VEX Natural Language

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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(float waitTime = 1.0)

(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 wait(0.5); // 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 wait(0.5); // wait 0.5 seconds stopMotor(port8); // stop port8

setServo

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

(void) Set a motor to a speed. Range: -127 to 127 Acceptable Motors: ports 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(2.0); // wait 2.0 seconds stop(); // stop

backward

void backward(byte speed = -95)

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

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

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

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

pointTurn

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

(void) Both wheels rotate at the same speed but in opposite directions, causing the robot to turn around it's center. This makes a sharp turn in place. Range: -127 to 127

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

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

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

swingTurn

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

(void) One wheel rotates while the other does not move, causing the robot to turn around the stopped wheel. This makes a wide turn. Range: -127 to 127

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

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

Usage and Sample with Parameters swingTurn(left, 63); // swing turn LEFT at speed 63 wait(0.75); // wait 0.75 seconds stop(); // stop

stop

void stop()

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

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

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

lineTrackForTime

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

(void) The robot will track a black line on a white surface for a specified time in seconds. Threshold Range: (dark) 0 to 4095 (light) Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)

Parameter Explanation Acceptable Input trackTime The amount of time in seconds to track a line. (default: 5.0) Any floating point amount: 0.#### 0.0000 to +2,048.0000 0.### 0.000 to +32,768.000 0.## 0.00 to +262,144.00 0.# 0.0 to +2,097,200.0 threshold The threshold to compare colors against. (default: 505) 0 to +4095 sensorLeft The sensor port to use for the LEFT line tracking sensor. (default: in1) in1 to in8 Or their names setup in Motors and Sensors Setup. sensorCenter The sensor port to use for the CENTER line tracking sensor. (default: in2) in1 to in8 Or their names setup in Motors and Sensors Setup. sensorRight The sensor port to use for the RIGHT line tracking sensor. (default: in3) in1 to in8 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample lineTrackForTime(); /* track a black line for 5.0 seconds, using a threshold of 505, with the line tracking sensors in ports: in1, in2, in3(default) */ stop();

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

lineTrackForRotations

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

(void) The robot will track a black line on a white surface for a specified distance in rotations. Threshold Range: (dark) 0 to 4095 (light) Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)

Parameter Explanation Acceptable Input rotations The amount of axle rotations to track a line. (default: 3.0) Any floating point amount: 0.#### -2,048.0000 to +2,048.0000 0.### -32,768.000 to +32,768.000 0.## -262,144.00 to +262,144.00 0.# -2,097,200.0 to +2,097,200.0 threshold The threshold to compare colors against. (default: 505) 0 to +4095 sensorLeft The sensor port to use for the LEFT line tracking sensor. (default: in1) in1 to in8 Or their names setup in Motors and Sensors Setup. sensorCenter The sensor port to use for the CENTER line tracking sensor. (default: in2) in1 to in8 Or their names setup in Motors and Sensors Setup. sensorRight The sensor port to use for the RIGHT line tracking sensor. (default: in3) in1 to in8 Or their names setup in Motors and Sensors Setup.

Default Usage and Sample lineTrackForRotations(); /* track a black line for 3.0 rotations, using a threshold of 505, with the line tracking sensors in ports: in1, in2, in3(default) */ stop();

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

moveStraightForTime

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

(void) The robot will use encoders to maintain a straight course for a length of time in seconds. NOTE: This function only supports moving forward and only at one speed setting. Future implementations may include moving backwards and variable speeds. Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)

Parameter Explanation Acceptable Input seconds The amount of time in seconds to drive straight forward. (default: 5.0) Any floating point amount: 0.#### -2,048.0000 to +2,048.0000 0.### -32,768.000 to +32,768.000 0.## -262,144.00 to +262,144.00 0.# -2,097,200.0 to +2,097,200.0 rightEncoderPort The right-side motor encoder. (default: dgtl1 [+ dgtl2]) dgtl1 to dgtl11 Or their names setup in Motors and Sensors Setup. leftEncoderPort The left-side motor encoder. (default: dgtl3 [+ dgtl4]) dgtl1 to dgtl11 Or their names setup in Motors and Sensors Setup.

