Description
This is an online version of the EZ-Script manual for easy reference. It is a copy of what can be found under the "EZ-Script Help" tab inside of a controls script editor inside ARC. There are two versions of the manual in this document... the full one page manual, and a broken down version arranged in alphabetical order for your convenience. Use this online manual when you want to reference it, but do not have ARC on your device.
Full Manual Version.
EZ-Script Functions:
Sleep (milliseconds)
Pauses for specified milliseconds
Example sleeps for 1 second: Sleep(1000)
SleepRandom (lowMilliSec, highMilliSec)
Pauses for a random millisecond delay between the 2 provided values
Example: SleepRandom(1000, 5000)
Servo (servoPort, position)
Move servo to the specified position
Servo position is between 1 and 180
Example: Servo(D14, 25)
SetServoMin (servoPort, position)
Set the minimum limit that this servo can ever move to
Servo position is between 1 and 180
Example: SetServoMin(D14, 40)
SetServoMax (servoPort, position)
Set the maximum limit that this servo can ever move to
Servo position is between 1 and 180
Example: SetServoMax(D14, 100)
PWM (digitalPort, speed)
Set the PWM (Pulse Width Modulation) to the desired duty percentage cycle
This simulates voltage on the specified pin (Between 0 and 5v)
PWM Value is between 0 and 100
Example: PWM(D14, 90)
GetPWM (digitalPort)
Gets the PWM (Pulse Width Modulation) of specified port
PWM is between 0 and 100
Example: $x = GetPWM(D14)
PWMRandom (digitalPort, lowSpeed, highSpeed)
Set the PWM (Pulse Width Modulation) to a random percentage duty cycle
This simulates voltage on the specified pin (Between low and high percentage value, scaled between 0 and 5 volts)
The value is between 0 and 100
Example: PWMRandom(D14, 10, 90)
ServoSpeed (servoPort, speed)
Set the speed of servo or PWM. This is the speed to move between positions.
The servo speed is a number between 0 (fastest) and 10 (slowest)
*Note: To initialize the ServoSpeed() at first use, set a Servo() position before using the ServoSpeed() command. If there is no previous position (such as during power-on), the software assumes the position is 0 and will cause issues with your robot.
*Note: Once the ServoSpeed() has been initialized the first time, specify the ServoSpeed() before specifying the Servo() position.
Example: ServoSpeed(D14, 25)
ServoSpeedRandom (servoPort, lowSpeed, highSpeed)
Set the servo speed or PWM to a random value
The servo speed is a number between 0 (fastest) and 10 (slowest)
*Note: To initialize the ServoSpeed() at first use, set a Servo() position before using the ServoSpeed() command. If there is no previous position (such as during power-on), the software assumes the position is 0 and will cause issues with your robot.
*Note: Once the ServoSpeed() has been initialized the first time, specify the ServoSpeed() before specifying the Servo() position.
Example: ServoSpeedRandom(D14, 10, 20)
ServoUp (servoPort, count)
Increment the servo position value by specified count
Servo position is between 1 and 180
Example: ServoUp(D14, 1)
ServoDown (servoPort, count)
Decrement the servo position value by specified count
Servo position is between 1 and 180
Example: ServoDown(D14, 1)
ServoRandom (servoPort, lowPosition, highPosition)
Move the servo to a random position between low and high
Servo position is between 1 and 180
Example: ServoRandom(D14, 10, 20)
Release (servoPort)
Release a servo from holding its position
Example: Release(D14)
ReleaseAll ( [boardIndex] )
Release all servos from holding their position
BoardIndex is optional, and specified the EZ-B board to use
Example: ReleaseAll()
Move (servoPort, forward/stop/reverse)
Set a modified servo to move
Example: Move(D14, forward)
Set (digitalPort, on/off/true/false)
Set a digital port state to either on or off
Example: Set(D2, OFF)
SetRandom (digitalPort)
Set a digital port to a random state of either on or off
Example: SetRandom(D2)
ToggleDigital (digitalPort )
Toggle the digital port
Example: ToggleDigital(D2)
Digital_Wait (digitalPort, on/off/true/false, [delay ms])
Wait until the digital port status has changed
The optional parameter Delay MS is the millisecond delay for checking. This value determines the delay between checks.
Example: Digital_Wait(D12, ON)
Example: Digital_Wait(D12, ON, 50)
ADC_Wait (adcPort, higher/lower/equals, value, [delay ms])
Wait until ADC port is higher or lower than specified value
The optional parameter Delay MS is the millisecond delay for checking. This value determines the delay between checks.
Example: ADC_Wait(ADC0, HIGHER, 50)
Example: ADC_Wait(ADC0, HIGHER, 50, 50)
ADC_Wait_Between (adcPort, low, high, [delay ms])
Wait (pauses script) until ADC port is between the specified values. Soon as the ADC port is between the low and high values, it will stop waiting.
The optional parameter Delay MS is the millisecond delay for checking. This value determines the delay between checks.
Example: ADC_Wait_Between(ADC0, 20, 50)
Example: ADC_Wait_Between(ADC0, 20, 50, 50)
Movement_Wait ( forward/reverse/stop/left/right )
Wait until a movement from the Movement Panel is specified.
Even if another script executes a movement, this will execute
Example: Movement_Wait(FORWARD)
Servo_Wait ( digitalPort, higher/lower/equals, value )
Wait until the servo Port is higher or lower than specified value.
Zero can be specified as a value for a stopped servo.
Example: Servo_Wait(D5, HIGHER, 20)
WaitForServoMove (servoPort, [timeout MS])
Waits for the specified servo to move.
Unlike Servo_Wait, this function does not wait for a specific value. It simply returns once the servo has moved to a new position.
Optionally, the timeout parameter will stop waiting after the specified number of milliseconds.
Example: WaitForServoMove(d0)
Example: WaitForServoMove(d0, 1000)
Ping_Wait (triggerPort, echoPort, higher/lower/equals, distance)
Wait until the Ping Sensor distance is higher or lower than specified distance value.
Trigger and Echo are Digital Ports
Example: Ping_Wait(D3, D4, HIGHER, 50)
Forward( [speed], [milliSeconds] )
Using a Movement Panel Control, this will start your robot in the Forward direction.
Optionally, you can provide the speed and/or number of milliseconds to move.
You will require at least one Movement Panel to be configured within the project. This function will control that movement panel.
Speed is a number between 0 and 255
Example: Forward()
Example: Forward(200)
Example: Forward(255, 5000)
Reverse( [speed], [milliSeconds] )
Using a Movement Panel Control, this will start your robot in the Reverse direction.
