VEX Natural Language

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Latest revision as of 12:42, 30 April 2012

PIC → 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: squarebot 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 squarebot

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

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

Wait Functions

wait

void wait(long waitTime = 1)


	(void) Wait an amount of time measured in whole seconds. Whole number values only!

Parameter	Explanation	Acceptable Input
waitTime	Amount of time to wait, in whole seconds. (default: 1)	Any integer amount from 0 to +2,147,483,647.

Default Usage and Sample
forward(); wait(); // wait for 1 second (default) stop();

Usage and Sample with Parameters
forward(63); // go forward at speed 63 wait(7); // wait for 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 8, (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 port8 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 waitInMilliseconds(500); // wait 0.5 seconds stopMotor(port8); // stop port8

stopMotor

void stopMotor(tMotor motorPort = port6)


	(void) Stops a motor. Acceptable Motors: ports 1 through 8, (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 port8 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 waitInMilliseconds(500); // 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 1 through 8, (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
servoPort	The motor port to use. (default: port6)	port1 through port8 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); // wait 2 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); // wait 2 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 waitInMilliseconds(400); // 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 waitInMilliseconds(750); // 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); // wait 2 seconds stop(); // stop

moveStraightForTime

void moveStraightForTime(long seconds, tSensors rightEncoderPort, tSensors leftEncoderPort)

(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: A/D ports 1 through 16 + interrupts (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: NONE)	Any integer amount from 0 to +2,147,483,647.
rightEncoderPort	The right-side motor encoder. (default: NONE)	in1 to in16 Or their names setup in Motors and Sensors Setup.
leftEncoderPort	The left-side motor encoder. (default: NONE)	in1 to in16 Or their names setup in Motors and Sensors Setup.

Usage and Sample with Parameters
moveStraightForTime(7, in5, in3); /* move straight forward for 7 seconds, using in5 as the right-side encoder and in3 as the left-side encoder */ stop(); // stop

moveStraightForRotations

void moveStraightForRotations(long rotations, tSensors rightEncoderPort, tSensors leftEncoderPort)

(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: A/D ports 1 through 16 + interrupts (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: NONE)	Any integer amount from 0 to +2,147,483,647.
rightEncoderPort	The right-side motor encoder. (default: NONE)	in1 to in16 Or their names setup in Motors and Sensors Setup.
leftEncoderPort	The left-side motor encoder. (default: NONE)	in1 to in16 Or their names setup in Motors and Sensors Setup.

Usage and Sample with Parameters
moveStraightForRotations(4, in5, in3); /* move straight forward for 4 rotations, using in5 as the right-side encoder and in3 as the left-side encoder */ stop(); // stop

Until Functions

untilTouch

void untilTouch(tSensors sensorPort)


	(void) The robot does what it was doing until the touch sensor is pressed in. Acceptable Sensors: A/D ports 1 through 16 (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: none)	in1 to in16 Or their names setup in Motors and Sensors Setup.

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilTouch(in10); // wait until the touch sensor in port in10 is pressed stop(); // stop

untilRelease

void untilRelease(tSensors sensorPort)


	(void) The robot does what it was doing until the touch sensor is released. Acceptable Sensors: A/D ports 1 through 16 (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: none)	in1 to in16 Or their names setup in Motors and Sensors Setup.

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilRelease(in10); // wait until the touch sensor in port in10 is released stop(); // stop

untilBump

void untilBump(tSensors sensorPort, 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: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)

Acceptable Range for Delay Time: 0 to 32,767.

Parameter	Explanation	Acceptable Input
sensorPort	The sensor port to use for the light sensor. (default: none)	in1 to in16 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 32,767.

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilBump(in10, 100); /* wait until the touch sensor in port in10 is pressed and then released with a delay time of 100 milliseconds */ stop(); // stop

untilSonarGreaterThan

void untilSonarGreaterThan(short distance, tSensors sensorPort)

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

Acceptable Sensors: A/D ports 1 through 16 + interrupt (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: none)	Any whole integer amount from 0 to 255.
sensorPort	The sensor port to use for the sonar sensor. (default: none)	in1 to in16 Or their names setup in Motors and Sensors Setup.

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilSonarGreaterThan(45, in2); /* wait until the sonar sensor in port in2 detects an object farther than 45cm away */ stop(); // stop

untilSonarLessThan

void untilSonarLessThan(short distance, tSensors sensorPort)

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

Acceptable Sensors: A/D ports 1 through 16 + interrupt (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: none)	Any whole integer amount from 0 to 255.
sensorPort	The sensor port to use for the sonar sensor. (default: none)	in1 to in16 Or their names setup in Motors and Sensors Setup.

Usage and Sample with Parameters
forward(63); // go forward at speed 63 untilSonarLessThan(45, in2); /* wait until the sonar sensor in port in2 detects an object closer than 45cm away */ stop(); // stop

untilPotentiometerGreaterThan

void untilPotentiometerGreaterThan(int position, tSensors sensorPort)

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

Range: 0 to 1023 (However due to mechanical stops, you may be limited to the range of 5 to 1018.)

