Misc. Features - NQC API

Overview

Misc. Features

Contents | Master Index

CyberMaster

RCX

RCX2

Scout

FUNCTIONS / COMMANDS

					Wait()		Make a task sleep for specified amount of time (in 100ths of a second).
					StopAllTasks()		Stop all currently running tasks.
					SetSleepTime()		Set the sleep timeout the requested number of minutes (which must be a constant).
					SleepNow()		Force the device to go to sleep.
					SetWatch()		Set the system watch to the specified number of hours and minutes.
					SetRandomSeed()		Seed the random number generator with n.
					SelectProgram()		Select the specified program and start running it.
					SetScoutRules()		Set the various rules used by the scout in stand-alone mode.
					SetScoutMode()		Put the scout into stand-alone (0) or power (1) mode.
					SetEventFeedback()		Set which events should be accompanied by audio feedback.
					SetLight()		Control the Scout's LED.
					Drive()		Turns on both motors at the power levels specified.
					OnWait()		Turns on the motors specified.
					OnWaitDifferent()		Like `OnWait`().
					ClearTachoCounter()		Resets the tachometer for the motor(s) specified.

VALUES / QUERIES

Random() Return a random number between 0 and n.
Program() Number of the currently selected program.
Watch() Return the value of the system clock in minutes.
BatteryLevel() Return the battery level in millivolts.
FirmwareVersion() Return the firmware version as an integer.
ScoutRules() Return current setting for one of the rules.
EventFeedback() Return the set of events that have audio feedback.
TachoCount() Returns the current value of the tachometer for a specified motor.
TachoSpeed() Returns the current speed of the tachometer for a specified motor.
ExternalMotorRunning() This is actually a measure of the current being drawn by the motor.
AGC() Return the current value of the automatic gain control on the RF receiver.

OVERVIEW

CyberMaster provides alternate names for the sensors: SENSOR_L, SENSOR_M, and SENSOR_R. It also provides alternate names for the outputs: OUT_L, OUT_R, OUT_X. Additionally, the two internal motors have tachometers, which measure 'clicks' and speed as the motors turn. There are about 50 clicks per revolution of the shaft. The tachometers can be used, for example, to create a robot which can detect if it has bumped into an object without using any external sensors. The tachometers have maximum values of 32767 and do not differentiate between directions. They will also count up if the shaft is turned by hand, including when no program is running.

FUNCTIONS / COMMANDS

CyberMaster RCX RCX2 Scout

Wait(time) Overview | Top

Make a task sleep for specified amount of time (in 100ths of a second). The time argument may be an expression or a constant:
Wait(100); // wait 1 second
Wait(Random(100)); // wait random time up to 1 second

StopAllTasks() Overview | Top

Stop all currently running tasks. This will halt the program completely, so any code following this command will be ignored.
StopAllTasks(); // stop the program

SetSleepTime(minutes) Overview | Top

Set the sleep timeout the requested number of minutes (which must be a constant). Specifying 0 minutes disables the sleep feature.
SetSleepTime(5); // sleep after 5 minutes
SetSleepTime(0); // disable sleep time

SleepNow() Overview | Top

Force the device to go to sleep. Only works if the sleep time is non-zero.
SleepNow(); // go to sleep

SetWatch(hours, minutes) Overview | Top

Set the system watch to the specified number of hours and minutes. Hours must be a constant between 0 and 23 inclusive. Minutes must be a constant between 0 and 59 inclusive.
SetWatch(3, 15); // set watch to 3:15

SetRandomSeed(n) Overview | Top

Seed the random number generator with n. N may be an expression.
SetRandomSeed(x); // seed with value of x

SelectProgram(n) Overview | Top

Select the specified program and start running it. Note that programs are numbered 0-4 (not 1-5 as displayed on the LCD).
SelectProgram(3);

SetScoutRules(motion, touch, light, time, fx) Overview | Top

Set the various rules used by the scout in stand-alone mode.