Optionally, you can provide the speed and/or number of milliseconds to move.
You will require at least one Movement Panel to be configured within the project. This function will control that movement panel.
Speed is a number between 0 and 255
Example: Reverse()
Example: Reverse(200)
Example: Reverse(255, 5000)
Stop()
Using Movement Panel Control, this will stop your robot.
You will require at least one Movement Panel to be configured within the project. This function will control a movement panel.
Example: Stop()
Left( [speed], [milliSeconds] )
Using a Movement Panel Control, this will turn your robot left.
You will require at least one Movement Panel to be configured within the project. This function will control that movement panel.
Optionally, you can specify the speed and/or number of milliseconds to turn.
Speed is a number between 0 and 255
Example #1: Left()
Example #2: Left(200)
Example #2: Left(200, 5000)
Right( [speed], [milliSeconds] )
Using a Movement Panel Control, this will turn your robot right.
You will require at least one Movement Panel to be configured within the project. This function will control that movement panel.
Optionally, you can specify the speed and/or number of milliseconds to turn.
Speed is a number between 0 and 255
Example #1: Right()
Example #2: Right(200)
Example #2: Right(200, 5000)
Up( [milliSeconds] )
Using the servo port settings from a Movement Panel Control, this will raise your drone robot up
Optionally, you can specify the number of milliseconds to turn.
Example #1: Up()
Example #2: Up(1000)
Down( [milliSeconds] )
Using the servo port settings from a Movement Panel Control, this will lower your drone robot up
Optionally, you can specify the number of milliseconds to turn.
Example #1: Down()
Example #2: Down(1000)
RollRight( [milliSeconds] )
Using the servo port settings from a Movement Panel Control, this will roll your drone robot right
Optionally, you can specify the number of milliseconds to turn.
Example #1: RollRight()
Example #2: RollRight(1000)
RollLeft( [milliSeconds] )
Using the servo port settings from a Movement Panel Control, this will roll your drone robot left
Optionally, you can specify the number of milliseconds to turn.
Example #1: RollLeft()
Example #2: RollLeft(1000)
Land()
Tell your flying drone to land
Example: Land()[/i]
TakeOff()
Tell your flying drone to take off
Example: TakeOff()
DroneEmergency()
Tell your flying drone to reset from emergency or power down when flying.
This command should be added a button on the joystick so you may stop the drone so it does not get away or in danger.
AX12Led(id, on/off)
Controls the LED status of an Dynamixel AX-12 servo by its ID on port D5. Check the port modes in the respective section near the end of this document.
Example: AX12LED(1, on)
Example: AX12LED(1, off)
SayEZB( text to speech )
Speaks the text that is specified within the brackets out of the EZ-B v4 speaker in the background. This command does not block, the script will continue to execute.
Example: SayEZB("Hello, I am a robot")
SayEZBWait( text to speech )
Speaks the text that is specified within the brackets out of the EZ-B v4 speaker and blocks until done speaking.
Example: SayEZBWait("Hello, I am a robot")
StopEZBAudio()
Stops any audio background that is being streamed through the EZ-B v4
Example: StopEZBAudio()
Say( text to speech )
Speaks the text that is specified within the brackets out of the PC Sound Card in the background. This command does not block, the script will continue to execute.
Example: Say("Hello, I am a robot")
SayWait( text to speech )
Speaks the text that is specified within the brackets out of the PC Sound Card and blocks until done speaking.
Example: SayWait("Hello, I am a robot")
SpeakStop( )
Stops speaking the current specified phrases out of the PC Sound Card.
Example: SpeakStop()
SpeakRSS( url, [story index] )
Speaks the title and text of the rss url out of the PC Sound Card.
Example #1: SpeakRSS("http://rss.cbc.ca/lineup/world.xml")
Example #2: SpeakRSS("http://rss.cbc.ca/lineup/world.xml", 3)
SpeakRSSDescription( url, [story index] )
Speaks only the text of the rss url out of the PC Sound Card.
Example #1: SpeakRSSDescription("http://rss.cbc.ca/lineup/world.xml")
Example #2: SpeakRSSDescription("http://rss.cbc.ca/lineup/world.xml", 3)
SpeakTwitter( twitterUserName, [story index] )
Speaks the twitter feed for the specific username out of the PC Sound Card.
Example #1: SpeakTwitter("EZ_Robot")
Example #2: SpeakTwitter("EZ_Robot", 3)
SpeakVolume( value )
The volume of the speech synthesizer out of the PC Sound Card.
The value is between 0 and 100
Example: SpeakVolume(30)
I2CClockSpeed( boardIndex, rate )
Specify the clock speed of the i2c interface. The default speed is 100000, which is 100khz.
Many devices support faster speeds, up to 400000 (400khz).
Example: I2CClockSpeed(0, 100000)
Example: I2CClockSpeed(0, 400000)
I2CWrite( boardIndex, deviceAddress, data, .... )
Send a series of ASCII data to the specified device hex address over the i2c interface.
This command will Start i2c, Write Data, and Stop i2c.
boardIndex is the EZ-B you wish to use (0 is first EZ-B)
Device Hex Address of i2c device must be in 0x00 format.
Data can be Hex (0x09), string ("string"), or decimal (188)
Example: I2CWrite(0, 0x09, 0x02, 0x05, 0x06)
Example: I2CWrite(0, 0x09, 244)
Example: I2CWrite(0, 0x09, "This is text + $variable)
I2CWriteBinary( boardIndex, deviceAddress, variable )
Send a series of binary data to the specified device hex address over the i2c interface from the provided variable array.
This command will Start i2c, Write Data, and Stop i2c.
boardIndex is the EZ-B you wish to use (0 is first EZ-B)
Device Hex Address of i2c device must be in 0x00 format.
