In Synthiam ARC, you can use various commands to control your robot's actions, such as speaking, moving, or performing specific animations. The SayEZB() command is used for text-to-speech through the EZ-B's audio system. For other actions like moving or performing animations, you can use different commands. Here's a brief overview of some common commands you might use:

Movement Commands

• Forward(): Moves the robot forward.
• Reverse(): Moves the robot backward.
• Left(): Turns the robot left.
• Right(): Turns the robot right.
• Stop(): Stops the robot's movement.

Servo and Animation Commands

• Servo.setPosition(port, position): Sets the position of a servo.
• AutoPositionAction(actionName): Executes a predefined servo animation action, such as waving or dancing.

Audio Commands

• SayEZB(text): Speaks the given text through the EZ-B's audio system.
• PlayAudioFile(filename): Plays an audio file through the computer's audio system.

Custom Animations and Actions

For custom actions like "laugh" or "eye roll," you would typically create these as animations using the Auto Position skill or similar. Here's how you might set up a custom action:

1. Create an Animation: Use the Auto Position skill to create a sequence of servo movements that represent the action (e.g., "laugh" or "eye roll").
2. Name the Action: Give the animation a name, such as "Laugh" or "EyeRoll."
3. Execute the Action: Use the AutoPositionAction() command with the name of your custom action.

Example of Custom Action Command

ControlCommand("Auto Position", "AutoPositionAction", "Laugh");

Using TCP Commands

If you're using TCP commands to control your robot, you would send these commands over a network connection to ARC. The exact syntax and method depend on how your TCP server is set up to interpret and execute these commands.

Additional Resources

For more detailed information on creating custom animations and using commands, you can refer to the Synthiam ARC documentation and explore the Auto Position skill for creating animations.

If you have specific actions in mind and need help setting them up, feel free to ask for more detailed guidance!

@Athena "If you're using TCP commands to control your robot, you would send these commands over a network connection to ARC. The exact syntax and method depend on how your TCP server is set up to interpret and execute these commands" Give some example of syntax

When using TCP commands to control your robot with Synthiam ARC,you'll typically set up a TCP server within ARC to listen for incoming commands. The syntax for these commands will depend on how you've configured your server to interpret them. Here's a general guide on how you might structure these commands and some examples:

Setting Up a TCP Server in ARC

1. Add a TCP Server Skill: In ARC, add the TCP Server skill to your project. This will allow ARC to listen for incoming TCP connections.
2. Configure the Server: Set the port and any other necessary settings for your TCP server.

Example TCP Command Syntax

The syntax for TCP commands will depend on how you parse them in your ARC project. Here are some examples of how you might structure commands:

1. Text-to-Speech Command:

   • Command: SayEZB(Hello world)
   • Description: This command would instruct the robot to say "Hello world" using the EZ-B's audio system.

2. Movement Command:

   • Command: MoveForward()
   • Description: This command would instruct the robot to move forward.

3. Servo Position Command:

   • Command: SetServo(D0, 90)
   • Description: This command would set the servo connected to port D0 to position 90.

4. Custom Animation Command:

   • Command: AutoPositionAction(Laugh)
   • Description: This command would execute a predefined animation called "Laugh".

Parsing Commands in ARC

To handle these commands in ARC, you would typically use a script to parse the incoming TCP data and execute the corresponding ARC commands. Here's a simple example of how you might parse a command:

// Example script to parse and execute TCP commands
var command = getVar("$TCPCommand"); // Assume $TCPCommand holds the incoming command

if (command.startsWith("SayEZB")) {
    var text = command.substring(command.indexOf("(") + 1, command.indexOf(")"));
    Audio.sayEZB(text);
} else if (command == "MoveForward()") {
    Movement.forward();
} else if (command.startsWith("SetServo")) {
    var params = command.substring(command.indexOf("(") + 1, command.indexOf(")")).split(",");
    var port = params[0].trim();
    var position = parseInt(params[1].trim());
    Servo.setPosition(port, position);
} else if (command.startsWith("AutoPositionAction")) {
    var action = command.substring(command.indexOf("(") + 1, command.indexOf(")"));
    ControlCommand("Auto Position", "AutoPositionAction", action);
}

Notes

• Command Structure: Ensure that your commands are structured in a way that your parsing script can easily interpret.
• Error Handling: Implement error handling to manage unexpected or malformed commands.
• Security: Consider security implications when exposing a TCP server, especially if it's accessible over the internet.

By setting up a TCP server and using a script to parse commands, you can control your robot remotely using custom TCP commands. If you have specific commands or actions in mind, feel free to ask for more detailed guidance!

There is also a code snippet on the modules Python page in the support section for doing remote tcp connection. This example is explained that will use ezscript commands over the tcp, which you can send from a remote Python script. Here is the link: https://synthiam.com/Support/python-api/add-custom-python-modules

@Athena how to control speed of the servo during rotation

@Athena how increase sound with bigger speaker

To control the speed of a servo during rotation and to increase sound output with a bigger speaker, follow these guidelines:

Controlling servo Speed

1. Check servo Compatibility:

   • Ensure that your servo supports speed control. Not all servos have this capability. Smart servos like the Robotis Dynamixel often support speed control.

2. Set servo Speed in ARC:

   • Use the Servo.setSpeed() function in ARC to control the speed of the servo. The speed value typically ranges from 0 (fastest) to 10 (slowest).

   // Example to set servo speed
   Servo.setSpeed(D0, 5); // Set speed for servo on port D0
   

3. Adjust Speed in Scripts:

   • You can adjust the speed dynamically in your scripts based on conditions or inputs.

Increasing Sound with a Bigger Speaker

1. Check EZ-B Audio Output:

   • The EZ-B IoTiny has an audio output that can be connected to a speaker. Ensure that the speaker is compatible with the output specifications.

2. Use an Amplifier:

   • To increase the sound output, you may need to use an audio amplifier. Connect the EZ-B's audio output to an amplifier, and then connect the amplifier to a larger speaker.

3. Adjust Volume in ARC:

   • Use the Audio.setVolume() function to adjust the volume level in ARC. The volume level ranges from 0 (quiet) to 200 (2x overdrive).

   // Example to set audio volume
   Audio.setVolume(100); // Set volume to 100
   

4. Speaker Specifications:

   • Ensure that the speaker can handle the power output from the amplifier. Check the speaker's wattage and impedance ratings.

5. Power Supply:

   • Ensure that the amplifier and speaker are powered correctly. Larger speakers and amplifiers may require an external power source.

By following these steps, you can control the speed of your servo and increase the sound output using a bigger speaker. If you have any specific questions or need further assistance, feel free to ask!

@Athena message="Hello word" command='SayEZB({message})'  correc t the code