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

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

moveStraightForRotations

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

(void) The robot will use encoders to maintain a straight course for a distance in rotations (360 encoder counts = 1 rotation). NOTE: This function only supports moving forward and only at one speed setting. Future implementations may include moving backwards and variable speeds. Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)

Parameter Explanation Acceptable Input rotations The amount of axle rotations to drive straight forward. (default: 1.0) Any floating point amount: 0.#### -2,048.0000 to +2,048.0000 0.### -32,768.000 to +32,768.000 0.## -262,144.00 to +262,144.00 0.# -2,097,200.0 to +2,097,200.0 rightEncoderPort The right-side motor encoder. (default: dgtl1 [+ dgtl2]) dgtl1 to dgtl11 Or their names setup in Motors and Sensors Setup. leftEncoderPort The left-side motor encoder. (default: dgtl3 [+ dgtl4]) dgtl1 to dgtl11 Or their names setup in Motors and Sensors Setup.

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

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

tankControl

void tankControl(TVexJoysticks rightJoystick = Ch2, TVexJoysticks leftJoystick = Ch3, short threshold = 10)

(void) The robot will be remote controlled in such a way that the left motor is mapped to the left joystick and the right motor is mapped to the right joystick. NOTE: This function only supports 2 channels and works best with the joystics.

Parameter Explanation Acceptable Input rightJoystick The joystick to use as the RIGHT-side joystick. (default: Ch2) Any channel: Ch1 Ch2 Ch3 Ch4 leftJoystick The joystick to use as the LEFT-side joystick. (default: Ch3) Any channel: Ch1 Ch2 Ch3 Ch4 threshold This variable eliminates 'noise' caused by joysticks not returning back to the exact center. (default: 10) 0 to 127

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

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

arcadeControl

void arcadeControl(TVexJoysticks verticalJoystick = Ch2, TVexJoysticks horizontalJoystick = Ch1, short threshold = 10)

(void) The robot will be remote controlled in such a way that the movement of the robot is mapped to a single joystick, much like a retro arcade game. NOTE: This function only supports 2 channels and works best with the joystics.

Parameter Explanation Acceptable Input verticalJoystick The joystick to use as the VERTICAL joystick. (default: Ch2) Any channel: Ch1 Ch2 Ch3 Ch4 horizontalJoystick The joystick to use as the HORIZONTAL joystick. (default: Ch1) Any channel: Ch1 Ch2 Ch3 Ch4 threshold This variable eliminates 'noise' caused by joysticks not returning back to the exact center. (default: 10) 0 to 127

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

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

Until Functions

untilTouch

void untilTouch(tSensors sensorPort = dgtl6)

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

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

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

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

untilRelease

void untilRelease(tSensors sensorPort = dgtl6)

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

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

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

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

untilBump

void untilBump(tSensors sensorPort = dgtl6, int delayTimeMS = 10)

(void) The robot does what it was doing until the touch sensor is pressed in and then released out. A delay time in milliseconds can be specified. Acceptable Sensors: digital ports 1 through 12 (and your names for them given in Motors and Sensors Setup.) Acceptable Range for Delay Time: 0 to 2,147,483,647.

Parameter Explanation Acceptable Input sensorPort The sensor port to use for the light sensor. (default: dgtl6) dgtl1 to dgtl12 Or their names setup in Motors and Sensors Setup. delayTimeMS The amount of milliseconds that MUST PASS between press and release of the sensor for it to count. (default: 10) Any whole integer amount from 0 to 2,147,483,647.

Default Usage and Sample forward(); untilBump(); /* wait until the touch sensor in port dgtl6 is pressed and then released with a delay time of 10 milliseconds (default) */ stop();

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

untilSonarGreaterThan

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

(void) The robot does what it was doing until the sonar sensor reads a value greater than a set distance in centimeters. Range: 0 to 647 (A value of -1 means it cannot detect anything.) Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)

Parameter Explanation Acceptable Input distance The distance in centimeters that an object must be farther than to count (default: 30) Any whole integer amount from 0 to 647. sensorPort The sensor port to use for the sonar sensor. (default: dgtl8 [+ dgtl9]) dgtl1 to dgtl11 Or their names setup in Motors and Sensors Setup.