Variable is an array with data that you wish to send
Example: I2CWriteBinary(0, 0x09, $variable)
I2CRead( boardIndex, 7bitDeviceAddress, bytes to expect )
Returns a series of ASCII data from the specified address over the i2c interface
boardIndex is the EZ-B you wish to use (0 is first EZ-B)
Device Hex Address must be hexadecimal 7Bit (0x5e)
You must specify the number of Bytes To Expect
Example: $Val = I2CRead(0, 0x5e, 2)
I2CReadBinary( boardIndex, 7bitDeviceAddress, bytes to expect, variable )
Returns a series of binary data from the specified address over the i2c interface into the specified variable array
boardIndex is the EZ-B you wish to use (0 is first EZ-B)
Device Hex Address must be hexadecimal 7Bit (0x5e)
You must specify the number of Bytes To Expect
Example: I2CReadBinary(0, 0x5e, 2, $variable)
SendSerial( digitalPort, baudRate, data, ... )
Send a series of data over the specified port and baud rate
Data can be Hex (0x09), string ("string"), or decimal (188)
Example: SendSerial(d0, 9600, 0x00, 0x04, 0x05)
Example: SendSerial(d0, 9600, 244, 200, a)
Example: SendSerial(d0, 9600, "This is text")
Example: SendSerial(d0, 9600, Hello + $name)
SendUDP( hostname, port, data, ... )
Send a series of UDP data over the specified port to the hostname
Data can be Hex (0x09), string ("string"), or decimal (188)
Example: SendUDP(192.168.0.1, 21, Hello World)
Example: SendUDP(192.168.0.1, 21, 0x20, 0x21, 0x22, 0x30)
Example: SendUDP(192.168.0.1, 21, 0x20, 0x21, 0x22, Hello)
Example: SendUDP(192.168.0.1, 21, 0x20, 0x21, 0x22, 0x30, $x)
UARTInit( boardIndex, port, baudRate )
Initialize the Peripheral UART on the EZ-B v4 with the specified baud rate. The UART will stay initialized until the EZ-B v4 is power cycled, and therefore this command only needs to be called once.
The Board Index is the EZ-B index starting at 0.
The port can be 0, 1 or 2.
The baud rate can be between 1 and 3750000 bps. The UART receive buffers on the EZ-B v4 are 5,000 bytes.
Look near at the UART Port section lower in this document for the EZ-B Pin’s associated with each UART Port.
Example: UARTInit(0, 0, 9600 )
UARTAvailable( boardIndex, port )
Receive the count of bytes available in the Peripheral UART Receive Buffer of the EZ-B v4. The UART receive buffers on the EZ-B v4 are 5,000 bytes.
The Board Index is the EZ-B index starting at 0.
The port can be 0, 1 or 2.
Look near at the UART Port section lower in this document for the EZ-B Pin’s associated with each UART Port.
Example: UARTAvailable(0, 0)
UARTRead( boardIndex, port, numBytes )
Receive ASCII bytes from the Peripheral UART Receive Buffer of the EZ-B v4. The UART receive buffers on the EZ-B v4 are 5,000 bytes.
To know how many bytes are available, use the UARTAvailable() function.
The Board Index is the EZ-B index starting at 0.
The port can be 0, 1 or 2.
Look near at the UART Port section lower in this document for the EZ-B Pin’s associated with each UART Port.
Example: UARTRead(0, 0, 10)
Example: UARTRead(0, 0, UARTAvailable(0, 1))
UARTReadBinary( boardIndex, port, numBytes, variable )
Receive binary bytes from the Peripheral UART Receive Buffer of the EZ-B v4 into the variable as an array. The UART receive buffers on the EZ-B v4 are 5,000 bytes.
To know how many bytes are available, use the UARTAvailable() function.
The Board Index is the EZ-B index starting at 0.
The port can be 0, 1 or 2.
Look near at the UART Port section lower in this document for the EZ-B Pin’s associated with each UART Port.
Example: UARTReadBinary(0, 0, 10, $variable)
Example: UARTReadBinary(0, 0, UARTAvailable(0, 1), $variable)
UARTReadAvailable( boardIndex, port )
Receive all available ASCII bytes from the Peripheral UART Receive Buffer of the EZ-B v4. The UART receive buffers on the EZ-B v4 are 5,000 bytes.
The Board Index is the EZ-B index starting at 0.
The port can be 0, 1 or 2.
Look near at the UART Port section lower in this document for the EZ-B Pin’s associated with each UART Port.
Example: UARTReadAvailable(0, 0)
Example: UARTReadAvailable(0, 0)
UARTWrite( boardIndex, port, data )
Write ASCII data through the Peripheral UART.
The Board Index is the EZ-B index starting at 0.
The port can be 0, 1 or 2.
Look near at the UART Port section lower in this document for the EZ-B Pin’s associated with each UART Port.
Example: UARTWrite(0, 0, hello world )
Example: UARTWrite(0, 0, 0x30, 0x40, hello )
UARTWriteBinary( boardIndex, port, variable )
Write binary variable array data through the Peripheral UART.
The Board Index is the EZ-B index starting at 0.
The port can be 0, 1 or 2.
Look near at the UART Port section lower in this document for the EZ-B Pin’s associated with each UART Port.
Example: UARTWriteBinary(0, 0, $variable )
WaitUntilTime( hour, minute )
Waits until the specified time. The script will stop at this command and not continue until the specified time. The time is declared in 24 hour format.
Example: WaitUntilTime(17, 30)
MP3TriggerPlayTrack( digitalPort, baud, trackNumber, [pause time] )
Plays the specified MP3 track from the MP3 Trigger Sheild
Optionally, the Pause Time value can be used which disables the Speech Recognition control for the specified number of milliseconds.
Example: MP3TriggerPlayTrack( d0, 38400, 1 )
Example: MP3TriggerPlayTrack( d0, 38400, 1, 3000 )
MP3TriggerVolume( digitalPort, baud, volume )
Set the volume of the mp3 trigger between 0 and 255. 0 is louded, 255 is quiet.
Example: MP3TriggerVolume( d0, 38400, 20 )
MP3TriggerPlayRandomTrack( digitalPort, baud, lowestTrackNum, highestTrackNum )
Plays a random MP3 track from the MP3 Trigger Shield between the supplied track numbers
Example: MP3TriggerPlayRandomTrack( d0, 38400, 1, 10 )
MP3TriggerNext( digitalPort, baud )
Plays the next MP3 track from the MP3 Trigger Shield
Example: MP3TriggerPlayNext( d0, 38400 )
MP3TriggerPrev( digitalPort, baud )
Plays the previous MP3 track from the MP3 Trigger Shield
Example: MP3TriggerPrevious( d0, 38400 )
MP3TriggerStop( digitalPort, baud )
Stops the current MP3 track from the MP3 Trigger Shield
Starts the mp3 file if not playing
Example: MP3TriggerStop( d0, 38400 )
ControlCommand( windowName, ControlCommandParameter, [values] )
Sends a command to the window by its name. View all available ControlCommand() parameters for each control when editing a script by pressing the Cheat Sheet tab. The Cheat Sheet tab is located to the right of the script editor in EZ-Builder. Pressing Cheat Sheet tab will display a list of all available parameters for each control. Simply click on the parameter and it will insert into your code.
Some commands require an additional parameter. When editing EZ-Script, check the Cheat Sheet tab to view all available commands for the controls within your project.
