Built-In

The commands every Python script can use without naming a group, the port names, and the list of connected controllers.

Where to find it: the Built-in section of the ARCx API view in the script editor

Commands

Command	What it does
print	Writes a line to the console under the editor, and to the log of the robot skill running the script.
printHex	Writes each character of a piece of text to the console as a hexadecimal byte, which is handy for looking at data from a serial device.
sleep	Pauses the script for a number of milliseconds.
sleepRandom	Pauses the script for a random time between two numbers of milliseconds.
halt	Stops this script straight away.
getVar	Reads a global variable.
setVar	Stores a value in a global variable that every script, robot skill and Custom UI screen can read.
setVarObject	Stores a copy of a list or object in a global variable.
varExists	Checks whether a global variable exists.
deleteVar	Removes a global variable.
controlCommand	Asks a robot skill to do something, the same as clicking a button on it.
showControl	Brings a robot skill to the front: switches to its workspace and scrolls to it, in every browser looking at the project.
showDesktop	Switches every browser looking at the project to a workspace.

Details

print

Writes a line to the console under the editor, and to the log of the robot skill running the script. This is Python's own print, so it takes several values and the usual options.

print(value)

Value	Type	What it is
`value`	object	What to print: text, a number, or anything else.

printHex

Writes each character of a piece of text to the console as a hexadecimal byte, which is handy for looking at data from a serial device.

printHex(text)

Value	Type	What it is
`text`	object	The text or data to show.

sleep

Pauses the script for a number of milliseconds. 1000 is one second. A stopped script wakes up straight away.

sleep(ms)

Value	Type	What it is
`ms`	int	How long to wait, in milliseconds.

sleepRandom

Pauses the script for a random time between two numbers of milliseconds.

sleepRandom(lowMs, highMs)

Value	Type	What it is
`lowMs`	int	The shortest wait, in milliseconds.
`highMs`	int	The longest wait, in milliseconds.

halt

Stops this script straight away. Nothing after it runs.

halt()

getVar

Reads a global variable. Without a default, reading a variable that does not exist stops the script with an error; with one, the default is given back instead.

getVar(variableName)
getVar(variableName, defaultValue)

Value	Type	What it is
`variableName`	str	The variable's name. The $ at the start is optional, and case does not matter.
`defaultValue`	object	Optional. What to give back when the variable does not exist.

Gives back: The variable's value.

setVar

Stores a value in a global variable that every script, robot skill and Custom UI screen can read. The variable is created if it does not exist.

setVar(variableName, value)
setVar(variableName, value, description)

Value	Type	What it is
`variableName`	str	The variable's name. The $ at the start is optional, and case does not matter.
`value`	object	The value: a number, text, true or false, a list or an object.
`description`	str	Optional. What the variable is for, shown wherever variables are listed. Leaving it out keeps any description it already has.

setVarObject

Stores a copy of a list or object in a global variable. With setVar, changing the list afterwards also changes what was stored; setVarObject takes a snapshot, which is what you want when another script will read it.

setVarObject(variableName, value)
setVarObject(variableName, value, description)

varExists

Checks whether a global variable exists.

varExists(variableName)

Value	Type	What it is
`variableName`	str	The variable's name.

Gives back: bool. True when the variable exists.

deleteVar

Removes a global variable.

deleteVar(variableName)

Value	Type	What it is
`variableName`	str	The variable's name.

controlCommand

Asks a robot skill to do something, the same as clicking a button on it. Press Ctrl+Q in the script editor to pick one from a list with its description. ControlCommand, controlcommand, CC and cc are other spellings of the same command.

controlCommand(robotSkill, command, *values)

Value	Type	What it is
`robotSkill`	str	The robot skill's title, as shown on the workspace.
`command`	str	The name of the command.
`values`	object	Any number of values. What the command needs, if anything.

Gives back: Whatever the command gives back, if anything; many give back true when they worked.

showControl

Brings a robot skill to the front: switches to its workspace and scrolls to it, in every browser looking at the project.

showControl(windowTitle)

Value	Type	What it is
`windowTitle`	str	The robot skill's title, as shown on the workspace.

showDesktop

Switches every browser looking at the project to a workspace.

showDesktop(workspaceNumber)

Value	Type	What it is
`workspaceNumber`	int	The workspace, 0 being the first.

Port names

Commands that take a port take its name, written without quotes. The names are numbers underneath, so a loop can count through them.

Names	What they are
`d0` to `d255`	Digital ports. An EZB v4 has `d0` to `d23`; servos, digital, PWM, ping and serial commands use them.
`v0` to `v255`	Virtual ports, which servo driver robot skills such as Dynamixel, Feetech or PCA9685 hook to. Servo commands move them like any other servo.
`adc0` to `adc255`	Analog (ADC) inputs. An EZB v4 has `adc0` to `adc7`.

EZBs

EZBs is the list of controllers in the project, for advanced scripts. Most scripts never need it: the EZB group gives the connection state, voltage and temperature, and commands that use a port take an optional EZB index as their last value.