Acceptable Sensors: A/D ports 1 through 16 (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: none)	Any whole integer amount from 0 to 1023.
sensorPort	The sensor port to use for the potentiometer sensor. (default: none)	in1 to in16 Or their names setup in Motors and Sensors Setup.

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, tSensors sensorPort)

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

Range: 0 to 1023 (However due to mechanical stops, you may be limited to the range of 5 to 1018.)

Acceptable Sensors: A/D ports 1 through 16 (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: none)	Any whole integer amount from 0 to 1023.
sensorPort	The sensor port to use for the potentiometer sensor. (default: none)	in1 to in16 Or their names setup in Motors and Sensors Setup.

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, tSensors sensorPort)

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

Range: (light) 0 to 1023 (dark)

Acceptable Sensors: A/D ports 1 through 16 (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: none)	Any whole integer amount from 0 to 1023.
sensorPort	The sensor port to use for the sonar sensor. (default: none)	in1 to in16 Or their names setup in Motors and Sensors Setup.

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, tSensors sensorPort)

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

Range: (light) 0 to 1023 (dark)

Acceptable Sensors: A/D ports 1 through 16 (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: none)	Any whole integer amount from 0 to 1023.
sensorPort	The sensor port to use for the sonar sensor. (default: none)	in1 to in16 Or their names setup in Motors and Sensors Setup.

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, tSensors sensorPort)

(void) The robot does what it was doing until the quadrature encoder rotations match the desired value. Whole number values only!

Range: -32,768 to +32,767

Acceptable Sensors: A/D ports 1 through 16 + interrupt (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
rotations	The amount of axle rotations to reach. (default: none)	Any whole integer amount from -32,768 to +32,767.
sensorPort	The quadrature encoder to use. (default: none)	in1 to in16 Or their names setup in Motors and Sensors Setup.

Usage and Sample with Parameters
forward(63); // move forward at speed 63 untilRotations(3, in3); /* wait until the quadrature encoder in port in3 counts 3 rotations */ stop(); // stop

untilEncoderCounts

void untilEncoderCounts(long distance, tSensors sensorPort)

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

Range: -32,768 to +32,767

Acceptable Sensors: A/D ports 1 through 16 + interrupt (and your names for them given in Motors and Sensors Setup.)

Parameter	Explanation	Acceptable Input
distance	The amount of encoder counts to reach. (default: none)	Any whole integer amount from -32,768 to +32,767
sensorPort	The quadrature encoder to use. (default: none)	in1 to in16 Or their names setup in Motors and Sensors Setup.

Usage and Sample with Parameters
forward(63); // move forward at speed 63 untilEncoderCounts(990, in3); /* wait until the quadrature encoder in port in3 counts 990 encoder counts */ stop(); // stop

Special Functions

turnLEDOn

void turnLEDOn(tSensors sensorPort = in12)

(void) Turn an LED in a specified digital port ON.

Acceptable Sensors: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)

Sensor port must be set to "Digital Output".

Parameter	Explanation	Acceptable Input
sensorPort	The VEX LED to use. (default: in12)	in1 to in16 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
turnLEDOn(); // turn on LED in port in12 (default)

Usage and Sample with Parameters
turnLEDOn(in7); // turn on LED in port in7

turnLEDOff

void turnLEDOff(tSensors sensorPort = in12)

(void) Turn an LED in a specified digital port OFF.

Acceptable Sensors: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)

Sensor port must be set to "Digital Output".

Parameter	Explanation	Acceptable Input
sensorPort	The VEX LED to use. (default: in12)	in1 to in16 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample
turnLEDOff(); // turn off LED in port in12 (default)

Usage and Sample with Parameters
turnLEDOff(in7); // turn off LED in port in7

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 8 (and your names for them given in Motors and Sensors Setup.)

NOTE* Brightness control only available in motor ports 1 through 8 when connected to a VEX Motor Controller 29.