This command has a shorthand alias which is CC (See examples below).
Example: ControlCommand( "ADC Graph", pauseOn )
Example: ControlCommand( "SoundBoard", Track_3 )
Example: ControlCommand( "Camera", CameraTweet, "This is an Image Description" )
Example: ControlCommand( "Script Manager", ScriptStart, "MyScript" )
Example: ControlCommand( "Speech Recognition", PauseMS, 3000)
Example: cc(Auto Position, AutoPositionAction, Action Name)
Example: cc(Auto Position, AutoPositionFrame, Frame Name)
Example: cc(Auto Position, AutoPositionFrame, Frame Name, 50, 3)
Example: cc(Speech Recognition, PauseMS, 2000)
GetControlValue( windowName, ControlCommandValues )
Gets a value from the window by its name. Look further down in this document for available ControlCommand() parameters under the ControlCommand Values section.
Example: [i]$x = GetControlValue( "ADC Graph", pause )
# Commented Text
Comment a line of code
Example: # This is a comment. This code will not run
:Label
Defines a label for a GOTO() command
Example: :My_Label
Goto( label )
Goto a specific :Label location
Example: Goto(My_Label)
Return()
Return from a Goto()
If you jump to a position of code with a Goto(), the Return statement will allow you to return back to that piece of code following the last Goto() statement.
If you attempt to Return() with an empty stack, nothing will happen. The script will ignore the Return() statement.
Example: Return()
If (Value Condition Value )
IF condition can support multiple comparisons and functions.
Condition tree must be closed with an ENDIF
See the Functions section of this document.
Condition can be =, , =, !=, AND, OR
Example:
If (GetDigital(D0) = 1)
Print(One)
EndIf
Example:
If ($Day = 2 AND $Hour = 3)
Print(Hello)
EndIf
Example:
If (GetServo(D5) >20 OR ($x >= 3 and $y , =, !=, AND, OR
Example:
If (GetServo(D0) = 1)
Print(One)
ElseIf (GetServo(D0) = 2)
Print(Two)
Else
Print(Something Else)
EndIf
Else
Condition tree must be closed with an ENDIF
Example:
If (GetDigital(D0) = 1)
Print(Yes)
Else
Print(No)
EndIf
REPEAT
Repeats the code between REPEAT and ENDREPEAT as many times as specified. Assigns the number of times to the specified variable.
Example:
REPEAT($x, 0, 5, 1)
Print(x= + $x)
ENDREPEAT
REPEATUNTIL
Repeats the code between REPEATUNTIL and ENDREPEATUNTIL until the specified condition is TRUE.
Example:
REPEATUNTIL($second = 30)
Print(Second= + $second)
Sleep(500)
ENDREPEAT
REPEATWHILE
Repeats the code between REPEATWHILE and ENDREPEATWHILE until the specified condition is FALSE.
Example:
REPEATUNTIL($second > 50)
Print(Second= + $second)
Sleep(500)
ENDREPEAT
GetServo( Port )
Returns the last specified servo Position value of the servo port.
Servo position is between 1 and 180
Example: $x = GetServo(d0)
GetServoSpeed( Port )
Returns the servo Speed value of the specified port
Speed is between 0 and 10
Example: $x = GetServoSpeed(d0)
SetSpeed( speed, [speedRight] )
Sets the global Movement Speed value
If you specify only one parameter, the speed of both the left and right wheel will be modified
If you specify two parameters, the first parameter is the speed of the Left wheel and second parameter is the speed of the Right wheel.
The speed can be viewed in the Script Variable Viewer
Speed is between 0 (slow) and 255 (fast)
Example: SetSpeed(50)
Example: SetSpeed(50, 100)
SetSpeedLeft( speed )
Sets the global Movement Speed value of the Left wheel
Speed is between 0 (slow) and 255 (fast)
The speed can be viewed in the Script Variable Viewer
Example: SetSpeedLeft(50)
SetSpeedRight( speed )
Sets the global Movement Speed value of the Right wheel
Speed is between 0 (slow) and 255 (fast)
The speed can be viewed in the Script Variable Viewer
Example: SetSpeedRight(50)
GetSpeed( )
Returns the global Movement Speed value
Speed is between 0 and 255
The speed can be viewed in the Script Variable Viewer
Example: $x = GetSpeed()
GetSpeedLeft( )
Returns the global Movement Speed value of Left wheel
Speed is between 0 and 255
The speed can be viewed in the Script Variable Viewer
Example: $x = GetSpeedLeft()
GetSpeedRight( )
Returns the global Movement Speed value of Right wheel
Speed is between 0 and 255
The speed can be viewed in the Script Variable Viewer
Example: $x = GetSpeedRight()
GetCPUTemp()
Returns the CPU Temperature of the EZ-B v4
Example: $x = GetCPUTemp()
GetVoltage()
Returns the EZ-B v4 Battery Voltage
Example: $x = GetVoltage()
GetADC( Port )
Returns the 8 Bit ADC value of the specified port
Example: $x = GetADC(adc0)
GetADC12( Port )
Returns the 12 Bit ADC value of the specified port on the EZ-B v4
Example: $x = GetADC12(adc0)
GetRandom( Min, Max )
Returns a random number between Min and Max
Example: $x = GetRandom(10, 50)
GetRandomUnique( Min, Max )
Returns a random number between Min and Max
This function attempts to make the number unique from the last time it was called
Example: $x = GetRandomUnique(10, 50)
GetDigital( Port )
Returns the Digital value of the specified port as a 0 or 1
Example: $x = GetDigital(d0)
ASin( value )
Returns the math ASin() function (also called ArcSin)
Example: $x = ASin(27)
ACos( value )
Returns the math ACos() function (also called ArcCos)
Example: $x = Acos(27)
Sqrt( value )
Returns the math Square Root function
Example: $x = Sqrt(9)
Power( value, power )
Returns the math Power() function
First parameter is the input value
The second parameter is the power
Example: $x = Power(2, 4)
Sin( value )
Returns the math SIN() function
Example: $x = Sin(27)
Cos( value )
Returns the math COS() function
Example: $x = Cos(27)
Abs( value )
Returns the absolute value of a number
Converts a negative into a positive number
Example: $x = Abs(-22)
Round( value, decimals )
Returns the math Round() of a number
Returns the number rounded to the specified decimal places
Example: $x = Round($pi, 2)
Example: $x = Round(9.3848291, 1)
GetPing( trigger port, echo port )
Return the Ping HC-SR04 value of the specified port
Example: $x = GetPing(d0, d1)
GPSStop( latitude, longitude, resolution )
Uses the attached GPS control and stops the Movement Panel when the coordinates are within the specified resolution for the latitude and longitude.
