VEX2 Natural Language

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Latest revision as of 12:41, 30 April 2012

CORTEX → 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: Recbot, Swervebot, 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 recbot swervebot

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

Usage and Sample with Parameters
robotType(recbot); // recbot 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(63); // go forward at speed 63 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(63); // go forward at speed 63 waitInMilliseconds(2700); // wait for 2700 milliseconds (2.7 seconds) stop(); // stop

Movement Functions

startMotor

void startMotor(tMotor motorPort = port6, byte speed = 95)

(void) Set a motor to a speed.

Range: -127 to 127

Acceptable Motors: ports 1 through 10, (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
motorPort	The motor port to use. (default: port6)	port1 through port10 Or their names setup in Motors and Sensors Setup.
speed	The speed to set the motor to. (default: 95)	-127 to +127

Default Usage and Sample
startMotor(); // starts port6 at speed 95 (default) wait(); stopMotor();

Usage and Sample with Parameters
startMotor(port8, -32); // start port8 at speed -32 wait(0.5); // wait 0.5 seconds stopMotor(port8); // stop port8

stopMotor

void stopMotor(tMotor motorPort = port6)


	(void) Stops a motor. Acceptable Motors: port1 through port10, (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
motorPort	The motor port to use. (default: port6)	port1 through port10 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
startMotor(); wait(); stopMotor(); // stop port6 (default)

Usage and Sample with Parameters
startMotor(port8, -32); // start port8 at speed -32 wait(0.5); // wait 0.5 seconds stopMotor(port8); // stop port8

setServo

void setServo(tMotor servoPort = port6, int position = 0)

(void) Set a motor to a speed.

Range: -127 to 127

Acceptable Motors: ports 2 through 9, (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
servoPort	The motor port to use. (default: port6)	port2 through port9 Or their names setup in Motors and Sensors Setup.
position	The position to set the servo to. (default: 0)	-127 to +127

Default Usage and Sample
setServo(); // sets servo on port6 to position 0 (default)

Usage and Sample with Parameters
setServo(port8, 37); // sets servo on port8 to position 37

Robot Movement Functions

forward

void forward(byte speed = 95)


	(void) Both wheels rotate forward at the same speed and the robot moves straight forward. Range: -127 to 127 (Forward will always move your robot forward.)

Parameter	Explanation	Acceptable Input
speed	The speed to move forward at. (default: 95)	-127 to +127

Default Usage and Sample
forward(); // move forward at speed 95 (default) wait(); stop();

Usage and Sample with Parameters
forward(63); // move forward at speed 63 wait(2.0); // wait 2.0 seconds stop(); // stop

backward

void backward(byte speed = -95)


	(void) Both wheels rotate backward at the same speed and the robot moves straight backward. Range: -127 to 127 (Backward will always move your robot backward.)

Parameter	Explanation	Acceptable Input
speed	The speed to move backward at. (default: -95)	-127 to +127

Default Usage and Sample
backward(); // move backward at speed -95 (default) wait(); stop();

Usage and Sample with Parameters
backward(-63); // move backward at speed -63 wait(2.0); // wait 2.0 seconds stop(); // stop

pointTurn

void pointTurn(tDirections direction = right, byte speed = 95)


	(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: -127 to 127

Parameter	Explanation	Acceptable Input
direction	The direction to turn. (default: right)	right left
speed	The speed to move turn at. (default: 95)	-127 to +127

Default Usage and Sample
pointTurn(); // point turn right at speed 95 (default) wait(); stop();

Usage and Sample with Parameters
pointTurn(left, 63); // point turn LEFT at speed 63 wait(0.4); // wait 0.4 seconds stop(); // stop

swingTurn

void swingTurn(tDirections direction = right, byte speed = 95)


	(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: -127 to 127

Parameter	Explanation	Acceptable Input
direction	The direction to turn. (default: right)	right left
speed	The speed to move turn at. (default: 95)	-127 to +127

Default Usage and Sample
swingTurn(); // swing turn right at speed 95 (default) wait(); stop();

Usage and Sample with Parameters
swingTurn(left, 63); // swing turn LEFT at speed 63 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(63); // move forward at speed 63 wait(2.0); // wait 2.0 seconds stop(); // stop

lineTrackForTime

void lineTrackForTime(float trackTime = 5.0, int threshold = 505, tSensors sensorLeft = in1, tSensors sensorCenter = in2, tSensors sensorRight = in3)

(void) The robot will track a black line on a white surface for a specified time in seconds.

Threshold Range: (dark) 0 to 4095 (light)

Acceptable Sensors: analog ports 1 through 8 (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: 505)

0 to +4095

sensorLeft

The sensor port to use for the LEFT line tracking sensor.
(default: in1)

in1 to in8
Or their names setup in Motors and Sensors Setup.

sensorCenter

The sensor port to use for the CENTER line tracking sensor.
(default: in2)

in1 to in8
Or their names setup in Motors and Sensors Setup.

sensorRight

The sensor port to use for the RIGHT line tracking sensor.
(default: in3)

in1 to in8
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 505, with the line tracking sensors in ports: in1, in2, in3(default) */ stop();

Usage and Sample with Parameters
lineTrackForTime(7.5, 99, in6, in7, in8); /* track a black line for 7.5 seconds, using a threshold of 99, with the line tracking sensors in ports: in6, in7, in8 */ stop(); // stop

lineTrackForRotations

void lineTrackForRotations(float rotations = 3.0, int threshold = 505, tSensors sensorLeft = in1, tSensors sensorCenter = in2, tSensors sensorRight = in3)

(void) The robot will track a black line on a white surface for a specified distance in rotations.