Parameter	Explanation	Acceptable Input
sensorPort	The VEX Flashlight to use. (default: port4)	port1 to port8 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(port8, 127); // turn VEX Flashlight in port8 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 8 (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 port8 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(port8); // turn VEX Flashlight in port8 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">VEX|PIC</yambe:breadcrumb>
-|-
+<br />
-|
-''[[Main_Page|Main]] >> [[VEX_Main|PIC]] >> [[VEX:_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 100: / Line 82: @@
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">wait</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">float </span><span class="bigCodeBasic">waitTime</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">1.0</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">wait</span><span class="bigCodePunc">(</span><span class="bigKeywordBI">long </span><span class="bigCodeBasic">waitTime</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">1</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 259: / Line 241: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-startMotor(port8, -32);  // start port8 at speed -32
+startMotor(port8, -32);   // start port8 at speed -32
-wait(0.5);               // wait 0.5 seconds
+waitInMilliseconds(500);  // wait 0.5 seconds
-stopMotor(port8);        // stop port8
+stopMotor(port8);         // stop port8
 </syntaxhighlight>
    |-
@@ Line 316: / Line 298: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-startMotor(port8, -32);  // start port8 at speed -32
+startMotor(port8, -32);   // start port8 at speed -32
-wait(0.5);               // wait 0.5 seconds
+waitInMilliseconds(500);  // wait 0.5 seconds
-stopMotor(port8);        // stop port8
+stopMotor(port8);         // stop port8
 </syntaxhighlight>
    |-
@@ Line 434: / Line 416: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward(63);  // move forward at speed 63
-wait(2.0);    // wait 2.0 seconds
+wait(2);      // wait 2 seconds
 stop();       // stop
 </syntaxhighlight>
@@ Line 491: / Line 473: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 backward(-63);  // move backward at speed -63
-wait(2.0);      // wait 2.0 seconds
+wait(2);        // wait 2 seconds
 stop();         // stop
 </syntaxhighlight>
@@ Line 550: / Line 532: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-pointTurn(left, 63);  // point turn LEFT at speed 63
+pointTurn(left, 63);      // point turn LEFT at speed 63
-wait(0.4);            // wait 0.4 seconds
+waitInMilliseconds(400);  // wait 0.4 seconds
-stop();               // stop
+stop();                   // stop
 </syntaxhighlight>
    |-
@@ Line 610: / Line 592: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-swingTurn(left, 63);  // swing turn LEFT at speed 63
+swingTurn(left, 63);      // swing turn LEFT at speed 63
-wait(0.75);           // wait 0.75 seconds
+waitInMilliseconds(750);  // wait 0.75 seconds
-stop();               // stop
+stop();                   // stop
 </syntaxhighlight>
    |-
@@ Line 653: / Line 635: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
 forward(63);  // move forward at speed 63
-wait(2.0);    // wait 2.0 seconds
+wait(2);      // wait 2 seconds
 stop();       // stop
 </syntaxhighlight>
@@ Line 665: / Line 647: @@
 {| 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">long </span><span class="bigCodeBasic">seconds</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tSensors </span><span class="bigCodeBasic">rightEncoderPort</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tSensors </span><span class="bigCodeBasic">leftEncoderPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 688: / Line 670: @@
    |-
    | style="border-style: solid; border-width: 1px 0px 1px 0px"|''seconds''
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of time in seconds to drive straight forward.<br />(default: <span class="codeStringsNums">5.0</span>)
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of time in seconds to drive straight forward.<br />(default: '''NONE''')
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any floating point amount:
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any integer amount from<br />0 to +2,147,483,647.
-   {| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
-    ! style="border-style: solid; border-width: 0px 0px 0px 0px"|
-    !
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.####
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.0000 to +2,048.0000
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.###
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.000 to +32,768.000
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.##
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.00 to +262,144.00
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.#
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.0 to +2,097,200.0
-    |-
-    |}
    |-
    | style="border-style: solid; border-width: 0px 0px 1px 0px"|''rightEncoderPort''
-   | style="border-style: solid; border-width: 0px 0px 1px 0px"|The right-side motor encoder.<br />(default: <span class="codeStringsNums">dgtl1</span> [+ <span class="codeStringsNums">dgtl2</span>])
+   | style="border-style: solid; border-width: 0px 0px 1px 0px"|The right-side motor encoder.<br />(default: '''NONE''')
-   | style="border-style: solid; border-width: 0px 0px 1px 0px"|<span class="codeStringsNums">dgtl1</span> to <span class="codeStringsNums">dgtl11</span><br />Or their names setup in Motors and Sensors Setup.
+   | style="border-style: solid; border-width: 0px 0px 1px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|''leftEncoderPort''
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The left-side motor encoder.<br />(default: <span class="codeStringsNums">dgtl3</span> [+ <span class="codeStringsNums">dgtl4</span>])
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The left-side motor encoder.<br />(default: '''NONE''')
-   | 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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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">
-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();
-</syntaxhighlight>
    |-
    |}
@@ Line 736: / Line 688: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-moveStraightForTime(7.5, dgtl5, dgtl3);  /* move straight forward for 7.5 seconds,
+moveStraightForTime(7, in5, in3);  /* move straight forward for 7 seconds,
-                                            using dgtl5 (+ dgtl6) as the right-side encoder
+                                      using in5 as the right-side encoder
-                                            and dgtl3 (+ dgtl4) as the left-side encoder */
+                                      and in3 as the left-side encoder */
-stop();                                  // stop
+stop();                            // stop
 </syntaxhighlight>
    |-
@@ Line 750: / Line 702: @@