Example: GPSStop( 54.01438, -110.4931, 0.0005)
RoboSapien( RoboSapienCommand )
Send a command to a RoboSapien connected on port D1 on EZ-B 0. Find the available RoboSapien commands further down in this document.
Example: RoboSapien( WalkForward )
Example: RoboSapien( LeftArmUp )
RoboQuad( RoboQuadCommand )
Send a command to a RoboQuad connected on port D1 on EZ-B 0. Find the available RoboQuad commands further down in this document.
Example: RoboQuad( Walk_Forward )
Example: RoboQuad( Left_Turn_Roll )
Tweet( message )
Send a Twitter message using the configured Twitter account. Configure your Twitter account under File->Twitter Settings.
Example: Tweet("I Love EZ-Robot!")
You may also use the ControlCommand to Tweet images with text from a Camera Control.
Example: [i]ControlCommand( "Camera", CameraTweet, "Our New Image" )
HTTPGet( url )
Send an HTTP Get command to the provided address and return the contents
Example: HTTPGet("http://192.168.0.10/decoder_control.cgi?command=35&onestep=5&user=admin&pwd=admin")
Example: [i]$temp = HTTPGet("http://192.168.0.15/GetTemperature.cgi ")
Roomba( cmd )
Execute the specified command on a connected Roomba Vacuum on Port D0 and EZ-B 0. Look for the available Roomba commands further below in this document.
You may also add the Roomba Movement Panel for graphical controls.
Example: Roomba(init)
Example: Roomba(SideBrushOn)
SoundNote( note, lengthMS, [signal type] )
Plays the specified audio note out of the EZ-B v4 speaker for the specified number of milliseconds.
Optionally, you may provide a signal type as well. The valid signal types are Sine, Square, Triangle, Pulse, Sawtooth, WhiteNoise, GaussNoise, DigitalNoise.
Example: SoundNote( C2, 1000)
Example: SoundNote( C2, 1000, Square)
Halt()
Exit the current running script.
Example: Halt()
Print( txt )
Outputs the specified text to the debug console
Example: Print(This is some text)
Example: Print(Today is $Day)
Example: Print($pi rounded is Round($pi, 2))
PrintHex( txt )
Outputs the hex values of the specified variable to the debug console
Example: PrintHex($myVariable)
Exec( EXE/Bat File, [parameters] )
Executes a windows application or batch file. The second parameter is a list of optional parameters
Example: Exec(C:\Windows\Notepad.exe)
Example: Exec(C:\Windows\Notepad.exe, C:\MyFile.txt)
Browser( url )
Launches the default web browser with the specified URL.
Example: Browser(http://www.google.com)
FileDelete( filename )
Deletes a file on your computer
Example: FileDelete(c:\temp\mylog.txt)
FileWrite( filename, contents )
Appends text to the specified file. This does not append a new line.
Example: FileWrite(c:\temp\mylog.txt, My Variable: + $x)
Example: FileWrite(c:\temp\mylog.txt, servo Position: GetServo(d2))
FileWriteLine( filename, contents )
Appends text as a new line to the specified file.
Example: FileWriteLine(c:\temp\mylog.txt, My Variable: + $x)
Example: FileWriteLine(c:\temp\mylog.txt, servo Position: GetServo(d2))
FileReadClose( filename )
Closes the file from reading.
This must call must be performed before writing to the file. Once you begin reading from the file, the file is OPEN. Closing the file will reset to the start once you begin reading again.
Example: FileReadClose(c:\temp\mylog.txt)
FileReadReset( filename )
Resets the file to the beginning.
If you read to the end of a file, this function must be called to reset reading from the beginning of the file.
Example: FileReadReset(c:\temp\mylog.txt)
FileExists( filename )
Returns a 1 or 0 if the specified file exists.
Example: $fileExists = FileExists(c:\temp\mylog.txt)
FileReadEnd( filename )
Returns a 1 or 0 if the file has reached the end.
Example: $fileEnd = FileReadEnd(c:\temp\mylog.txt)
FileReadChar( filename )
Returns the next character in the specified file
Example: $char = FileReadChar(c:\temp\mylog.txt)
FileReadLine( filename )
Returns the next line of the specified filename.
Example: $line = FileReadLine(c:\temp\mylog.txt)
FileReadAll( filename )
Returns the entire contents of the specified file.
Example: $contents = FileReadAll(c:\temp\mylog.txt)
FileReadLineRandom( filename )
Returns a random line within the specified file
Example: $randomLine = FileReadLineRandom(c:\temp\mylog.txt)
Split( text, splitChar, index )
Splits a line of text by the specified SplitChar into an array and returns the Index.
The Index is zero based, which means 0 (zero) is the first item within the array.
Example: $contents = Split(One, Two, Three, ,, 1)
Example: $contents = Split(One - Two - Three, -, 2)
WaitForChange( value, [timeout MS] )
Pauses the execution of a script until the specified value has changed.
Optionally, the timeout parameter will stop waiting after the specified number of milliseconds.
Example: WaitForChange($x)
Example: WaitForChange(GetServo(d0))
Example: WaitForChange(GetDigital(d0))
Example: WaitForChange(GetDigital(d0), 1000)
WaitFor( expression, [timeout MS] )
Pauses the execution of a script until the specified expression is true.
Optionally, the timeout parameter will stop waiting after the specified number of milliseconds.
Example: WaitFor($AutoPositionStatus = 0)
Example: WaitFor($value1 = $value2)
Example: WaitFor($value1 = $value2, 1000)
Length( value )
Returns the length of the specified variable or string in characters/bytes.
Example: $len = Length(This string is 33 characters long)
GetCharAt( value, index )
There are two methods to obtain a character within a string. This method, which is GetCharAt(), or using the [] square brackets. See the example below.
Returns the character at the specified index.
If the character at the specified position is outside of readable ASCII, you will want to use GetByteAt() or GetByte() functions instead.
The Index is zero based, which means 0 (zero) is the first character.
Example: $char = GetCharAt(Hello World, 2)
Example: $char = GetCharAt($x, 2)
Example: $byte = $x[3]
Example: $byte = $x[$y]
GetByteAt( value, index )
Returns the ASCII Ordinal value of the byte at the specified location within the array.
If the byte is 0x05, this function will return an integer value of 53. Use this function to convert data read by i2c into ordinal values.
The Index is zero based, which means 0 (zero) is the first character.
