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RobotSee Version 6.6
Language Extensions
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Speech Recognition |
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Keyword |
Description |
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global( variable_name ) |
Creates a global variable |
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local( variable_name ) |
Creates a local variable within a subroutine |
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array( variable_name, size ) |
Creates a global variable array of integers |
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const( name, const1, const2, ... ) |
Creates a initialized variable or array ( depending on # of constants ). |
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Keyword |
Description |
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while( conditional ) wend() |
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for( assignment ) next( expression, conditional ) |
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if( conditional ) else() endif() |
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switch( expression ) case C: break() default: endswitch() |
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goto(label) |
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gosub( label, return var, expression, .... ) |
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return( expression ) |
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end() |
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Keyword |
Description |
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fileprint( "string", expression, "string %x", expression ) |
Prints formatted data to a file opened by fileopen(). Uses same formatting as print(). |
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int fileopen( "filename" ) |
Open a file |
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fileclose() |
Closes a file |
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Keyword |
Description |
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int serpurge( port ) |
Purge the serial port |
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int serout( port, purge, data ) |
Send formatted Data out serial port |
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int seropen( port, baud ) |
Open the serial port |
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int serwait( port, "string", timeout ) |
Wait for "string" on serial port |
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int sergethexbyte( port, var, timeout ) |
Read and convert hex data from serial port
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int sergetbyte( port, var, timeout ) |
Read a byte from the serial port. |
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Keyword |
Description |
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print( "string", expression, "string %x", expression ) |
Print formatted data to console |
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debug( level ) |
Turns on debugging, enables breakpoints |
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breakpoint( level ) |
When executed, goes into debug mode |
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verbose( level ) |
Sets interpreter console verbose mode level |
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int version() |
Returns Interpreter Revision Number |
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int loaddll( "dll_path_filename.dll" ) |
Loads a language Extension DLL |
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Keyword |
Description |
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soundplay( "filename of sound to play" ) |
Play a sound file once ( done in background ) |
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soundloop( "filename of sound to play" ) |
Loop a sound file ( done in background ) |
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soundstop( ) |
Stop current sound playback |
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Keyword |
Description |
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createtask( ".see path/filename" ) |
Creates another interpreter instance and loads it with the SEE program specified. |
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int mutex( index ) |
Variables used to communicate between instances. |
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int mutex( index, expression ) |
Variables used to communicate between instances. |
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Keyword |
Description |
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delay( ms ) |
delay for milliseconds |
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int getms() |
Get milliseconds since execution started |
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int time( 0 ) |
returns time in seconds since UTC 1/1/70 |
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int time( 1 ) |
returns 0xWWHHMMSS where: W=weekday, H=hour, M=minute, S=second |
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int time( 2 ) |
returns 0xYYDDMMOO where: Y=year, D=Day in year, M=Month, O=Day Of Month |
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Keyword |
Description |
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srand( seed ) |
Seed the random number generator |
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int rand( min, max ) |
Returns a random number between min and max |
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int atanto( mult, div, int, int ) |
returns (mult*180*atanto( int/div, int/div ))/pi |
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int sqrt( mult, int ) |
returns mult * sqrt( int ) |
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int asin( mult, div, int ) |
returns (mult * 180 * asin( int/div ))/pi |
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int acos( mult, div, int ) |
returns (mult * 180 * acos( int/div ))/pi |
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int atan( mult, div, int ) |
returns (mult * 180 * atan( int/div ))/pi |
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int tan( mult, div, int ) |
returns (mult * tan( ((pi*int)/div )/180 ) |
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int sin( mult, div, int ) |
returns (mult * sin( ((pi*int)/div )/180 ) |
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int cos( mult, div, int ) |
returns (mult * cos( ((pi*int)/div )/180 ) |
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int abs( int ) |
returns abs( int ) |
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int floatmult( mult,div,a,b ) |
returns mult*((a/div)*(b/div)) |
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int floatdiv( mult,div,a,b ) |
returns mult*((a/div)/(b/div)) |
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Keyword |
Description |
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int interrupts( option ) |
interrupts(0) - disable all interrupts(1) - enable all
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int interadd( label ) |
Add a interrupt handler where: label is the label the interrupt will jump to returns -1 on failure |
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int interstart( label, timeout ) |
Sets timeout ( in ms ) for interrupt created with interadd() |
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int interstop( label ) |
Stops the interrupt created with interadd() returns -1 on failure |
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int interdel( label ) |
Deletes a interrupt created with interadd() |
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interret() |
You must use this return in your interrupt handler. |
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Operator |
Description |
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+ addition |
1+1 = 2 |
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- Subtraction |
1-1 = 0 |
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* multiplication |
2*1 = 2 |
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/ division |
100/10 = 10 |
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& bitwise and |
0xaa&0xf0 = a0 |
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| bitwise or |
0xaa|0x55 = ff |
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= assignment |