SetScoutMode(mode) Overview | Top

Put the scout into stand-alone (0) or power (1) mode. As a programming call it really only makes sense to put into stand-alone mode since it would already be in power mode to run an NQC program.

SetEventFeedback(events) Overview | Top

Set which events should be accompanied by audio feedback.
SetEventFeedback(EVENT_1_PRESSED);

SetLight(mode) Overview | Top

Control the Scout's LED. Mode must be LIGHT_ON or LIGHT_OFF.
SetLight(LIGHT_ON); // turn on LED

Drive(motor0, motor1) Overview | Top

Turns on both motors at the power levels specified. If a power level is negative, then the motor will run in reverse. Equivalent to this code:
SetPower(OUT_L, abs(power0));
SetPower(OUT_R, abs(power1));
if(power0 < 0)
{ SetDirection(OUT_L, OUT_REV) }
else
{ SetDirection(OUT_L, OUT_FWD) }
if(power1 < 0)
{ SetDirection(OUT_R, OUT_REV) }
else
{ SetDirection(OUT_R, OUT_FWD) }
SetOutput(OUT_L + OUT_R, OUT_ON);

OnWait(motors, n time) Overview | Top

Turns on the motors specified, all at the same power level then waits for the given time. The time is in 10ths of a second, with a maximum of 255 (or 25.5 seconds). Equivalent to this code:
SetPower(motors, abs(power));
if(power < 0)
{ SetDirection(motors, OUT_REV) }
else
{ SetDirection(motors, OUT_FWD) }
SetOutput(motors, OUT_ON);
Wait( time * 10 );

OnWaitDifferent(motors, n0, n1, n2, time) Overview | Top

Like OnWait(), except different power levels can be given for each motor.

ClearTachoCounter(motors) Overview | Top

Resets the tachometer for the motor(s) specified.

VALUES / QUERIES

CyberMaster RCX RCX2 Scout

Random(n) Overview | Top

Return a random number between 0 and n. N must be a constant.
x = Random(10);

Program() Overview | Top

Number of the currently selected program.
x = Program();

Watch() Overview | Top

Return the value of the system clock in minutes.
x = Watch();

BatteryLevel() Overview | Top

Return the battery level in millivolts.
x = BatteryLevel();

FirmwareVersion() Overview | Top

Return the firmware version as an integer. For example, version 3.2.6 is 326.
x = FirmwareVersion();

ScoutRules(n) Overview | Top

Return current setting for one of the rules. N should be a constant between 0 and 4.
x = ScoutRules(1); // get setting for rule #1

EventFeedback() Overview | Top

Return the set of events that have audio feedback.
x = EventFeedback();

TachoCount(n) Overview | Top

Returns the current value of the tachometer for a specified motor.

TachoSpeed(n) Overview | Top

Returns the current speed of the tachometer for a specified motor. The speed is fairly constant for an unladen motor at any speed, with a maximum value of 90. (This will be lower as your batteries lose power!) The value drops as the load on the motor increases. A value of 0 indicates that the motor is stalled.

ExternalMotorRunning() Overview | Top

This is actually a measure of the current being drawn by the motor. The values returned tends to fluctuate slightly, but are, on average, as follows for an unladen motor:

0 motor is floating
1 motor is off
<=7 motor is running at around this power level. This is where the value fluctuates the most (probably related to the PWM method used to drive the motors.) In any case, you should know what power level you set the motor to in the first place.
The value increases as the load on the motor increases, and a value between 260 and 300 indicates that the motor has stalled.