Example: $value = GetByteAt(Hello World, 2)
Example: $value = GetByteAt($x, 2)
GetByte( value )
Returns the ASCII Ordinal value of a byte or byte array.
Technically, this function returns a number and not specifically a byte.
The number of bytes in the variable will determine the size of the integer returned. If one byte is passed, an 8 bit number is returned. If two bytes are passed, a 16 bit number is returned. If 4 bytes are passed, a 32 bit number is returned. If 6 bytes are passed, a 64 bit number is returned.
If the variable contains 0x37, this function will return an integer value of 53. Use this function to convert data read by i2c into ordinal values.
Example: $value = GetByte(H)
Example: $value = GetByte($x)
GetAsByte( value )
Returns the byte of the integer or first character of string.
If you pass 75 as the value, you will get the ASCII value of the letter K
Example: $value = GetAsByte(H)
Example: $value = GetAsByte($x)
ClearVariables( )
Clear all variables. Variables are not cleared between projects. You may wish to call this function in your initialization script - unless your project is using variables from another previous project.
Example: ClearVariables()
AppendArray( variable, value )
Appends the value to an existing array. This grows the size/length of the array to hold the new value.
Example: AppendArray($myArray, 10)
Example: AppendArray($myArray, banana)
DefineArray( variable, size, [default value] )
Creates an array of the variable to the specified size.
Optionally, you may also pass a value that will be used for the default values.
Example: DefineArray($myArray, 10)
Example: DefineArray($myArray, 10, 2)
FillArray( variable, default value)
Fill an existing array with the default value.
Example: FillArray($myArray, 88)
Example: FillArray($myArray, default value)
GetArraySize( variable )
Returns the size of the specified array variable.
*Note: The variable passed as a parameter must be in quotations. See the example below.
Example: $x = GetArraySize($myArray)
DumpVariables( )
Prints a list of all variables and their respective values separated by CRLF.
This is used for the TCP Server clients which require a collection of variables.
Example: DumpVariables()
IsNumeric( value )
Returns True or False if the specified value is numeric.
Example: $value = IsNumeric($x)
WaitForSpeech( timeOut Seconds, phrases )
Pauses and waits for one of the specified phrases to be spoken.
Returns the phrase that was spoken.
Will return timeout if no word is detected in the specified timeout length.
Example: WaitForSpeech(30, Yes, No)
Example: $value = WaitForSpeech(30, Yes, No)
Contains( string1, string2 )
Returns TRUE or FALSE if string2 is found within string1.
This search is case insensitive.
Example: $value = Contains(Cat In The Hat, Cat)
IndexOf( string1, string2 )
Returns the index within string1 of the first occurrence of string2.
This search is case insensitive.
Example: $value = IndexOf(Cat In The Hat, In)
SubString( string1, start, length )
Returns the specified substring within string1.
Example: $value = SubString(Cat In The Hat, 4, 2)
PlayAudio( filename )
Plays the specified audio file to the default audio device
File formats can be MP3 or WAV
Example: PlayAudio(c:\temp\my Audio.mp3)
StopAudio()
Stops the current audio file that is playing through the default audio device by PlayAudio()
Example: StopAudio()
IsConnected( boardIndex )
Returns TRUE or FALSE if the specified EZ-B board index is connected
Example: $status = IsConnected(0)
ToString( value )
Converts the parameter into a string by stripping unreadable characters and terminates the end of a string with the first occurrence of a 0x00.
Example: $string = ToString($hexData)
Min( value1, value2 )
Returns the lowest of the two values specified.
Example: $lowest = Min(3, 5)
Max( value1, value2 )
Returns the highest of the two values specified.
Example: $highest = Min(3, 5)
ToHex( value )
Converts the integer parameter into a readable hex value string. This will convert the integer 56 into the string 0x39. Great for debugging byte data received from i2c interface.
Example: $hex = ToString($hexData)
SetBits( bit7, bit6, bit5, bit4, bit3, bit2, bit1, bit0 )
Returns the value of each bit of a byte. Returns a decimal number byte of the bits. This is a useful function for i2c communication because many of the i2c devices use bits.
Example: $val = SetBits(1, 0, 0, 0, 0, 0, 0, 0)
Example: $val = SetBits(true, false, false, false, false, false, false, false)
ToBinaryString( value )
Displays the specified value in its binary representation
Example: $str = ToBinaryString( 254 )
GetBit( value, bit )
Returns the value of the specified bit. The LSB is bit 0, and MSB is bit 7.
Example: $bit = GetBit(255, 1)
Pause( )
Pauses the script at the location where it is called. To resume the script, another script must call the ControlCommand’s Resume function. Otherwise, the script can be stopped by pressing the Stop button on the control.
Example: Pause()
ComOpen( Port, Baud Rate )
Open the specified serial communication port on the local PC. When opened, this will also begin buffering incoming data which can be read. The input buffer is 128KB.
Example: ComOpen(com1, 9600)
ComClose( Port )
Close the specified serial communication port on the local PC.
Example: ComClose(com1)
ComWrite( Port, String )
Write the string to the specified serial communication port on the local PC. The port must be open before this command can be called.
Example: ComWrite(com1, this is data)
Example: ComWrite(com1, $variable)
ComWriteLine( Port, String )
Write the string as a new line to the specified serial communication port on the local PC. The port must be open before this command can be called.
Example: ComWriteLine(com1, This is a line)
Example: ComWriteLine(com1, $variable)
ComReadLine( Port )
Read all string data up to a newline from the input buffer of the specified serial communication port on the local PC. The port must be open before this command can be called.
Example: $variable = ComReadLine(com1)
ComReadAll( Port )
Read all available string data from the input buffer of the specified serial communication port on the local PC. The port must be open before this command can be called.
Example: $variable = ComReadAll(com1)
ComAvailable ( Port )
Returns the number of bytes/characters in the input buffer of the specified serial communication port on the local PC. The port must be open before this command can be called.
Example: $size = ComAvailable(com1)
ComRead( Port, Bytes to Read )
Read specified number of characters from the input buffer of the specified serial communication port on the local PC. The port must be open before this command can be called.
Example: $variable = ComRead(com1, 15)
ComClearInput( Port )
Clear the input buffer. The port must be open before this command can be called.
Example: ComClearInput(com1)
ComWriteBinary( Port, Array )
Write the array of data to the specified serial communication port on the local PC. The port must be open before this command can be called.
Example: ComWriteBinary(com1, $arrayVariable)
ComReadBinary( Port, Bytes to Read, Array )
Read specified number of byes from the input buffer of the specified serial communication port on the local PC. The data will be stored in the specified array. The array will be created automatically and sized to the incoming data. The port must be open before this command can be called.