 {| 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">long </span><span class="bigCodeBasic">rotations</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tSensors </span><span class="bigCodeBasic">rightEncoderPort</span><span class="bigCodePunc">, </span><span class="bigCodeBasic">tSensors </span><span class="bigCodeBasic">leftEncoderPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 762: / Line 714: @@
 *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.)
+Acceptable Sensors: A/D ports 1 through 16 + interrupts (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="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
@@ Line 773: / Line 725: @@
    |-
    | style="border-style: solid; border-width: 1px 0px 1px 0px"|''rotations''
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of axle rotations to drive straight forward.<br />(default: <span class="codeStringsNums">1.0</span>)
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of axle rotations to drive straight forward.<br />(default: '''NONE''')
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any floating point amount:
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any integer amount from<br />0 to +2,147,483,647.
-   {| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
-    ! style="border-style: solid; border-width: 0px 0px 0px 0px"|
-    !
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.####
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|-2,048.0000 to +2,048.0000
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.###
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|-32,768.000 to +32,768.000
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.##
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|-262,144.00 to +262,144.00
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.#
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|-2,097,200.0 to +2,097,200.0
-    |-
-    |}
    |-
    | style="border-style: solid; border-width: 0px 0px 1px 0px"|''rightEncoderPort''
-   | style="border-style: solid; border-width: 0px 0px 1px 0px"|The right-side motor encoder.<br />(default: <span class="codeStringsNums">dgtl1</span> [+ <span class="codeStringsNums">dgtl2</span>])
+   | style="border-style: solid; border-width: 0px 0px 1px 0px"|The right-side motor encoder.<br />(default: '''NONE''')
-   | style="border-style: solid; border-width: 0px 0px 1px 0px"|<span class="codeStringsNums">dgtl1</span> to <span class="codeStringsNums">dgtl11</span><br />Or their names setup in Motors and Sensors Setup.
+   | style="border-style: solid; border-width: 0px 0px 1px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|''leftEncoderPort''
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The left-side motor encoder.<br />(default: <span class="codeStringsNums">dgtl3</span> [+ <span class="codeStringsNums">dgtl4</span>])
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The left-side motor encoder.<br />(default: '''NONE''')
-   | 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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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">
-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();
-</syntaxhighlight>
    |-
    |}
@@ Line 821: / Line 743: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-moveStraightForRotations(4.95, dgtl5, dgtl3);  /* move straight forward for 4.95 rotations,
+moveStraightForRotations(4, in5, in3);  /* move straight forward for 4 rotations,
-                                                  using dgtl5 (+ dgtl6) as the right-side encoder
+                                           using in5 as the right-side encoder
-                                                  and dgtl3 (+ dgtl4) as the left-side encoder */
+                                           and in3 as the left-side encoder */
-stop();                                        // stop
+stop();                                 // stop
-</syntaxhighlight>
-  |-
-  |}
-|-
-|}
-<br />
-=== tankControl ===
-{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
-|-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">tankControl</span><span class="bigCodePunc">(</span><span class="bigKeywordB">TVexJoysticks </span><span class="bigCodeBasic">rightJoystick</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">Ch2</span><span class="bigCodePunc">, </span><span class="bigKeywordB">TVexJoysticks </span><span class="bigCodeBasic">leftJoystick</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">Ch3</span><span class="bigCodePunc">, </span><span class="bigKeywordBI">short  </span><span class="bigCodeBasic">threshold</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">10</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:tank_control_vex.png]]
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot will be remote controlled in such a way that the left motor is mapped to the left joystick and the right motor is mapped to the right joystick.
-*NOTE: This function only supports 2 channels and works best with the joystics.
-  |-
-  |}
-|-
-|
- {| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
-  ! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
-  ! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
-  ! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
-  |-
-  | style="border-style: solid; border-width: 1px 0px 1px 0px"|''rightJoystick''
-  | style="border-style: solid; border-width: 1px 0px 1px 0px"|The joystick to use as the RIGHT-side joystick.<br />(default: <span class="codeStringsNums">Ch2</span>)
-  | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any channel:<br /><span class="codeStringsNums">Ch1<br />Ch2<br />Ch3<br />Ch4</span>
-  |-
-  | style="border-style: solid; border-width: 0px 0px 1px 0px"|''leftJoystick''
-  | style="border-style: solid; border-width: 0px 0px 1px 0px"|The joystick to use as the LEFT-side joystick.<br />(default: <span class="codeStringsNums">Ch3</span>)
-  | style="border-style: solid; border-width: 0px 0px 1px 0px"|Any channel:<br /><span class="codeStringsNums">Ch1<br />Ch2<br />Ch3<br />Ch4</span>
-  |-
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|''threshold''
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|This variable eliminates 'noise' caused by joysticks not returning back to the exact center.<br />(default: <span class="codeStringsNums">10</span>)
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|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">
-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) */
-}
-</syntaxhighlight>
-  |-
-  |}
-|-
-|
- {| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
-  ! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
-  |-
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-while(true)
-{
-  tankControl(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 */
-}
-</syntaxhighlight>
-  |-
-  |}
-|-
-|}
-<br />
-=== arcadeControl ===
-{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