Threshold Range: (dark) 0 to 4095 (light)

Acceptable Sensors: analog ports 1 through 8 (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: 505)

0 to +4095

sensorLeft

The sensor port to use for the LEFT line tracking sensor.
(default: in1)

in1 to in8
Or their names setup in Motors and Sensors Setup.

sensorCenter

The sensor port to use for the CENTER line tracking sensor.
(default: in2)

in1 to in8
Or their names setup in Motors and Sensors Setup.

sensorRight

The sensor port to use for the RIGHT line tracking sensor.
(default: in3)

in1 to in8
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 505, with the line tracking sensors in ports: in1, in2, in3(default) */ stop();

Usage and Sample with Parameters
lineTrackForRotations(4.75, 99, in6, in7, in8); /* track a black line for 4.75 rotations, using a threshold of 99, with the line tracking sensors in ports: in6, in7, in8 */ stop(); // stop

moveStraightForTime

void moveStraightForTime(float seconds = 5.0, tSensors rightEncoderPort = dgtl1, tSensors leftEncoderPort = dgtl3)

(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: digital ports 1 through 11 (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: dgtl1 [+ dgtl2])

dgtl1 to dgtl11
Or their names setup in Motors and Sensors Setup.

leftEncoderPort

The left-side motor encoder.
(default: dgtl3 [+ dgtl4])

dgtl1 to dgtl11
Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
moveStraightForTime(); /* move straight forward for 5.0 seconds, using dgtl1 (+ dgtl2) as the right-side encoder and dgtl3 (+ dgtl4) as the left-side encoder (default) */ stop();

Usage and Sample with Parameters
moveStraightForTime(7.5, dgtl5, dgtl3); /* move straight forward for 7.5 seconds, using dgtl5 (+ dgtl6) as the right-side encoder and dgtl3 (+ dgtl4) as the left-side encoder */ stop(); // stop

moveStraightForRotations

void moveStraightForRotations(float rotations = 1.0, tSensors rightEncoderPort = dgtl1, tSensors leftEncoderPort = dgtl3)

(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: digital ports 1 through 11 (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: dgtl1 [+ dgtl2])

dgtl1 to dgtl11
Or their names setup in Motors and Sensors Setup.

leftEncoderPort

The left-side motor encoder.
(default: dgtl3 [+ dgtl4])

dgtl1 to dgtl11
Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
moveStraightForRotations(); /* move straight forward for 1.0 rotations, using dgtl1 (+ dgtl2) as the right-side encoder and dgtl3 (+ dgtl4) as the left-side encoder (default) */ stop();

Usage and Sample with Parameters

moveStraightForRotations(4.95, dgtl5, dgtl3);  /* move straight forward for 4.95 rotations, 
                                                  using dgtl5 (+ dgtl6) as the right-side encoder
                                                  and dgtl3 (+ dgtl4) as the left-side encoder */
stop();                                        // stop

tankControl

void tankControl(TVexJoysticks rightJoystick = Ch2, TVexJoysticks leftJoystick = Ch3, 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: Ch2)	Any channel: Ch1 Ch2 Ch3 Ch4
leftJoystick	The joystick to use as the LEFT-side joystick. (default: Ch3)	Any channel: Ch1 Ch2 Ch3 Ch4
threshold	This variable eliminates 'noise' caused by joysticks not returning back to the exact center. (default: 10)	0 to 127

Default Usage and Sample
while(true) { tankControl(); /* control the robot in 'tank' fashion with the RIGHT joystick as Ch2 and the LEFT joystick as Ch1, with a threshold of 10 (default) */ }

Usage and Sample with Parameters
while(true) { tankControl(Ch1, Ch4, 5); /* control the robot in 'tank' fashion with the RIGHT joystick as Ch1 and the LEFT joystick as Ch2, with a threshold of 5 */ }

arcadeControl

void arcadeControl(TVexJoysticks verticalJoystick = Ch2, TVexJoysticks horizontalJoystick = Ch1, 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: Ch2)	Any channel: Ch1 Ch2 Ch3 Ch4
horizontalJoystick	The joystick to use as the HORIZONTAL joystick. (default: Ch1)	Any channel: Ch1 Ch2 Ch3 Ch4
threshold	This variable eliminates 'noise' caused by joysticks not returning back to the exact center. (default: 10)	0 to 127

Default Usage and Sample
while(true) { arcadeControl(); /* control the robot in 'arcade' fashion with the VERTICAL joystick as Ch2 and the HORIZONTAL joystick as Ch1, with a threshold of 10 (default) */ }

Usage and Sample with Parameters
while(true) { arcadeControl(Ch3, Ch4, 5); /* control the robot in 'arcade' fashion with the VERTICAL joystick as Ch3 and the HORIZONTAL joystick as Ch4, with a threshold of 5 */ }

Until Functions

untilTouch

void untilTouch(tSensors sensorPort = dgtl6)


	(void) The robot does what it was doing until the touch sensor is pressed in. Acceptable Sensors: digital ports 1 through 12 (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
sensorPort	The sensor port to use for the touch sensor. (default: dgtl6)	dgtl1 to dgtl12 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
forward(); untilTouch(); // wait until the touch sensor in port dgtl1 is pressed (default) stop();

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilTouch(dgtl10); // wait until the touch sensor in port dgtl10 is pressed stop(); // stop

untilRelease

void untilRelease(tSensors sensorPort = dgtl6)


	(void) The robot does what it was doing until the touch sensor is released. Acceptable Sensors: digital ports 1 through 12 (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
sensorPort	The sensor port to use for the touch sensor. (default: dgtl6)	dgtl1 to dgtl12 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
forward(); untilRelease(); // wait until the touch sensor in port dgtl6 is released (default) stop();

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilRelease(dgtl10); // wait until the touch sensor in port dgtl10 is released stop(); // stop

untilBump

void untilBump(tSensors sensorPort = dgtl6, 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: digital ports 1 through 12 (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 touch sensor. (default: dgtl6)	dgtl1 to dgtl12 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 dgtl6 is pressed and then released with a delay time of 10 milliseconds (default) */ stop();

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilBump(dgtl10, 100); /* wait until the touch sensor in port dgtl10 is pressed and then released with a delay time of 100 milliseconds */ stop(); // stop

untilSonarGreaterThan

void untilSonarGreaterThan(short distance = 30, tSensors sensorPort = dgtl8)

(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 647 (A value of -1 means it cannot detect anything.)

Acceptable Sensors: digital ports 1 through 11 (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 647.
sensorPort	The sensor port to use for the sonar sensor. (default: dgtl8 [+ dgtl9])	dgtl1 to dgtl11 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
forward(); untilSonarGreaterThan(); /* wait until the sonar sensor in port dgtl8 (+ dgtl9) detects an object farther than 30cm away (default) */ stop();

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilSonarGreaterThan(45, dgtl2); /* wait until the sonar sensor in port dgtl2 (+ dgtl3) detects an object farther than 45cm away */ stop(); // stop

untilSonarLessThan

void untilSonarLessThan(short distance = 30, tSensors sensorPort = dgtl8)

(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 647 (A value of -1 means it cannot detect anything.)