AGC() Overview | Top

Return the current value of the automatic gain control on the RF receiver. This can be used to give a very rough (and somewhat inaccurate) measure of the distance between the CyberMaster and the RF transmitter.
x = AGC();

Comments

					Random()		Return a random number between 0 and n.
					Program()		Number of the currently selected program.
					Watch()		Return the value of the system clock in minutes.
					BatteryLevel()		Return the battery level in millivolts.
					FirmwareVersion()		Return the firmware version as an integer.
					ScoutRules()		Return current setting for one of the rules.
					EventFeedback()		Return the set of events that have audio feedback.
					TachoCount()		Returns the current value of the tachometer for a specified motor.
					TachoSpeed()		Returns the current speed of the tachometer for a specified motor.
					ExternalMotorRunning()		This is actually a measure of the current being drawn by the motor.
					AGC()		Return the current value of the automatic gain control on the RF receiver.

						Wait(time)	Overview \| Top
						Make a task sleep for specified amount of time (in 100ths of a second). The time argument may be an expression or a constant: Wait(100); // wait 1 second Wait(Random(100)); // wait random time up to 1 second

						StopAllTasks()	Overview \| Top
						Stop all currently running tasks. This will halt the program completely, so any code following this command will be ignored. StopAllTasks(); // stop the program

						SetSleepTime(minutes)	Overview \| Top
						Set the sleep timeout the requested number of minutes (which must be a constant). Specifying 0 minutes disables the sleep feature. SetSleepTime(5); // sleep after 5 minutes SetSleepTime(0); // disable sleep time

						SleepNow()	Overview \| Top
						Force the device to go to sleep. Only works if the sleep time is non-zero. SleepNow(); // go to sleep

						SetWatch(hours, minutes)	Overview \| Top
						Set the system watch to the specified number of hours and minutes. Hours must be a constant between 0 and 23 inclusive. Minutes must be a constant between 0 and 59 inclusive. SetWatch(3, 15); // set watch to 3:15

						SetRandomSeed(n)	Overview \| Top
						Seed the random number generator with n. N may be an expression. SetRandomSeed(x); // seed with value of x

						SelectProgram(n)	Overview \| Top
						Select the specified program and start running it. Note that programs are numbered 0-4 (not 1-5 as displayed on the LCD). SelectProgram(3);

						SetScoutRules(motion, touch, light, time, fx)	Overview \| Top
						Set the various rules used by the scout in stand-alone mode.

						SetScoutMode(mode)	Overview \| Top
						Put the scout into stand-alone (0) or power (1) mode. As a programming call it really only makes sense to put into stand-alone mode since it would already be in power mode to run an NQC program.

						SetEventFeedback(events)	Overview \| Top
						Set which events should be accompanied by audio feedback. SetEventFeedback(EVENT_1_PRESSED);

						SetLight(mode)	Overview \| Top
						Control the Scout's LED. Mode must be `LIGHT_ON` or `LIGHT_OFF`. SetLight(LIGHT_ON); // turn on LED

						Drive(motor0, motor1)	Overview \| Top
						Turns on both motors at the power levels specified. If a power level is negative, then the motor will run in reverse. Equivalent to this code: SetPower(OUT_L, abs(power0)); SetPower(OUT_R, abs(power1)); if(power0 < 0) { SetDirection(OUT_L, OUT_REV) } else { SetDirection(OUT_L, OUT_FWD) } if(power1 < 0) { SetDirection(OUT_R, OUT_REV) } else { SetDirection(OUT_R, OUT_FWD) } SetOutput(OUT_L + OUT_R, OUT_ON);

						OnWait(motors, n time)	Overview \| Top
						Turns on the motors specified, all at the same power level then waits for the given time. The time is in 10ths of a second, with a maximum of 255 (or 25.5 seconds). Equivalent to this code: SetPower(motors, abs(power)); if(power < 0) { SetDirection(motors, OUT_REV) } else { SetDirection(motors, OUT_FWD) } SetOutput(motors, OUT_ON); Wait( time * 10 );

						OnWaitDifferent(motors, n0, n1, n2, time)	Overview \| Top
						Like `OnWait`(), except different power levels can be given for each motor.

						ClearTachoCounter(motors)	Overview \| Top
						Resets the tachometer for the motor(s) specified.