-|-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">arcadeControl</span><span class="bigCodePunc">(</span><span class="bigKeywordB">TVexJoysticks </span><span class="bigCodeBasic">verticalJoystick</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">Ch2</span><span class="bigCodePunc">, </span><span class="bigKeywordB">TVexJoysticks </span><span class="bigCodeBasic">horizontalJoystick</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">Ch1</span><span class="bigCodePunc">, </span><span class="bigKeywordBI">short  </span><span class="bigCodeBasic">threshold</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">10</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:arcade_control_vex.png]]
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot will be remote controlled in such a way that the movement of the robot is mapped to a single joystick, much like a retro arcade game.
-*NOTE: This function only supports 2 channels and works best with the joystics.
-  |-
-  |}
-|-
-|
- {| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
-  ! style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
-  ! style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
-  ! style="border-style: solid; border-width: 0px 0px 1px 0px"|Acceptable Input
-  |-
-  | style="border-style: solid; border-width: 1px 0px 1px 0px"|''verticalJoystick''
-  | style="border-style: solid; border-width: 1px 0px 1px 0px"|The joystick to use as the VERTICAL joystick.<br />(default: <span class="codeStringsNums">Ch2</span>)
-  | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any channel:<br /><span class="codeStringsNums">Ch1<br />Ch2<br />Ch3<br />Ch4</span>
-  |-
-  | style="border-style: solid; border-width: 0px 0px 1px 0px"|''horizontalJoystick''
-  | style="border-style: solid; border-width: 0px 0px 1px 0px"|The joystick to use as the HORIZONTAL joystick.<br />(default: <span class="codeStringsNums">Ch1</span>)
-  | style="border-style: solid; border-width: 0px 0px 1px 0px"|Any channel:<br /><span class="codeStringsNums">Ch1<br />Ch2<br />Ch3<br />Ch4</span>
-  |-
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|''threshold''
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|This variable eliminates 'noise' caused by joysticks not returning back to the exact center.<br />(default: <span class="codeStringsNums">10</span>)
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|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">
-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) */
-}
-</syntaxhighlight>
-  |-
-  |}
-|-
-|
- {| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
-  ! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
-  |-
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-while(true)
-{
-  arcadeControl(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 */
-}
 </syntaxhighlight>
    |-
@@ Line 980: / Line 758: @@
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilTouch</span><span class="bigCodePunc">(</span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl6</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilTouch</span><span class="bigCodePunc">(</span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 990: / Line 768: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the touch sensor is pressed in.
-Acceptable Sensors: digital ports 1 through 12 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,001: / Line 779: @@
    |-
    | 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: '''''none''''')
-   | 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.
+   | style="border-style: solid; border-width: 1px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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">
-forward();
-untilTouch();  // wait until the touch sensor in port dgtl1 is pressed (default)
-stop();
-</syntaxhighlight>
    |-
    |}
@@ Line 1,023: / Line 789: @@
    |-
    | 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
-untilTouch(dgtl10);  // wait until the touch sensor in port dgtl10 is pressed
+untilTouch(in10);  // wait until the touch sensor in port in10 is pressed
-stop();              // stop
+stop();            // stop
 </syntaxhighlight>
    |-
@@ Line 1,036: / Line 802: @@
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilRelease</span><span class="bigCodePunc">(</span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl6</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilRelease</span><span class="bigCodePunc">(</span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,046: / Line 812: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the touch sensor is released.
-Acceptable Sensors: digital ports 1 through 12 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,057: / Line 823: @@
    |-
    | 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: '''''none''''')
-   | 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.
+   | style="border-style: solid; border-width: 1px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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">
-forward();
-untilRelease();  // wait until the touch sensor in port dgtl6 is released (default)
-stop();
-</syntaxhighlight>
    |-
    |}
@@ Line 1,079: / Line 833: @@
    |-
    | 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
-untilRelease(dgtl10);  // wait until the touch sensor in port dgtl10 is released
+untilRelease(in10);  // wait until the touch sensor in port in10 is released
-stop();                // stop
+stop();              // stop
 </syntaxhighlight>
    |-
@@ Line 1,092: / Line 846: @@
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilBump</span><span class="bigCodePunc">(</span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl6</span><span class="bigCodePunc">, </span><span class="bigKeywordBI">int </span><span class="bigCodeBasic">delayTimeMS</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">10</span><span class="bigCodePunc">)</span>
+| class="functionType"| <span class="bigKeywordBI">void </span><span class="bigKeywordB">untilBump</span><span class="bigCodePunc">(</span><span class="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc">, </span><span class="bigKeywordBI">int </span><span class="bigCodeBasic">delayTimeMS</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">10</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,102: / Line 856: @@
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|([[Data_Types#dataType_void|void]]) The robot does what it was doing until the touch sensor is pressed in and then released out. A delay time in milliseconds can be specified.
-Acceptable Sensors: digital ports 1 through 12 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)
 Acceptable Range for Delay Time:
-to 2,147,483,647.
+to 32,767.
    |-
    |}
@@ Line 1,116: / Line 870: @@
    |-
    | 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 light sensor.<br />(default: '''''none''''')
-   | 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.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|''delayTimeMS''