Acceptable Sensors: digital ports 1 through 11 (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 647.
sensorPort	The sensor port to use for the sonar sensor. (default: dgtl8 [+ dgtl9])	dgtl1 to dgtl11 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
forward(); untilSonarLessThan(); /* wait until the sonar sensor in port dgtl8 (+ dgtl 9) detects an object closer than 30cm away (default) */ stop();

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilSonarLessThan(45, dgtl2); /* wait until the sonar sensor in port dgtl2 (+ dgtl3) detects an object closer than 45cm away */ stop(); // stop

untilPotentiometerGreaterThan

void untilPotentiometerGreaterThan(int position = 2048, tSensors sensorPort = in6)

(void) The robot does what it was doing until the potentiometer sensor reads a value greater than a set position.

Range: 0 to 4095 (However due to mechanical stops, you may be limited to the range of 5 to 4090.)

Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
position	The function passes if the rotation is greater than this value (default: 2048)	Any whole integer amount from 0 to 4095.
sensorPort	The sensor port to use for the potentiometer sensor. (default: in6)	in1 to in8 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
forward(); untilPotentiometerGreaterThan(); /* wait until the potentiometer in port in6 reads a value greater than 2048 (default) */ stop();

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilPotentiometerGreaterThan(40, in4); /* wait until the potentiometer in port in4 reads a value greater than 40 (default) */ stop(); // stop

untilPotentiometerLessThan

void untilPotentiometerLessThan(int position = 2048, tSensors sensorPort = in6)

(void) The robot does what it was doing until the potentiometer sensor reads a value less than a set position.

Range: 0 to 4095 (However due to mechanical stops, you may be limited to the range of 5 to 4090.)

Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
position	The function passes if the rotation is less than this value (default: 2048)	Any whole integer amount from 0 to 4095.
sensorPort	The sensor port to use for the potentiometer sensor. (default: in6)	in1 to in8 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
forward(); untilPotentiometerLessThan(); /* wait until the potentiometer in port in6 reads a value less than 2048 (default) */ stop();

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilPotentiometerLessThan(40, in4); /* wait until the potentiometer in port in4 reads a value less than 40 (default) */ stop(); // stop

untilButtonPress

void untilButtonPress(short button = centerBtnVEX)


	(void) The robot does what it was doing until a button on the LCD is pressed. Acceptable Buttons: centerBtnVEX, rightBtnVEX, leftBtnVEX

Parameter	Explanation	Acceptable Input
button	The button to press. (default: centerBtnVEX)	centerBtnVEX rightBtnVEX leftBtnVEX

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

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilButtonPress(rightBtnVEX); /* wait until the right button is pressed on the VEX LCD */ stop(); // stop

untilLight

void untilLight(int threshold = 505, tSensors sensorPort = in2)

(void) The robot does what it was doing until the light sensor reads a value lighter than the threshold.

Range: (light) 0 to 4095 (dark)

Acceptable Sensors: analog ports 1 through 8 (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: 505)	Any whole integer amount from 0 to 4095.
sensorPort	The sensor port to use for the potentiometer sensor. (default: in2)	in1 to in8 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
forward(); untilLight(); /* wait until the light sensor in port in2 detects an object lighter than 505 (default) */ stop();

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilLight(1005, in4); /* wait until the light sensor in port in4 detects an object lighter than 1005 */ stop(); // stop

untilDark

void untilDark(int threshold = 505, tSensors sensorPort = in2)

(void) The robot does what it was doing until the light sensor reads a value darker than the threshold.

Range: (light) 0 to 4095 (dark)

Acceptable Sensors: analog ports 1 through 8 (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: 505)	Any whole integer amount from 0 to 4095.
sensorPort	The sensor port to use for the potentiometer sensor. (default: in2)	in1 to in8 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
forward(); untilDark(); /* wait until the light sensor in port in2 detects an object darker than 505 (default) */ stop();

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilDark(1005, in4); /* wait until the light sensor in port in4 detects an object darker than 1005 */ stop(); // stop

untilRotations

void untilRotations(float rotations = 1.0, tSensors sensorPort = dgtl1)

(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 Sensors: digital ports 1 through 11 (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

sensorPort

The quadrature encoder to use.
(default: dgtl1 [+ dgtl1])

dgtl1 to dgtl11
Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
forward(); untilRotations(); /* wait until the quadrature encoder in port dgtl1 (+ dgtl2) counts 1.0 rotations (default) */ stop();

Usage and Sample with Parameters
forward(63); // move forward at speed 63 untilRotations(2.75, dgtl3); /* wait until the quadrature encoder in port dgtl3 (+ dgtl4) counts 2.75 rotations */ stop(); // stop

untilEncoderCounts

void untilEncoderCounts(long distance = 360, tSensors sensorPort = dgtl1)

(void) The robot does what it was doing until the motor encoder counts match the desired value.

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

Acceptable Sensors: digital ports 1 through 11 (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
sensorPort	The quadrature encoder to use. (default: dgtl1 [+ dgtl1])	dgtl1 to dgtl11 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
forward(); untilEncoderCounts(); /* wait until the quadrature encoder in port dgtl1 (+ dgtl2) counts 360 encoder counts (default) */ stop();

Usage and Sample with Parameters
forward(63); // move forward at speed 63 untilEncoderCounts(990, dgtl3); /* wait until the quadrature encoder in port dgtl3 (+ dgtl4) counts 990 encoder counts */ stop(); // stop

Special Functions

turnLEDOn

void turnLEDOn(tSensors sensorPort = dgtl2)


	(void) Turn an LED in a specified digital port ON. Acceptable Sensors: digital ports 1 through 12 (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
sensorPort	The VEX LED to use. (default: dgtl2)	dgtl1 to dgtl12 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
turnLEDOn(); // turn on LED in port dgtl1 (default)

Usage and Sample with Parameters
turnLEDOn(dgtl7); // turn on LED in port dgtl7

turnLEDOff

void turnLEDOff(tSensors sensorPort = dgtl2)


	(void) Turn an LED in a specified digital port OFF. Acceptable Sensors: digital ports 1 through 12 (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
sensorPort	The VEX LED to use. (default: dgtl2)	dgtl1 to dgtl12 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
turnLEDOff(); // turn off LED in port dgtl1 (default)

Usage and Sample with Parameters
turnLEDOff(dgtl7); // turn off LED in port dgtl7

turnFlashlightOn

void turnFlashlightOn(tMotor flashlightPort = port4, short brightness = 63)

(void) Turns a VEX Flashlight in a specfied motor port ON at a specified brightness.