Example: ComReadBinary(com1, 10, $arrayVariable)
PushVar( NameSpace, Cell, Value )
Send the value to the EZ-Cloud.
Example: PushVar(DJ Sures, test, I am testing)
PullVar( NameSpace, Cell )
Retrieve the value from the EZ-Cloud.
Example: $x = PullVar(DJ Sures, test)
ShowControl( ControlName )
Used for mobile devices and the Interface Builder only, this command will open the specified control into the foreground.
Example: ShowControl(Wii Remote)
CloseControl( )
Used for mobile devices and the Interface Builder only, this command will close the current control, the same as pressing the BACK button on your device.
Example: CloseControl()
ShowDesktop( desktopNumber )
Shows the specified virtual desktop. The desktop number is 1, 2 or 3.
Example: ShowDesktop(1)
SetVolume( volume )
Sets the volume of the EZ-B v4 speaker
The volume can be a value between 0 (quite), 100 (loud), 200 (2x over drive)
The volume can be viewed in the Script Variable Viewer
Example: SetVolume(50)
Example: SetVolume(100)
Example: SetVolume(150)
GetVolume()
Gets the volume of the EZ-B v4 speaker
The volume will be a value between 0 (quite), 100 (loud), 200 (2x over drive)
The volume can be viewed in the Script Variable Viewer
Example: $x = GetVolume(50)
SleepPC( Suspend|Hibernate, force, wake )
Sends a command to the operating system to sleep or hibernate.
If Force is TRUE, the computer is forced to sleep and other applications have no say in the decision.
If Wake is TRUE, the computer will wake up on Wake events.
Example: SleepPC( Suspend, true, true )
Example: SleepPC( Hibernate, true, true )
LoadProject( filename )
Loads the specified project and replaces the existing project.
Established connections will be maintained. OnConnect scripts within the Connection Control will be executed if a connection is already established.
If no path is specified, this command searches for the file in the default My Documents\EZ-Builder folder.
If no extension is provided, the .ezb default extension is assumed.
For obvious reasons, no further commands following LoadProject() are executed.
Example: LoadProject(MyTest)
Example: LoadProject(MyTest.ezb)
Example: LoadProject(C:\Temp\MyTest.ezb)
CheckForUpdate()
Checks the EZ-Robot server if there is a newer version of ARC available.
This requires an internet connection.
Example: $x = CheckForUpdate()
References
Multiple EZ-B Boards
EZ-Builder supports multiple physical EZ-B Boards connected to your computer. You can specify the board by putting the board number in front of the port. For example: Servo(2.d0, 8) will move the D0 servo on EZ-B board #2 to position 8. If no board index is specified, the first board (zero) is assumed. If using more than one board, the first board is always responsible for movement panels.
ADC Ports
The ADC Ports are labeled on the EZ-B as A0 to A7. They are Analog Input ports, which read the voltage of the incoming data between 0 and 5 volts. Consult the Learn Section of our website for more information on Port Types.
ADC0
ADC1
ADC2
ADC3
ADC4
ADC5
ADC6
ADC7
Virtual servo Ports
The Virtual servo Ports do not actually control any physical hardware. You will find the Virtual servo Ports in any control that uses a servo. These can be used in exchange of using variables for storing servo positions, or using servo controls.
V0
V1
V2
V3
V4
V5
V6
V7
V8
V9
V10
V11
V12
V13
V14
V15
V16
V17
V18
V19
Servo/Digital Ports
These ports are used to turn on and off devices with voltage. The digital ports can also be used for detecting if the input voltage is in an On or Off state. For output, the digital ports may control servos, transmit PWM (Pulse Width Modulation) and send serial data. Consult the Learn Section of our website for more information on the different modes of Digital Port Types.
D0
D1
D2
D3
D4
D5
D6
D7
D8
D9
D10
D11
D12
D13
D14
D15
D16
D17
D18
D19
D20
D21
D22
D23
Dynamixel Servos (protocol v1) for AX/RX/EX (Port D5)
Standard hobby servos use a pulse width modulation for setting the position. Optionally, more advanced users may use the higher priced Dynamixel servos for increased position resolution and strength. These servos are connected together in a chain of wiring (each servo connects to the previous servo). Connect the signal wire of the servo chain to the D5 Port of the EZ-B v4. This feature does not work on the EZ-B v3.
AX0
AX1
AX2
AX3
AX4
AX5
AX6
AX7
AX8
AX9
AX10
AX11
AX12
AX13
AX14
AX15
AX16
AX17
AX18
AX19
AX20
AX21
AX22
AX23
AX24
AX25
AX26
AX27
AX28
AX29
AX30
AX31
AX32
AX33
AX34
AX35
AX36
AX37
AX38
AX39
AX40
AX41
AX42
AX43
AX44
AX45
AX46
AX47
AX48
AX49
AX50
Dynamixel Servos (protocol v2) for XL-320 & Pro (Port D5)
Standard hobby servos use a pulse width modulation for setting the position. Optionally, more advanced users may use the higher priced Dynamixel servos for increased position resolution and strength. These servos are connected together in a chain of wiring (each servo connects to the previous servo). Connect the signal wire of the servo chain to the D5 Port of the EZ-B v4. This feature does not work on the EZ-B v3.
AXV0
AXV1
AXV2
AXV3
AXV4
AXV5
AXV6
AXV7
AXV8
AXV9
AXV10
AXV11
AXV12
AXV13
AXV14
AXV15
AXV16
AXV17
AXV18
AXV19
AXV20
AXV21
AXV22
AXV23
AXV24
AXV25
AXV26
AXV27
AXV28
AXV29
AXV30
AXV31
AXV32
AXV33
AXV34
AXV35
AXV36
AXV37
AXV38
AXV39
AXV40
AXV41
AXV42
AXV43
AXV44
AXV45
AXV46
AXV47
AXV48
AXV49
AXV50
UART Ports
The UARTx ports are used connect to Serial TTL devices for both input and output. Contrary to the digital port Serial Output, these peripherals will also receive data into an input buffer as well. The input buffer of each UART is 5,000 Bytes. There are 3 UARTs, the first is the hardware labelled port, second and third are digital pins. These UARTs are controlled using the UARTInit(), UARTWrite(), UARTRead() and UARTAvailable() commands. The speed of these UARTs can be any integer between 1 and 3750000 bps.
UART0 TX: Expansion Connector
UART0 RX: Expansion Connector
UART1 TX: D5
UART1 RX: D6
UART2 TX: D18
UART2 RX: D19
Digital Port Outout Baud Rates
The digital ports can output Serial, which differs from the UART. Using any digital port as a Serial Output command can be done by using the SendSerial() command. Using a digital port this way does not include an input buffer. For input buffers, use the UARTx functions.