result=5 = 5 |
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> greater |
100>5 = 1 |
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< less then |
100<5 = 0 |
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+= addition assignment |
result = 100 result+=5 = 105 |
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-= subtraction assignment |
result = 105 result-=5 = 100 |
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*= multiplication assignment |
result = 100 result*=5 = 500 |
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/= division assignment |
result = 500 result/=5 = 100 |
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&= bitwise and assignment |
result = 64 result&=5 = 4 |
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|= bitwise or assignment |
result = 4 result|=5 = 5 |
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== equal comparison |
100==5 = 0 |
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!= not equal comparison |
100!=5 = 1 |
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>= greater then or equal |
100>=5 = 1, 100>=100 = 1 |
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<= less then or equal |
5<=100 = 1, 100<=100 = 1 |
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&& logical and |
100>5&&100>5 = 1 100>5&&100<5 = 0 |
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|| logical or |
100>5||100>5 = 1 100>5||100<5 = 1 100<5||100<5 = 0 |
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>> shift right |
0x100>>4 = 0x010 |
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<< shift left |
0x010<<4 = 0x100 |
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Keyword |
Description |
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int computervision() |
returns version # of computer vision language extension |
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int visionopen( “filter.dll” ) |
opens vision stream, with filter.dll |
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visionprint( index ) |
prints dll data to stdout, index 0-7 |
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int visionframe( ) |
returns current frame # |
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visionwait( frames ) |
Wait for ( frames ) # of video frames |
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visionfilter( “filter.dll” ) |
inserts the filter.dll into the stream |
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int visionread( index ) |
returns a vision variable |
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int visionwrite( index, data ) |
writes data to a vision variable |
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visionclose() |
closes the video stream |
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Keyword |
Description |
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facedetinit( "cascade" ) |
Initializes the OpenCV library, opens a viewing window, and connects to the camera. |
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int facedetread( parameter ) |
Reads parameters from the face detection algorithm. |
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int facedetwrite( parameter, value ) |
Writes parameters to the face detection algorithm. Used to configure and tweak the algorithm in real-time. |
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Keyword |
Description |
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int nmea() |
print version # |
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int nmeaopen( port_number, baud ) |
open a connection to the GPS returns 0 on success |
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int nmeaupdate() |
Get latest reading from GPS, returns quality |
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int nmeafix() |
Read fix |
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int nmeaalt() |
read alttitude |
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int nmealat() |
read latitude |
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int nmealong() |
read longitude |
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int nmeagoto( lat, long ) |
Calculate vector from current position to waypoint ( lat, long ) 0xDDDDBBBB - D = Distance, B = Bearing |
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Keyword |
Description |
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int mindopen( port ) |
port = serial port # connected to MindSet. returns 0 on success |
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int mindread( "data_type" ) |
requests a new packet from the mindSet, then returns a single value “data_type”. |
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int minddata( "data_type" ) |
Returns the signal value described by “data_type”, from the MindSet driver. |
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Keyword |
Description |
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int wincreate( "test", width, height ) |
Create a window of size ( width, height ) named “test”. |
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int winpen( width, r, g, b ) |
Creates a pen of width ( width ) and color ( r,g,b ). Returns a handle to the newly created pen. |
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int winbmp( "path_filename", "copy_type", r, g, b ) |
Opens the bitmap specified by the path/filename. Sets the bitmap’s copy method, and specifies a color key. |
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int winline( pen, x1, y1, x2, y2, plane ) |
Draws a line in the window using the pen handle specified. |
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int wineditline( handle, x1, y1, x2, y2, plane ) |
Modifies a line that has been drawn by winline(). |
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int winimg( bmp, x, y, plane ) |
Draws bmp ( created by winbmp ) in the window. |
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int wineditimg( bmp, x, y, plane ) |
Moves the bitmap within the window. |
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winupdate() |
Updates the window. |
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Keyword |
Description |
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int joystick() |
Returns Joystick Language Extension version. |
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int joystickread( num, x, y, buttons, z, r, pov, u, v ) |
Returns Joystick status. Returns variables ( x,y, buttons, z, r, pov, u, v ) for dual joystick gamepads, with top hats and multiple buttons. |
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Keyword |
Description |
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int fslbot() |
returns Language Extension Version Number |
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int fslbotopen( port, baud ) |
Opens a connection to a SCP compatable device ( returns 0 on success ) |
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int servos( pos0, pos1, pos2, pos3 ) |
Moves all 4 servos at once ( returns 0 on success ) |
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int servo( channel, position ) |
Moves a servo to a desired position ( returns 0 on success ) |
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int accelread( datax, datay, datax ) |
reads 3 channels of accelerometer |
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int fslled( data ) |
Write to LED's |
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int touchread() |
Read Touch Sensor |
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int adread( channel ) |
Reads a AD channel |
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int gpioinit( data ) |
Sets direction of J54 GPIO pins |
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int gpioout( data ) |
Sets state of GPIO pins setup as output |
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int gpioin( data ) |
Gets state of GPIO pins as input |
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int spisetup( baud, mode ) |
Setup spi protocol |
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int spitxrx( outdata, indata ) |
spi xfer |
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int iicwrite( address, register, data ) |
Write to a i2c device ( returns 0 on success ) |
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int iicread( address, register, data, bytes ) |
Read from a i2c device ( returns 0 on success ) |