Brightness Range: (off) 0 to 127 (bright)

Acceptable Ports: motor ports 1 through 10 (and your names for them given in Motors and Sensors Setup.)

NOTE: Brightness control only available in motor ports 1 and 10, or 2 through 9 when connected to a VEX Motor Controller 29.

Parameter	Explanation	Acceptable Input
sensorPort	The VEX Flashlight to use. (default: port4)	port1 to port10 Or their names setup in Motors and Sensors Setup.
brightness	The level of brightness to set the VEX Flashlight to. (default: 63)	Any whole integer amount from 0 to 127.

Default Usage and Sample
turnFlashlightOn(); // turn VEX Flashlight in port4 ON to half brightness [63] (default)

Usage and Sample with Parameters
turnFlashlightOn(port10, 127); // turn VEX Flashlight in port10 ON to full brightness [127]

turnFlashlightOff

void turnFlashlightOff(tMotor flashlightPort = port4)


	(void) Turns a VEX Flashlight in a specfied motor port OFF. Acceptable Ports: motor ports 1 through 10 (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
sensorPort	The VEX Flashlight to use. (default: port4)	port1 to port10 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
turnFlashlightOff(); // turn VEX Flashlight in port4 OFF (default)

Usage and Sample with Parameters
turnFlashlightOff(port10); // turn VEX Flashlight in port10 OFF

