Welcome to the EMGRobotics - Home of the RobotVisionToolkit and RobotSee

RobotSee Keywords – 05/18/09

Eric Gregori

Variables – testarray.see

global( variable_name ) - Creates a global variable

local( variable_name ) - Creates a local variable within a subroutine

array( variable_name, size ) - Creates a global variable array of integers

access variables just like in c

var[0] = 100 var[24] = 50

array size only limited by memory

enum( name, const1, const2, const3 const4, const5, const6, const7, ... )

- Creates a initialized array of constants

Name is the variable name

And const 1-n, are constants

This is equivalent to: array( name, n )

Name[0] = const1

Name[1] = const2

Name[n-1] = constn

int const( name, index ) - Reads a array ( name ) at index

This is equivilant to: name[index]

Operators – testoperators.see

+ addition 1+1 = 2

- Subtraction 1-1 = 0

* multiplication 2*1 = 2

/ division 100/10 = 10

& bitwise and 0xaa&0xf0 = a0

| bitwise or 0xaa|0x55 = ff

= assignment result=5 = 5

> greater 100>5 = 1

< less then 100<5 = 0

+= addition assignment result = 100 result+=5 = 105

-= subtraction assignment result = 105 result-=5 = 100

*= multiplication assignment result = 100 result*=5 = 500

/= division assignment result = 500 result/=5 = 100

&= bitwise and assignment result = 64 result&=5 = 4

|= bitwise or assignment result = 4 result|=5 = 5

== equal comparison 100==5 = 0

!= not equal comparison 100!=5 = 1

&& logical and 100>5&&100>5 = 1

100>5&&100<5 = 0

100<5&&100>5 = 0

|| logical or 100>5||100>5 = 1

100>5||100<5 = 1

100<5||100>5 = 1

100<5||100<5 = 0

Controlling Program Flow – testloops.see

while( conditional ) .... wend()

for( assignment ) ... next( conditional )

for( assignment ) ... next( expression, conditional )

if( conditional ) ... endif()

if( conditional ) ... else() ... endif()

switch( expression ) ... case C: ... break() ... default: ... endswitch()

switch( expression ) ... case C: ... break() ... endswitch()

switch( expression ) ... case C: ... endswitch()

goto(label)

gosub( label, return var, expression, expression, ..... )

gosub( label, return var )

return( expression )

end()

Multi-Tasking

createtask( ".see path/filename" ) - Creates another interpreter instance and loads

it with the SEE program specified.

int mutex( index ) - Variables used to communicate between instances

int mutex( index, expression ) - Variables used to communicate between instances

Logical

int and( int, mask ) - returns variable and mask

int or( int, mask ) - returns variable or mask

int rightshift( int, shift ) - shifts variable right

int leftshift( int, shift ) - shifts variable left

Time – testtime.see

delay( ms ) - delay for milliseconds

int getms() - Get milliseconds since execution started

int time( 0 ) - returns time in seconds since UTC 1/1/70

int time( 1 ) - returns 0xWWHHMMSS where: W=weekday, H=hour, M=minute, S=second

int time( 2 ) - returns 0xYYDDMMOO where: Y=year, D=Day in year,

M=Month, O=Day Of Month

Math - testmath.see

srand( seed ) - Seed the random number generator

int rand( min, max ) - Returns a random number between min and max

int atanto( mult, div, int, int ) - returns (mult*180*atanto( int/div, int/div ))/pi

int sqrt( mult, int ) - returns mult * sqrt( int )

int asin( mult, div, int ) - returns (mult * 180 * asin( int/div ))/pi

int acos( mult, div, int ) - returns (mult * 180 * acos( int/div ))/pi

int atan( mult, div, int ) - returns (mult * 180 * atan( int/div ))/pi

int tan( mult, div, int ) - returns (mult * tan( ((pi*int)/div )/180 )

int sin( mult, div, int ) - returns (mult * sin( ((pi*int)/div )/180 )

int cos( mult, div, int ) - returns (mult * cos( ((pi*int)/div )/180 )

int abs( int ) - returns abs( int )