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|The amount of milliseconds that MUST PASS between<br />press and release of the sensor for it to count.<br />(default: <span class="codeStringsNums">10</span>)
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|Any whole integer amount from<br />0 to 2,147,483,647.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|Any whole integer amount from<br />0 to 32,767.
-  |-
-  |}
-|-
-|
- {| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
-  ! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
-  |-
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-forward();
-untilBump();  /* wait until the touch sensor in port dgtl6 is pressed and
-                 then released with a delay time of 10 milliseconds (default) */
-stop();
-</syntaxhighlight>
    |-
    |}
@@ Line 1,143: / Line 884: @@
    |-
    | 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
-untilBump(dgtl10, 100);  /* wait until the touch sensor in port dgtl10 is pressed and
+untilBump(in10, 100);  /* wait until the touch sensor in port in10 is pressed and
-                            then released with a delay time of 100 milliseconds */
+                          then released with a delay time of 100 milliseconds */
-stop();                  // stop
+stop();                // stop
 </syntaxhighlight>
    |-
@@ Line 1,157: / Line 898: @@
 {| 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">dgtl8</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="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,167: / Line 908: @@
    | 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 647 (A value of -1 means it cannot detect anything.)
+Range: 0 to 255 (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.)
+Acceptable Sensors: A/D ports 1 through 16 + interrupt (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,180: / Line 921: @@
    |-
    | 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"|The distance in centimeters that<br />an object must be farther than to count<br />(default: '''''none''''')
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 647.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 255.
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor.<br />(default: <span class="codeStringsNums">dgtl8</span> [+ <span class="codeStringsNums">dgtl9</span>])
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor.<br />(default: '''''none''''')
-   | 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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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">
-forward();
-untilSonarGreaterThan();  /* wait until the sonar sensor in port dgtl8 (+ dgtl9)
-                             detects an object farther than 30cm away (default) */
-stop();
-</syntaxhighlight>
    |-
    |}
@@ Line 1,207: / Line 935: @@
    |-
    | 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, dgtl2);  /* wait until the sonar sensor in port dgtl2 (+ dgtl3)
+untilSonarGreaterThan(45, in2);  /* wait until the sonar sensor in port in2
-                                      detects an object farther than 45cm away */
+                                    detects an object farther than 45cm away */
-stop();                            // stop
+stop();                          // stop
 </syntaxhighlight>
    |-
@@ Line 1,221: / Line 949: @@
 {| 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">dgtl8</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="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,231: / Line 959: @@
    | 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 647 (A value of -1 means it cannot detect anything.)
+Range: 0 to 255 (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.)
+Acceptable Sensors: A/D ports 1 through 16 + interrupt (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,244: / Line 972: @@
    |-
    | 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"|The distance in centimeters that<br />an object must be farther than to count<br />(default: '''''none''''')
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 647.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 255.
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor.<br />(default: <span class="codeStringsNums">dgtl8</span> [+ <span class="codeStringsNums">dgtl9</span>])
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor.<br />(default: '''''none''''')
-   | 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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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">
-forward();
-untilSonarLessThan();  /* wait until the sonar sensor in port dgtl8 (+ dgtl 9)
-                          detects an object closer than 30cm away (default) */
-stop();
-</syntaxhighlight>
    |-
    |}
@@ Line 1,271: / Line 986: @@
    |-
    | 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, dgtl2);  /* wait until the sonar sensor in port dgtl2 (+ dgtl3)
+untilSonarLessThan(45, in2);  /* wait until the sonar sensor in port in2
-                                   detects an object closer than 45cm away */
+                                 detects an object closer than 45cm away */
-stop();                         // stop
+stop();                       // stop
 </syntaxhighlight>
    |-
@@ Line 1,285: / Line 1,000: @@
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| 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>
+| 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="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,295: / Line 1,010: @@
    | 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: 0 to 4095 (However due to mechanical stops, you may be limited to the range of 5 to 4090.)
+Range: 0 to 1023 (However due to mechanical stops, you may be limited to the range of 5 to 1018.)
-Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,308: / Line 1,023: @@
    |-
    | style="border-style: solid; border-width: 1px 0px 1px 0px"|''position''
-   | 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"|The function passes if the rotation<br />is greater than this value<br />(default: '''''none''''')
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 4095.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 1023.
    |-
    | 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">in6</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the potentiometer sensor.<br />(default: '''''none''''')
-   | 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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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">
-forward();
-untilPotentiometerGreaterThan();  /* wait until the potentiometer in port in6
-                                     reads a value greater than 2048 (default) */
-stop();
-</syntaxhighlight>
    |-
    |}
@@ Line 1,349: / Line 1,051: @@
 {| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
 |-
-| 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>
+| 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="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,359: / Line 1,061: @@