@@ Line 1: / Line 1: @@
-{| style="font-family:Verdana, Genega, sans-sarif; font-size:80%;color:gray;" width="100%" cellpadding="0%" cellspacing="0" border="0"
+<yambe:breadcrumb self="Natural Language">VEX2|CORTEX</yambe:breadcrumb>
-|-
+<br />
-|
-''[[Main_Page|Main]] >> [[VEX2_Main|CORTEX]] >> [[VEX2:_Natural_Language| Natural Language]]''
-|-
-|}
+{|
-{| 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.
@@ Line 14: / Line 9: @@
 |-
 |}
+<br />
-{|
+{{tl|1|1}}
-|-
+<br />
-|style="vertical-align:top"| __TOC__
-|style="vertical-align:top"|
- {| width="100" cellpadding="2" cellspacing="0" style="border-collapse: collapse; border-width: 1px; border-style: solid; border-color: #000"
-!colspan="2" class="wikiHeader"|Color Key
- |-
- |class="wikiText" width="75%" style="border-style: solid; border-width: 1px 0px 0px 0px"|Function:
- |width="25%" style="border-style: solid; border-width: 1px 0px 0px 0px;" class="colorKeyFunc"|
- |-
- |class="wikiText" width="75%" style="border-style: solid; border-width: 0px 0px 0px 0px"|Variable:
- |width="25%" style="border-style: solid; border-width: 0px 0px 0px 0px;" class="colorKeyVar"|
- |}
-|-
-|}
 == Video ==
@@ Line 42: / Line 24: @@
 == Setup Functions ==
-==== robotType ====
+=== robotType ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 97: / Line 79: @@
 == Wait Functions ==
-==== wait ====
+=== wait ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 107: / Line 89: @@
    ! style="border-style: solid; border-width: 0px 0px 0px 0px"|
    |-
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:wait_seconds_vex.png]]
+   | 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.
    |-
@@ Line 126: / Line 108: @@
      |-
      | 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"|0.0000 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"|0.000 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"|0.00 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"|0.0 to +2,097,200.0
      |-
      |}
@@ Line 168: / Line 150: @@
 <br />
-==== waitInMilliseconds ====
+=== waitInMilliseconds ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 178: / Line 160: @@
    ! style="border-style: solid; border-width: 0px 0px 0px 0px"|
    |-
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:wait_milliseconds_vex.png]]
+   | 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.
    |-
@@ Line 191: / Line 173: @@
    | 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.<br />(default: <span class="codeStringsNums">1000</span>)
-   | style="border-style: solid; border-width: 1px 0px 0px 0px"|Any whole integer amount from<br />-2,147,483,648 to +2,147,483,647.
+   | style="border-style: solid; border-width: 1px 0px 0px 0px"|Any integer amount from<br />0 to +2,147,483,647.
    |-
    |}
@@ Line 223: / Line 205: @@
 == Movement Functions ==
-==== startMotor ====
+=== startMotor ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 286: / Line 268: @@
 <br />
-==== stopMotor ====
+=== stopMotor ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 343: / Line 325: @@
 <br />
-==== setServo ====
+=== setServo ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 403: / Line 385: @@
 == Robot Movement Functions ==
-==== forward ====
+=== forward ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 460: / Line 442: @@
 <br />
-==== backward ====
+=== backward ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 517: / Line 499: @@
 <br />
-==== pointTurn ====
+=== pointTurn ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 577: / Line 559: @@
 <br />
-==== swingTurn ====
+=== swingTurn ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 637: / Line 619: @@
 <br />
-==== stop ====
+=== stop ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 679: / Line 661: @@
 <br />
-==== lineTrackForTime ====
+=== lineTrackForTime ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 712: / Line 694: @@
      |-
      | 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"|0.0000 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"|0.000 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"|0.00 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"|0.0 to +2,097,200.0
      |-
      |}
@@ Line 774: / Line 756: @@
 <br />
-==== lineTrackForRotations ====
+=== lineTrackForRotations ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 869: / Line 851: @@
 <br />
-==== moveStraightForTime ====
+=== moveStraightForTime ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">moveStraightForTime</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">float </span><span class="bigCodeBasic">seconds</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">5.0</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tMotor </span><span class="bigCodeBasic">rightEncoderPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl1</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tMotor </span><span class="bigCodeBasic">leftEncoderPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl3</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">moveStraightForTime</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">float </span><span class="bigCodeBasic">seconds</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">5.0</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tSensors </span><span class="bigCodeBasic">rightEncoderPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl1</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tSensors </span><span class="bigCodeBasic">leftEncoderPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl3</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 902: / Line 884: @@
      |-
      | 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"|0.0000 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"|0.000 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"|0.00 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"|0.0 to +2,097,200.0
      |-
      |}
@@ Line 954: / Line 936: @@
 <br />
-==== moveStraightForRotations ====
+=== moveStraightForRotations ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">moveStraightForRotations</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">float </span><span class="bigCodeBasic">rotations</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">1.0</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tMotor </span><span class="bigCodeBasic">rightEncoderPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl1</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tMotor </span><span class="bigCodeBasic">leftEncoderPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl3</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">moveStraightForRotations</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">float </span><span class="bigCodeBasic">rotations</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">1.0</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tSensors </span><span class="bigCodeBasic">rightEncoderPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl1</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tSensors </span><span class="bigCodeBasic">leftEncoderPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl3</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,039: / Line 1,021: @@
 <br />
-==== tankControl ====
+=== tankControl ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 1,111: / Line 1,093: @@
 <br />
-==== arcadeControl ====
+=== arcadeControl ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 1,184: / Line 1,166: @@
 == Until Functions ==
-==== untilTouch ====
+=== untilTouch ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 1,208: / Line 1,190: @@
    |-
    | 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.<br />(default: <span class="codeStringsNums">dgtl6</span>)
+   | style="border-style: solid; border-width: 1px 0px 0px 0px"|The sensor port to use for the touch sensor.<br />(default: <span class="codeStringsNums">dgtl6</span>)
    | style="border-style: solid; border-width: 1px 0px 0px 0px"|<span class="codeStringsNums">dgtl1</span> to <span class="codeStringsNums">dgtl12</span><br />Or their names setup in Motors and Sensors Setup.
    |-
@@ Line 1,240: / Line 1,222: @@
 <br />
-==== untilRelease ====
+=== untilRelease ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 1,264: / Line 1,246: @@
    |-
    | 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.<br />(default: <span class="codeStringsNums">dgtl6</span>)
+   | style="border-style: solid; border-width: 1px 0px 0px 0px"|The sensor port to use for the touch sensor.<br />(default: <span class="codeStringsNums">dgtl6</span>)
    | style="border-style: solid; border-width: 1px 0px 0px 0px"|<span class="codeStringsNums">dgtl1</span> to <span class="codeStringsNums">dgtl12</span><br />Or their names setup in Motors and Sensors Setup.
    |-
@@ Line 1,296: / Line 1,278: @@
 <br />
-==== untilBump ====
+=== untilBump ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
@@ Line 1,323: / Line 1,305: @@
    |-
    | 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.<br />(default: <span class="codeStringsNums">dgtl6</span>)
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The sensor port to use for the touch sensor.<br />(default: <span class="codeStringsNums">dgtl6</span>)
    | style="border-style: solid; border-width: 1px 0px 1px 0px"|<span class="codeStringsNums">dgtl1</span> to <span class="codeStringsNums">dgtl12</span><br />Or their names setup in Motors and Sensors Setup.
    |-
@@ Line 1,361: / Line 1,343: @@
 <br />
-==== untilSonarGreaterThan ====
+=== untilSonarGreaterThan ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilSonarGreaterThan</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">short </span><span class="bigCodeBasic">distance</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">30</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">S4</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilSonarGreaterThan</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">short </span><span class="bigCodeBasic">distance</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">30</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl8</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,371: / Line 1,353: @@
    ! 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"|[[File:sonar_greater_vex.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.)
+Range: 0 to 647 (A value of -1 means it cannot detect anything.)
-Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,388: / Line 1,370: @@
    | 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<br />an object must be farther than to count<br />(default: <span class="codeStringsNums">30</span>)