300
1200
2400
4800
9600
19200
38400
57600
115200
RoboQuad Commands
Supported on the EZ-B v3 only, the D1 port can be used to connect to the IR wire of some WowWee robots. Due to multiple hardware revisions of the robots, these functions are not always compatible and therefore this feature has been discontinued in the EZ-B v4.
Stop
Walk_Forward
Right_Crab_Walk
Left_Crab_Walk
Left_Crab_Four_Steps
Right_Crab_Four_Steps
Backward_Four_Steps
Walk_Backward
Forward_Four_Steps
Rotate_Counter_Clockwise
Counter_Clockwise_Four_Steps
Rotate_Clockwise
Clockwise_Four_Steps
Head_Up
Head_Down
Head_Clockwise
Head_Counter_Clockwise
Top_Left_Shuffle
Top_Right_Shuffle
Bottom_Left_Shuffle
Bottom_Right_Shuffle
Left_Strafe
Right_Strafe
Left_Turn_Roll
Right_Turn_Roll
Burst
Single_Shot
Stomp_Walk
Left_Legs_In
Left_Legs_Out
Left_Forward_Leg_In
Left_Forward_Leg_Out
Left_Backward_Leg_In
Left_Backward_Leg_Out
Right_Legs_In
Right_Legs_Out
Right_Forward_Leg_In
Right_Forward_Leg_Out
Right_Backward_Leg_In
Right_Backward_Leg_Out
Program
Play_Program
Program_Delete_Last_Step
Erase_Program
Scan_Left_For_Object
Scan_Right_For_Object
Smart_Scan
Approach_Nearest_Object
Escape_Walk
Toggle_Activity_Level_1
Toggle_Activity_Level_2
Toggle_Activity_Level_3
Toggle_Aggression_1
Toggle_Aggression_2
Toggle_Aggression_3
Toggle_Awareness_1
Toggle_Awareness_2
Toggle_Awareness_3
Leg_Reset
Full_Reset
Volume_Up
Volume_Down
Guard
Sleep
Toggle_Autonomy
Toggle_Sensors
Twitch
Surprise
Wave
Dizzy
Attack
Roar
Aware_Stance
High_Stance
Aggressive_Stance
Dance_Demo
Movement_Demo
Leg_Check
RoboSapien Commands
Supported on the EZ-B v3 only, the D1 port can be used to connect to the IR wire of some WowWee robots. Due to multiple hardware revisions of the robots, these functions are not always compatible and therefore this feature has been discontinued in the EZ-B v4.
TurnRight
RightArmUp
RightArmOut
TiltBodyRight
RightArmDown
RightArmIn
WalkForward
WalkReverse
TurnLeft
LeftArmUp
LeftArmOut
TiltBodyLeft
LeftArmDown
LeftArmIn
Stop
WakeUp
Burp
RightHandStrike
RightHandSweep
RightHandStrike2
HighFive
Fart
LeftHandStrike
LeftHandSweep
Whistle
Roar
ControlCommand Values
You can receive values for controls using using the GetControlValue() command. The syntax for this command can be found above in this document. Each control will accept a different collection of commands, which are listed here.
All Controls
Pause
Variable Types
Variables are global throughout the entire ARC environment. The Variable Watcher Control allows you to watch variable values in real-time. Variable types are dynamic by assignment, meaning there is no specific type definition between String, Integer and Floating point.
Examples:
String: $str = This is a string
String Concat: $str = fu + $bar
Integer: $number = 6
Floating Point: $dec = 3.14
Byte: $byte = 0x52
Boolan: $bool = true
Result Condition: $result = ($x > $y)
Increment numeric: $number++
Decrement numeric: $number-
Binary Shift Left: $x = 123 > 1
Scientific Math Functions
Sin()
Cos()
Tan()
Sec()
Csc()
Cot()
ASin()
ACos()
ATan()
SinH()
CosH()
TanH()
Abs()
Sqrt()
Ciel()
Floor()
Exp()
Log10()
Log()
Max()
Min()
Round()
E()
Pi()
Now()
Today()
DateTime Functions
MinDate()
MaxDate()
MonthName()
AddDays()
AddMonths()
AddYears()
AddHours()
AddMinute()
AddSeconds()
FmtNum()
FmtDate()
Casting Functions
These functions are to cast objects from one datatype to another
To Double: CDBL()
To Integer: CInt()
To Long: CLong()
To Unsigned Integer: CUint()
To Unsigned Long: CULong()
To DateTime: CDateTime()
Variable Constants/Reserved Words
These variables are read-only reserved words and cannot be assigned.
$direction
$date
$month
$year
$day
$dayName
$hour
$minute
$second
$monthName
$time
$pi
Roomba Commands
The iRobot Roomba can be controlled by the EZ-B. Once the Roomba Movement Panel has been added, these commands can be parameters to the Roomba() function. Syntax use for this function can be found above in this document.
Init
EnableSensors
DisableSensors
PowerOff
SpotClean
Clean
MaxClean
DisableAllBrushes
MainBrushOn
MainBrushOff
SideBrushOn
SideBrushOff
VacuumOn
VacuumOff
SeekDockingStation
Roomba/Sound Music Notes
The iRobot Roomba or EZ-B v4 can be told to play audio tones. They may be simple, but it is fun - here is a list of parameters for the RoombaTone() or SoundNote() functions. The syntax for the function can be found above in this document. Here are the acceptable notes
C1
Db1
D1
Eb1
E1
F1
Gb1
G1
Ab1
A1
Bb1
B1
C2
Db2
D2
Eb2
E2
F2
Gb2
G2
Ab2
A2
Bb2
The notes below are not supported with iRobot Roomba and only works with EZ-B v4 SoundNote()
C3
Db3
D3
Eb3
E3
F3
Gb3
G3
Ab3
A3
Bb3
Auto Start Command Line Options
EZ-Builder supports two command line options for loading a project, and/or executing a script. If you wish to have ARC auto-load from a shortcut, the command line parameters allow you to specify an auto connect also. You may use the Shortcut Creator, located under the File Menu.
Parameter 1: The path and filename of the project file you wish to load apon startup.
Parameter 2: The name of the script control you wish to execute apon startup.
"c:\Program Files\EZ-Builder\EZ-Builder.exe "C:\files\My File.ezb"
"c:\Program Files\EZ-Builder\EZ-Builder.exe "C:\files\My File.ezb" "InitScript"
