoder on motorB counts 1.0 rotations (default) */ stop();

Usage and Sample with Parameters forward(50); // move forward at speed 50 untilRotations(2.75, motorA); /* wait until the motor encoder on motorA counts 2.75 rotations */ stop(); // stop

untilEncoderCounts

void untilEncoderCounts(long distance = 360, tMotor motorPort = motorB)

(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.)

Parameter Explanation Acceptable Input distance The amount of encoder counts to reach. (default: 360) Any whole integer amount from -2,147,483,648 to +2,147,483,647. motorPort The motor encoder to use. (default: motorB) motorA motorB motorC Or their names setup in Motors and Sensors Setup.

Default Usage and Sample forward(); untilEncoderCounts(); /* wait until the motor encoder on motorB counts 360 ticks (default) */ stop();

Usage and Sample with Parameters forward(50); // move forward at speed 50 untilEncoderCounts(990, motorA); /* wait until the motor encoder on motorA counts 990 ticks (default) */ stop(); // stop