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 255.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 647.
    |-
    | 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.<br />(default: <span class="codeStringsNums">S4</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor.<br />(default: <span class="codeStringsNums">dgtl8</span> [+ <span class="codeStringsNums">dgtl9</span>])
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">S1<br />S2<br />S3<br />S4<br /></span>Or their names setup in Motors and Sensors Setup.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">dgtl1</span> to <span class="codeStringsNums">dgtl11</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    |}
@@ Line 1,402: / Line 1,384: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward();
-untilSonarGreaterThan();  /* wait until the sonar sensor in port S4 detects
+untilSonarGreaterThan();  /* wait until the sonar sensor in port dgtl8 (+ dgtl9)
-                              an object farther than 30cm away (default) */
+                              detects an object farther than 30cm away (default) */
 stop();
 </syntaxhighlight>
@@ Line 1,414: / Line 1,396: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-forward(63);                    // go forward at speed 63
+forward(63);                       // go forward at speed 63
-untilSonarGreaterThan(45, S2);  /* wait until the sonar sensor in port S2
+untilSonarGreaterThan(45, dgtl2);  /* wait until the sonar sensor in port dgtl2 (+ dgtl3)
-                                   detects an object farther than 45cm away */
+                                      detects an object farther than 45cm away */
-stop();                         // stop
+stop();                            // stop
 </syntaxhighlight>
    |-
@@ Line 1,425: / Line 1,407: @@
 <br />
-==== untilSonarLessThan ====
+=== untilSonarLessThan ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilSonarLessThan</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">short </span><span class="bigCodeBasic">distance</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">30</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">S4</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilSonarLessThan</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">short </span><span class="bigCodeBasic">distance</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">30</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl8</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,435: / Line 1,417: @@
    ! 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"|[[File:sonar_less_vex.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.)
+Range: 0 to 647 (A value of -1 means it cannot detect anything.)
-Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,451: / Line 1,433: @@
    |-
    | 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<br />an object must be closer than to count<br />(default: <span class="codeStringsNums">30</span>)
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The distance in centimeters that<br />an object must be farther than to count<br />(default: <span class="codeStringsNums">30</span>)
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 255.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 647.
    |-
    | 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.<br />(default: <span class="codeStringsNums">S4</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor.<br />(default: <span class="codeStringsNums">dgtl8</span> [+ <span class="codeStringsNums">dgtl9</span>])
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">S1<br />S2<br />S3<br />S4<br /></span>Or their names setup in Motors and Sensors Setup.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">dgtl1</span> to <span class="codeStringsNums">dgtl11</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    |}
@@ Line 1,466: / Line 1,448: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward();
-untilSonarLessThan();  /* wait until the sonar sensor in port S4 detects
+untilSonarLessThan();  /* wait until the sonar sensor in port dgtl8 (+ dgtl 9)
-                           an object closer than 30cm away (default) */
+                           detects an object closer than 30cm away (default) */
 stop();
 </syntaxhighlight>
@@ Line 1,478: / Line 1,460: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-forward(63);                 // go forward at speed 63
+forward(63);                    // go forward at speed 63
-untilSonarLessThan(45, S2);  /* wait until the sonar sensor in port S2
+untilSonarLessThan(45, dgtl2);  /* wait until the sonar sensor in port dgtl2 (+ dgtl3)
-                                detects an object closer than 45cm away */
+                                   detects an object closer than 45cm away */
-stop();                      // stop
+stop();                         // stop
 </syntaxhighlight>
    |-
@@ Line 1,489: / Line 1,471: @@
 <br />
-==== untilSoundGreaterThan ====
+=== untilPotentiometerGreaterThan ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilSoundGreaterThan</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">int </span><span class="bigCodeBasic">threshold</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">63</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">S2</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilPotentiometerGreaterThan</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">int </span><span class="bigCodeBasic">position</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">2048</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">in6</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,499: / Line 1,481: @@
    ! 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"|[[File:pot_greater_vex.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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the potentiometer sensor reads a value greater than a set position.
-Range: (quiet) 0 to 100 (loud)
+Range: 0 to 4095 (However due to mechanical stops, you may be limited to the range of 5 to 4090.)
-Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,514: / Line 1,496: @@
    ! 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"|''position''
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The threshold value that <br />a sound must be louder than to count<br />(default: <span class="codeStringsNums">63</span>)
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The function passes if the rotation<br />is greater than this value<br />(default: <span class="codeStringsNums">2048</span>)
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 100.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 4095.
    |-
    | 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.<br />(default: <span class="codeStringsNums">S2</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the potentiometer sensor.<br />(default: <span class="codeStringsNums">in6</span>)
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">S1<br />S2<br />S3<br />S4<br /></span>Or their names setup in Motors and Sensors Setup.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in8</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    |}
@@ Line 1,530: / Line 1,512: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward();
-untilSoundGreaterThan();  /* wait until the sound sensor in port S2
+untilPotentiometerGreaterThan();  /* wait until the potentiometer in port in6
-                             detects a sound louder than 63 (default) */
+                                     reads a value greater than 2048 (default) */
 stop();
 </syntaxhighlight>
@@ Line 1,542: / Line 1,524: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-forward(63);                    // go forward at speed 63
+forward(63);                             // go forward at speed 63
-untilSoundGreaterThan(85, S3);  /* wait until the sound sensor in port
+untilPotentiometerGreaterThan(40, in4);  /* wait until the potentiometer in port in4
-                                   S3 detects a sound louder than 85 */
+                                            reads a value greater than 40 (default) */
-stop();                         // stop
+stop();                                  // stop
 </syntaxhighlight>
    |-
@@ Line 1,553: / Line 1,535: @@
 <br />
-==== untilSoundLessThan ====
+=== untilPotentiometerLessThan ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilSoundLessThan</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">int </span><span class="bigCodeBasic">threshold</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">63</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">S2</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilPotentiometerLessThan</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">int </span><span class="bigCodeBasic">position</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">2048</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">in6</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,563: / Line 1,545: @@
    ! 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"|[[File:pot_less_vex.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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the potentiometer sensor reads a value less than a set position.
-Range: (quiet) 0 to 100 (loud)
+Range: 0 to 4095 (However due to mechanical stops, you may be limited to the range of 5 to 4090.)
-Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,578: / Line 1,560: @@
    ! 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"|''position''
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The threshold value that <br />a sound must be quieter than to count<br />(default: <span class="codeStringsNums">63</span>)
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The function passes if the rotation<br />is less than this value<br />(default: <span class="codeStringsNums">2048</span>)
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 100.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 4095.
    |-
    | 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.<br />(default: <span class="codeStringsNums">S2</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the potentiometer sensor.<br />(default: <span class="codeStringsNums">in6</span>)
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">S1<br />S2<br />S3<br />S4<br /></span>Or their names setup in Motors and Sensors Setup.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in8</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    |}
@@ Line 1,594: / Line 1,576: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward();