Serial

int serpurge( port ) - Purge the serial port

int serout( port, purge, data ) - Send Data out serial port

int seropen( port, baud ) - Open the serial port

int serwait( port, "string", timeout ) - Wait for "string" on serial port

int sergethexbyte( port, variable, timeout ) - Read and convert hex data from serial

port

File I/O – testfileio.see

fileprint( "string", expression, "string %x", expression ) - print data to file

fileopen( "filename" ) - open a file

fileclose() - close a file

Applications Interface

int appget( tag, data ) - Get data from Application Interface

int appflush() - Flush the Application Interface

int appput( tag, data ) - Send data to Application Interface

Sound – testsound.see

soundplay( "filename of sound to play" ) - Play a sound file once ( done in background )

soundloop( "filename of sound to play" ) - Loop a sound file ( done in background )

soundstop( ) - Stop current sound playback

Misc

print( "string", expression, "string %x", expression ) - print to console

debug( level ) - sets debug level for interpreter testing

verbose( level ) - sets interpreter console verbose mode level

int loaddll( "dll_path_filename.dll" ) - Loads a language Extension DLL

int version() - Returns Interpreter Revision Number

Interrupts – testinterrupts.see

int interrupts( option ) - interrupts(0) - disable all

interrupts(1) - enable all

int interadd( label ) - Add a interrupt handler

where: label is the label the interrupt

will jump to

returns -1 on failure

int interstart( label, timeout ) - Sets timeout ( in ms ) for interrupt

created with interadd()

int interstop( label ) - Stops the interrupt created with interadd()

returns -1 on failure

int interdel( label ) - Deletes a interrupt created with interadd()

interret() - You must use this return in your interrupt

handler.

Computer Vision - Language Extension

cv_filter1.see,cv_test1.see,cv_test2.see,cv_test3.see,emgrobodemos.see

int computervision() - returns revision number

int visionopen - Open vision with specified DLL

visionprint( index ) - Sends vision strings to console

int visionframe( ) - returns frame #

visionwait( frames ) - block for X frames

visionfilter( filter.dll ) - sets a vision filter

int visionread( index ) - Read vision variables

int visionwrite( index, data ) - write vision variables

visionclose - close computer vision instance

Speech Recognition / Text to Speech ( SAPI ) - Language Extension – sapitest1.see

int sapi() - return revision number

int sapiopen() - Opens a SAPI interface

int sapiclose() - Closes a SAPI interface

int sapilisten() - sapilisten( 0=off, 1=on )

int spipoll( "word1", "word2", "word3", "word4", "word5" ) - Listen for these words

int sapispeak( "string to speak" ) - Text to speech

int sapiprint( "string", var, "string", var, "string", var ) - print to SAPI

Joystick - Language Extension – sapitest1.see

int joystick() - returns joystick dll revision

int joystickread( num, x, y, butt ) - returns 0 if joystick detected.

int joystickread( num, x, y, butt, z, r ) num = joystick number 0 = 1 joy

int joystickread( num, x, y, butt, z, r, pov ) x,y,butt,z,r,pov,u,v variables

int joystickread( num, x, y, butt, z, r, pov, u, v ) are assigned values based on

state of joystick.

Tested using Logitech Dual Action

See testjoystick.see for examples

KevinJr - Language Extension

int kevinjr(0) - returns kevinjr language extension revision number

int kevinjr(1) - returns USB DLL revision number

var( variable_name ) - Creates a variable

var( variable_name, assignement ) - Creates a variable, and assigns it a value

servos( duty1, duty2, duty3, duty4, duty5, duty6, duty7, duty8 ) - move all servos at once

servo( servo_num, duty ) - Moves a single servo

leds( led1, led2, led3, led4, led5, led6, led7 ) - led = 0,1,2,3 - 0=off, 1=green, 2=red, 3=yellow

led( led_num, value ) - single led control

usbopen( "path/filename to USB dll" ) - opens the HID USB DLL

int readtouch( var1, var2, var3 ) - Reads the Touch sensors

int readaccel( var1, var2, var3 ) - Reads the accelerometer

int readsensors( var1, var2, var3, var4, var5, var6 ) - Reads both touch and accel

int iicwrite( address, data ) - Write to iic

int iicread( address ) - read from iic