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

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

untilSonarLessThan

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

(void) The robot does what it was doing until the sonar sensor reads a value less than a set distance in centimeters. Range: 0 to 647 (A value of -1 means it cannot detect anything.) Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)

Parameter Explanation Acceptable Input distance The distance in centimeters that an object must be farther than to count (default: 30) Any whole integer amount from 0 to 647. sensorPort The sensor port to use for the sonar sensor. (default: dgtl8 [+ dgtl9]) dgtl1 to dgtl11 Or their names setup in Motors and Sensors Setup.

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

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

untilPotentiometerGreaterThan

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

(void) The robot does what it was doing until the potentiometer sensor reads a value greater than a set position. Range: 0 to 4095 (However due to mechanical stops, you may be limited to the range of 5 to 4090.) Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)

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

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

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

untilPotentiometerLessThan

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

(void) The robot does what it was doing until the potentiometer sensor reads a value less than a set position. Range: 0 to 4095 (However due to mechanical stops, you may be limited to the range of 5 to 4090.) Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)

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

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

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

untilButtonPress

void untilButtonPress(short button = centerBtnVEX)

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

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

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

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

untilLight

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

(void) The robot does what it was doing until the light sensor reads a value lighter than the threshold. Range: (light) 0 to 4095 (dark) Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)

Parameter Explanation Acceptable Input threshold The threshold value that an object must be lighter than to count (default: 505) Any whole integer amount from 0 to 4095. sensorPort The sensor port to use for the sonar sensor. (default: in2) in1 to in8 Or their names setup in Motors and Sensors Setup.

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

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

untilDark

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

(void) The robot does what it was doing until the light sensor reads a value darker than the threshold. Range: (light) 0 to 4095 (dark) Acceptable Sensors: analog ports 1 through 8 (and your names for them given in Motors and Sensors Setup.)

Parameter Explanation Acceptable Input threshold The threshold value that an object must be darker than to count (default: 505) Any whole integer amount from 0 to 4095. sensorPort The sensor port to use for the sonar sensor. (default: in2) in1 to in8 Or their names setup in Motors and Sensors Setup.

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

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

untilRotations

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

(void) The robot does what it was doing until the motor encoder rotations match the desired value. Range: -262,144.00 to +262,144.00 Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)

Parameter Explanation Acceptable Input rotations The amount of axle rotations to reach. (default: 1.0) Any floating point amount: 0.#### -2,048.0000 to +2,048.0000 0.### -32,768.000 to +32,768.000 0.## -262,144.00 to +262,144.00 0.# -2,097,200.0 to +2,097,200.0 sensorPort The quadrature encoder to use. (default: dgtl1 [+ dgtl1]) dgtl1 to dgtl11 Or their names setup in Motors and Sensors Setup.

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

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

untilEncoderCounts

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

(void) The robot does what it was doing until the motor encoder counts match the desired value. Range: -2,147,483,648 to +2,147,483,647 Acceptable Sensors: digital ports 1 through 11 (and your names for them given in Motors and Sensors Setup.)

Parameter Explanation Acceptable Input distance The amount of encoder counts to reach. (default: 360) Any whole integer amount from -2,147,483,648 to +2,147,483,647 sensorPort The quadrature encoder to use. (default: dgtl1 [+ dgtl1]) dgtl1 to dgtl11 Or their names setup in Motors and Sensors Setup.

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

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

Special Functions

turnLEDOn

void turnLEDOn(tSensors sensorPort = dgtl2)

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

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

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

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

turnLEDOff

void turnLEDOff(tSensors sensorPort = dgtl2)

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

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

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

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

turnFlashlightOn

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

(void) Turns a VEX Flashlight in a specfied motor port ON at a specified brightness. Brightness Range: (off) 0 to 127 (bright) Acceptable Ports: motor ports 1 through 10 (and your names for them given in Motors and Sensors Setup.) NOTE: Brightness control only available in motor ports 1 and 10, or 2 through 9 when connected to a VEX Motor Controller 29.

Parameter Explanation Acceptable Input sensorPort The VEX Flashlight to use. (default: port4) port1 to port10 Or their names setup in Motors and Sensors Setup. brightness The level of brightness to set the VEX Flashlight to. (default: dgtl2) Any whole integer amount from 0 to 127.

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

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

turnFlashlightOff

void turnFlashlightOff(tMotor flashlightPort = port4)

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

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

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

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