-untilSoundLessThan();  /* wait until the sound sensor in port S2
+untilPotentiometerLessThan();  /* wait until the potentiometer in port in6
-                          detects a sound quieter than 63 (default) */
+                                  reads a value less than 2048 (default) */
 stop();
 </syntaxhighlight>
@@ Line 1,606: / Line 1,588: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-forward(63);                 // go forward at speed 63
+forward(63);                          // go forward at speed 63
-untilSoundLessThan(15, S3);  /* wait until the sound sensor in port
+untilPotentiometerLessThan(40, in4);  /* wait until the potentiometer in port in4
-                                S3 detects a sound quieter than 15 */
+                                         reads a value less than 40 (default) */
-stop();                      // stop
+stop();                               // stop
 </syntaxhighlight>
    |-
@@ Line 1,617: / Line 1,599: @@
 <br />
-==== untilButtonPress ====
+=== untilButtonPress ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilButtonPress</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">short </span><span class="bigCodeBasic">button</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">centerBtnNXT</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilButtonPress</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">short </span><span class="bigCodeBasic">button</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">centerBtnVEX</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,627: / Line 1,609: @@
    ! 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"|[[File:press_right_vex.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.
+   | 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 LCD is pressed.
 Acceptable Buttons:
-centerBtnNXT, rightBtnNXT, leftBtnNXT
+centerBtnVEX, rightBtnVEX, leftBtnVEX
    |-
    |}
@@ Line 1,642: / Line 1,624: @@
    |-
    | 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.<br />(default: <span class="codeStringsNums">centerBtnNXT</span>)
+   | style="border-style: solid; border-width: 1px 0px 0px 0px"|The button to press.<br />(default: <span class="codeStringsNums">centerBtnVEX</span>)
-   | style="border-style: solid; border-width: 1px 0px 0px 0px"|<span class="codeStringsNums">centerBtnNXT<br />rightBtnNXT<br />leftBtnNXT<br /></span>
+   | style="border-style: solid; border-width: 1px 0px 0px 0px"|<span class="codeStringsNums">centerBtnVEX<br />rightBtnVEX<br />leftBtnVEX<br /></span>
    |-
    |}
@@ Line 1,654: / Line 1,636: @@
 forward();
 untilButtonPress();  /* wait until the center button
-                         is pressed on the NXT LCD (default) */
+                         is pressed on the VEX LCD (default) */
 stop();
 </syntaxhighlight>
@@ Line 1,666: / Line 1,648: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward(63);                    // go forward at speed 63
-untilButtonPress(rightBtnNXT);  /* wait until the right button
+untilButtonPress(rightBtnVEX);  /* wait until the right button
-                                    is pressed on the NXT LCD */
+                                    is pressed on the VEX LCD */
 stop();                         // stop
 </syntaxhighlight>
@@ Line 1,676: / Line 1,658: @@
 <br />
-==== untilLight ====
+=== untilLight ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilLight</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">int </span><span class="bigCodeBasic">threshold</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">30</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">S3</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilLight</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">int </span><span class="bigCodeBasic">threshold</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">505</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">in2</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,686: / Line 1,668: @@
    ! 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"|[[File:until_light_vex.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)
+Range: (light) 0 to 4095 (dark)
-Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,702: / Line 1,684: @@
    |-
    | 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 <br />an object must be lighter than to count<br />(default: <span class="codeStringsNums">30</span>)
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The threshold value that <br />an object must be lighter than to count<br />(default: <span class="codeStringsNums">505</span>)
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 100.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 4095.
    |-
    | 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.<br />(default: <span class="codeStringsNums">S3</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the potentiometer sensor.<br />(default: <span class="codeStringsNums">in2</span>)
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">S1<br />S2<br />S3<br />S4<br /></span>Or their names setup in Motors and Sensors Setup.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in8</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    |}
@@ Line 1,717: / Line 1,699: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward();
-untilLight();  /* wait until the light sensor in port S3
+untilLight();  /* wait until the light sensor in port in2
-                   detects an object lighter than 30 (default) */
+                   detects an object lighter than 505 (default) */
 stop();
 </syntaxhighlight>
@@ Line 1,729: / Line 1,711: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-forward(63);         // go forward at speed 63
+forward(63);            // go forward at speed 63
-untilLight(95, S1);  /* wait until the light sensor in port S1
+untilLight(1005, in4);  /* wait until the light sensor in port in4
-                        detects an object lighter than 95 */
+                           detects an object lighter than 1005 */
-stop();              // stop
+stop();                 // stop
 </syntaxhighlight>
    |-
@@ Line 1,740: / Line 1,722: @@
 <br />
-==== untilDark ====
+=== untilDark ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilDark</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">int </span><span class="bigCodeBasic">threshold</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">30</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">S3</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilDark</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">int </span><span class="bigCodeBasic">threshold</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">505</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">in2</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,750: / Line 1,732: @@
    ! 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"|[[File:until_dark_vex.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)
+Range: (light) 0 to 4095 (dark)
-Acceptable Sensors: sensor ports 1 through 4 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,766: / Line 1,748: @@
    |-
    | 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 <br />an object must be darker than to count<br />(default: <span class="codeStringsNums">30</span>)
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The threshold value that <br />an object must be darker than to count<br />(default: <span class="codeStringsNums">505</span>)
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 100.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 4095.
    |-
    | 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.<br />(default: <span class="codeStringsNums">S3</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the potentiometer sensor.<br />(default: <span class="codeStringsNums">in2</span>)
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">S1<br />S2<br />S3<br />S4<br /></span>Or their names setup in Motors and Sensors Setup.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in8</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    |}
@@ Line 1,781: / Line 1,763: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward();
-untilDark();  /* wait until the light sensor in port S3
+untilDark();  /* wait until the light sensor in port in2
-                  detects an object darker than 30 (default) */
+                  detects an object darker than 505 (default) */
 stop();
 </syntaxhighlight>
@@ Line 1,793: / Line 1,775: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-forward(63);        // go forward at speed 63
+forward(63);            // go forward at speed 63
-untilDark(95, S1);  /* wait until the light sensor in port S1
+untilDark(1005, in4);   /* wait until the light sensor in port in4
-                       detects an object darker than 95 */
+                           detects an object darker than 1005 */
-stop();             // stop
+stop();                 // stop
 </syntaxhighlight>
    |-
@@ Line 1,804: / Line 1,786: @@
 <br />
-==== untilRotations ====
+=== untilRotations ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilRotations</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">float </span><span class="bigCodeBasic">rotations</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">1.0</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tMotor </span><span class="bigCodeBasic">motorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">motorB</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilRotations</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">float </span><span class="bigCodeBasic">rotations</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">1.0</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl1</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,814: / Line 1,796: @@
    ! 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"|[[File:rotations_vex.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.)
+Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,850: / Line 1,832: @@
      |}
    |-
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|''motorPort''
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The motor encoder to use.<br />(default: <span class="codeStringsNums">motorB</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The quadrature encoder to use.<br />(default: <span class="codeStringsNums">dgtl1</span> [+ <span class="codeStringsNums">dgtl1</span>])
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">motorA<br />motorB<br />motorC<br /></span>Or their names setup in Motors and Sensors Setup.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">dgtl1</span> to <span class="codeStringsNums">dgtl11</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    |}