    | 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: 0 to 4095 (However due to mechanical stops, you may be limited to the range of 5 to 4090.)
+Range: 0 to 1023 (However due to mechanical stops, you may be limited to the range of 5 to 1018.)
-Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,372: / Line 1,074: @@
    |-
    | style="border-style: solid; border-width: 1px 0px 1px 0px"|''position''
-   | 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"|The function passes if the rotation<br />is less than this value<br />(default: '''''none''''')
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 4095.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 1023.
    |-
    | 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">in6</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the potentiometer sensor.<br />(default: '''''none''''')
-   | 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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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">
-forward();
-untilPotentiometerLessThan();  /* wait until the potentiometer in port in6
-                                  reads a value less than 2048 (default) */
-stop();
-</syntaxhighlight>
    |-
    |}
@@ Line 1,472: / Line 1,161: @@
 {| 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">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>
+| 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="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,482: / Line 1,171: @@
    | 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 4095 (dark)
+Range: (light) 0 to 1023 (dark)
-Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,495: / Line 1,184: @@
    |-
    | 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">505</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: '''''none''''')
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 4095.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 1023.
    |-
    | 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">in2</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor.<br />(default: '''''none''''')
-   | 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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
-  ! style="border-style: solid; border-width: 0px 0px 0px 0px"|Default Usage and Sample
-  |-
-  | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-forward();
-untilLight();  /* wait until the light sensor in port in2
-                  detects an object lighter than 505 (default) */
-stop();
-</syntaxhighlight>
-  |-
-  |}
-|-
-|
- {| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
    ! style="border-style: solid; border-width: 0px 0px 0px 0px"|Usage and Sample with Parameters
    |-
@@ Line 1,536: / Line 1,212: @@
 {| 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">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>
+| 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="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,546: / Line 1,222: @@
    | 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 4095 (dark)
+Range: (light) 0 to 1023 (dark)
-Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,559: / Line 1,235: @@
    |-
    | 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">505</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: '''''none''''')
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 4095.
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from 0 to 1023.
    |-
    | 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">in2</span>)
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|The sensor port to use for the sonar sensor.<br />(default: '''''none''''')
-   | 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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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">
-forward();
-untilDark();  /* wait until the light sensor in port in2
-                 detects an object darker than 505 (default) */
-stop();
-</syntaxhighlight>
    |-
    |}
@@ Line 1,600: / Line 1,263: @@
 {| 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="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl1</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="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,607: / Line 1,270: @@
    ! style="border-style: solid; border-width: 0px 0px 0px 0px"|
    |-
-   | style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:rotations_vex.png]]
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|[[File:rotations_vex_pic.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 quadrature encoder rotations match the desired value. Whole number values only!
-Range: -262,144.00 to +262,144.00
+Range: -32,768 to +32,767
-Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: A/D ports 1 through 16 + interrupt (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,623: / Line 1,286: @@
    |-
    | style="border-style: solid; border-width: 1px 0px 1px 0px"|''rotations''
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of axle rotations to reach.<br />(default: <span class="codeStringsNums">1.0</span>)
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|The amount of axle rotations to reach.<br />(default: '''''none''''')
-   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any floating point amount:
+   | style="border-style: solid; border-width: 1px 0px 1px 0px"|Any whole integer amount from -32,768 to +32,767.
-   {| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#F2F2F2; text-align:left; font-size:100%; border-collapse: separate; border-spacing: 0; border-width: 0px; border-style: solid; border-color: #000;" cellpadding="5%"
-    ! style="border-style: solid; border-width: 0px 0px 0px 0px"|
-    !
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.####
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|-2,048.0000 to +2,048.0000
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.###
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|-32,768.000 to +32,768.000
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.##
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|-262,144.00 to +262,144.00
-    |-
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|0.#
-    | style="border-style: solid; border-width: 0px 0px 0px 0px"|-2,097,200.0 to +2,097,200.0
-    |-
-    |}
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
-   | 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"|The quadrature encoder to use.<br />(default: '''''none''''')
-   | 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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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">
-forward();
-untilRotations();  /* wait until the quadrature encoder in port
-                      dgtl1 (+ dgtl2) counts 1.0 rotations (default) */
-stop();
-</syntaxhighlight>
    |-
    |}
@@ Line 1,667: / Line 1,300: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-forward(63);                   // move forward at speed 63