@@ Line 1,862: / Line 1,844: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward();
-untilRotations();  /* wait until the motor encoder on
+untilRotations();  /* wait until the quadrature encoder in port
-                       motorB counts 1.0 rotations (default) */
+                       dgtl1 (+ dgtl2) counts 1.0 rotations (default) */
 stop();
 </syntaxhighlight>
@@ Line 1,875: / Line 1,857: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward(63);                   // move forward at speed 63
-untilRotations(2.95, motorA);  /* wait until the motor encoder on
+untilRotations(2.75, dgtl3);   /* wait until the quadrature encoder in port
-                                   motorA counts 2.95 rotations */
+                                   dgtl3 (+ dgtl4) counts 2.75 rotations */
 stop();                        // stop
 </syntaxhighlight>
@@ Line 1,885: / Line 1,867: @@
 <br />
-==== untilEncoderCounts ====
+=== untilEncoderCounts ===
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilEncoderCounts</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">long </span><span class="bigCodeBasic">distance</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">360</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tMotor </span><span class="bigCodeBasic">motorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">motorB</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilEncoderCounts</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">long </span><span class="bigCodeBasic">distance</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">360</span><span class="bigCodePunc">, </span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl1</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,895: / Line 1,877: @@
    ! style="border-style: solid; border-width: 0px 0px 0px 0px"|
    |-
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:encoder_counts.png]]
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:encoder_counts_vex.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.
+   | 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 counts 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.)
+Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,912: / Line 1,894: @@
    | 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.<br />(default: <span class="codeStringsNums">360</span>)
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from<br />-2,147,483,648 to +2,147,483,647.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from<br />-2,147,483,648 to +2,147,483,647
    |-
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|''motorPort''
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The motor encoder to use.<br />(default: <span class="codeStringsNums">motorB</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The quadrature encoder to use.<br />(default: <span class="codeStringsNums">dgtl1</span> [+ <span class="codeStringsNums">dgtl1</span>])
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">motorA<br />motorB<br />motorC<br /></span>Or their names setup in Motors and Sensors Setup.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">dgtl1</span> to <span class="codeStringsNums">dgtl11</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    |}
@@ Line 1,926: / Line 1,908: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward();
-untilEncoderCounts();  /* wait until the motor encoder on
+untilEncoderCounts();  /* wait until the quadrature encoder in port
-                           motorB counts 360 ticks (default) */
+                           dgtl1 (+ dgtl2) counts 360 encoder counts (default) */
 stop();
 </syntaxhighlight>
@@ Line 1,939: / Line 1,921: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward(63);                      // move forward at speed 63
-untilEncoderCounts(990, motorA);  /* wait until the motor encoder on
+untilEncoderCounts(990, dgtl3);   /* wait until the quadrature encoder in port
-                                      motorA counts 990 ticks (default) */
+                                      dgtl3 (+ dgtl4) counts 990 encoder counts */
 stop();                           // stop
+</syntaxhighlight>
+  |-
+  |}
+|-
+|}
+<br />
+== Special Functions ==
+=== turnLEDOn ===
+{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
+|-
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">turnLEDOn</span><span class="bigCodePunc">(</span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl2</span><span class="bigCodePunc">)</span>
+|-
+|
+ {| 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:led_on.png]]
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Turn an LED in a specified digital port ON.
+Acceptable Sensors: digital ports 1 through 12 (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: 0px 0px 0px 0px"|''sensorPort''
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|The VEX LED to use.<br />(default: <span class="codeStringsNums">dgtl2</span>)
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">dgtl1</span> to <span class="codeStringsNums">dgtl12</span><br />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">
+turnLEDOn();  // turn on LED in port dgtl1 (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">
+turnLEDOn(dgtl7);  // turn on LED in port dgtl7
+</syntaxhighlight>
+  |-
+  |}
+|-
+|}
+<br />
+=== turnLEDOff ===
+{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
+|-
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">turnLEDOff</span><span class="bigCodePunc">(</span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl2</span><span class="bigCodePunc">)</span>
+|-
+|
+ {| 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:led_off.png]]
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Turn an LED in a specified digital port OFF.
+Acceptable Sensors: digital ports 1 through 12 (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: 0px 0px 0px 0px"|''sensorPort''
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|The VEX LED to use.<br />(default: <span class="codeStringsNums">dgtl2</span>)
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">dgtl1</span> to <span class="codeStringsNums">dgtl12</span><br />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">
+turnLEDOff();  // turn off LED in port dgtl1 (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">
+turnLEDOff(dgtl7);  // turn off LED in port dgtl7
+</syntaxhighlight>
+  |-
+  |}
+|-
+|}
+<br />
+=== turnFlashlightOn ===
+{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
+|-
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">turnFlashlightOn</span><span class="bigCodePunc">(</span><span class="bigCodeBasic">tMotor </span><span class="bigCodeBasic">flashlightPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">port4</span><span class="bigCodePunc">, </span><span class="bigKeywordBI">short </span><span class="bigCodeBasic">brightness</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">63</span><span class="bigCodePunc">)</span>
+|-
+|
+ {| 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:flashlight_on.png]]
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Turns a VEX Flashlight in a specfied motor port ON at a specified brightness.
+Brightness Range: (off) 0 to 127 (bright)
+Acceptable Ports: motor ports 1 through 10 (and your names for them given in Motors and Sensors Setup.)
+NOTE: Brightness control only available in motor ports 1 and 10, or 2 through 9 when connected to a VEX Motor Controller 29.
+  |-
+  |}
+|-
+|
+ {| 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: 0px 0px 0px 0px"|''sensorPort''
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|The VEX Flashlight to use.<br />(default: <span class="codeStringsNums">port4</span>)
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">port1</span> to <span class="codeStringsNums">port10</span><br />Or their names setup in Motors and Sensors Setup.
+  |-
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|''brightness''
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|The level of brightness to<br />set the VEX Flashlight to.<br />(default: <span class="codeStringsNums">63</span>)
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|Any whole integer amount from 0 to 127.
+  |-
+  |}
+|-
+|
+ {| 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">
+turnFlashlightOn();  // turn VEX Flashlight in port4 ON to half brightness [63] (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">
+turnFlashlightOn(port10, 127);  // turn VEX Flashlight in port10 ON to full brightness [127]
+</syntaxhighlight>
+  |-
+  |}
+|-
+|}
+<br />
+=== turnFlashlightOff ===
+{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
+|-
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">turnFlashlightOff</span><span class="bigCodePunc">(</span><span class="bigCodeBasic">tMotor </span><span class="bigCodeBasic">flashlightPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">port4</span><span class="bigCodePunc">)</span>
+|-
+|
+ {| 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:flashlight_off.png]]
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) Turns a VEX Flashlight in a specfied motor port OFF.
+Acceptable Ports: motor ports 1 through 10 (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: 0px 0px 0px 0px"|''sensorPort''
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|The VEX Flashlight to use.<br />(default: <span class="codeStringsNums">port4</span>)
+  | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">port1</span> to <span class="codeStringsNums">port10</span><br />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">
+turnFlashlightOff();  // turn VEX Flashlight in port4 OFF (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">
+turnFlashlightOff(port10);  // turn VEX Flashlight in port10 OFF
 </syntaxhighlight>
    |-

VEX2 Natural Language

Latest revision as of 12:41, 30 April 2012

Contents

Video

Setup Functions

robotType

Wait Functions

wait

waitInMilliseconds

Movement Functions

startMotor

stopMotor

setServo

Robot Movement Functions

forward

backward

pointTurn

swingTurn

stop

lineTrackForTime

lineTrackForRotations

moveStraightForTime

moveStraightForRotations

tankControl

arcadeControl

Until Functions

untilTouch

untilRelease

untilBump

untilSonarGreaterThan

untilSonarLessThan

untilPotentiometerGreaterThan

untilPotentiometerLessThan

untilButtonPress

untilLight

untilDark

untilRotations

untilEncoderCounts

Special Functions

turnLEDOn

turnLEDOff

turnFlashlightOn

turnFlashlightOff

Personal tools

Namespaces

Variants

Views

Actions

Search

Navigation

Toolbox