+forward(63);             // move forward at speed 63
-untilRotations(2.75, dgtl3);   /* wait until the quadrature encoder in port
+untilRotations(3, in3);  /* wait until the quadrature encoder
-                                  dgtl3 (+ dgtl4)counts 2.75 rotations */
+                            in port in3 counts 3 rotations */
-stop();                        // stop
+stop();                  // stop
 </syntaxhighlight>
    |-
@@ Line 1,681: / Line 1,314: @@
 {| 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="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc"> = </span><span class="bigCodeStringsNums">dgtl1</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="bigKeywordB">tSensors </span><span class="bigCodeBasic">sensorPort</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,688: / Line 1,321: @@
    ! style="border-style: solid; border-width: 0px 0px 0px 0px"|
    |-
-   | 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"|[[File:encoder_counts_vex_pic.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 counts match the desired value.
-Range: -2,147,483,648 to +2,147,483,647
+Range: -32,768 to +32,767
-Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)
+Acceptable Sensors: A/D ports 1 through 16 + interrupt (and your names for them given in Motors and Sensors Setup.)
    |-
    |}
@@ Line 1,704: / Line 1,337: @@
    |-
    | 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"|The amount of encoder counts to reach.<br />(default: '''''none''''')
-   | 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 />-32,768 to +32,767
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|''sensorPort''
-   | 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"|The quadrature encoder to use.<br />(default: '''''none''''')
-   | 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.
+   | style="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</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">
-forward();
-untilEncoderCounts();  /* wait until the quadrature encoder in port
-                          dgtl1 (+ dgtl2) counts 360 encoder counts (default) */
-stop();
-</syntaxhighlight>
    |-
    |}
@@ Line 1,731: / Line 1,351: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-forward(63);                      // move forward at speed 63
+forward(63);                    // move forward at speed 63
-untilEncoderCounts(990, dgtl3);   /* wait until the quadrature encoder in port
+untilEncoderCounts(990, in3);   /* wait until the quadrature encoder in
-                                     dgtl3 (+ dgtl4)counts 990 encoder counts */
+                                   port in3 counts 990 encoder counts */
-stop();                           // stop
+stop();                         // stop
 </syntaxhighlight>
    |-
@@ Line 1,746: / Line 1,366: @@
 {| 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>
+| 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">in12</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,756: / Line 1,376: @@
    | 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.)
+Acceptable Sensors: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)
+Sensor port must be set to "Digital Output".
    |-
    |}
@@ Line 1,767: / Line 1,389: @@
    |-
    | 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"|The VEX LED to use.<br />(default: <span class="codeStringsNums">in12</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="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    |}
@@ Line 1,777: / Line 1,399: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-turnLEDOn();  // turn on LED in port dgtl1 (default)
+turnLEDOn();  // turn on LED in port in12 (default)
 </syntaxhighlight>
    |-
@@ Line 1,787: / Line 1,409: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-turnLEDOn(dgtl7);  // turn on LED in port dgtl7
+turnLEDOn(in7);  // turn on LED in port in7
 </syntaxhighlight>
    |-
@@ Line 1,798: / Line 1,420: @@
 {| 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>
+| 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">in12</span><span class="bigCodePunc">)</span>
 |-
 |
@@ Line 1,808: / Line 1,430: @@
    | 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.)
+Acceptable Sensors: A/D ports 1 through 16 (and your names for them given in Motors and Sensors Setup.)
+Sensor port must be set to "Digital Output".
    |-
    |}
@@ Line 1,819: / Line 1,443: @@
    |-
    | 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"|The VEX LED to use.<br />(default: <span class="codeStringsNums">in12</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="border-style: solid; border-width: 0px 0px 0px 0px"|<span class="codeStringsNums">in1</span> to <span class="codeStringsNums">in16</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    |}
@@ Line 1,829: / Line 1,453: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-turnLEDOff();  // turn off LED in port dgtl1 (default)
+turnLEDOff();  // turn off LED in port in12 (default)
 </syntaxhighlight>
    |-
@@ Line 1,839: / Line 1,463: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-turnLEDOff(dgtl7);  // turn off LED in port dgtl7
+turnLEDOff(in7);  // turn off LED in port in7
 </syntaxhighlight>
    |-
@@ Line 1,862: / Line 1,486: @@
 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.)
+Acceptable Ports: motor ports 1 through 8 (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.
+*NOTE* Brightness control only available in motor ports 1 through 8 when connected to a VEX Motor Controller 29.
    |-
    |}
@@ Line 1,876: / Line 1,500: @@
    | 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"|<span class="codeStringsNums">port1</span> to <span class="codeStringsNums">port8</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">dgtl2</span>)
+   | 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.
    |-
@@ Line 1,899: / Line 1,523: @@
    |-
    | 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]
+turnFlashlightOn(port8, 127);  // turn VEX Flashlight in port8 ON to full brightness [127]
 </syntaxhighlight>
    |-
@@ Line 1,920: / Line 1,544: @@
    | 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.)
+Acceptable Ports: motor ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)
    |-
@@ Line 1,933: / Line 1,557: @@
    | 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"|<span class="codeStringsNums">port1</span> to <span class="codeStringsNums">port8</span><br />Or their names setup in Motors and Sensors Setup.
    |-
    |}
@@ Line 1,952: / Line 1,576: @@
    |-
    | style="border-style: solid; border-width: 0px 0px 0px 0px"|<syntaxhighlight lang="ROBOTC">
-turnFlashlightOff(port10);  // turn VEX Flashlight in port10 OFF
+turnFlashlightOff(port8);  // turn VEX Flashlight in port8 OFF
 </syntaxhighlight>
    |-

VEX Natural Language

Latest revision as of 12:42, 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

moveStraightForTime

moveStraightForRotations

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

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