Home

Not eXactly C (NXC)

1. Display Module Offsets Value Size DisplayOffsetPFunc 0 4 DisplayOffsetEraseMask 4 4 DisplayOffsetUpdateMask 8 4 DisplayOffsetPFont 12 4 DisplayOffsetPTextLines p p 4 16 4 8 DisplayOffsetPStatusText 48 4 DisplayOffsetPStatusIcons 32 4 DisplayOffsetPScreens p p 4 56 4 3 DisplayOffsetPBitmaps p p 4 68 4 4 DisplayOffsetPMenuText 84 4 DisplayOffsetPMenulcons p p 4 88 4 3 DisplayOffsetPStepIcons 100 4 DisplayOffsetDisplay 104 4 DisplayOffsetStatusIcons p p 108 1 4 DisplayOffsetStepIcons p p 112 1 5 DisplayOffsetFlags 117 1 DisplayOffsetTextLinesCenterFlags 118 1 DisplayOffsetNormal l w 100 w 119 800 DisplayOffsetPopup l w 100 w 919 800 Table 33 Display Module IOMap Offsets 3 8 Loader Module The NXT loader module encompasses support for the NXT file system The NXT supports creating files opening existing files reading writing renaming and deleting files Page 69 NXC Programmer s Guide Module Constants Value LoaderModuleName Loader mod LoaderModuleID 0x00090001 Table 34 Loader Module Constants Files in the NXT file system must adhere to the 15 3 naming convention for a maximum filename length of 19 characters While multiple files can be opened simultaneously a maximum of 4 files can be open for writing at any given time When accessing files on the NXT errors can occur The NXC A
2. ClearSensor const port Function Clear the value of a sensor only affects sensors that are configured to measure a cumulative quantity such as rotation or a pulse count The port must be specified using a constant eg S1 S2 S3 or S4 ClearSensor S1 ResetSensor port Function Reset the value of a sensor If the sensor type or mode has been modified then the sensor should be reset in order to ensure that values read from the sensor are valid The port may be specified using a constant e g S1 S2 S3 or S4 or a variable ResetSensor x x S1 Page 44 NXC Programmer s Guide SetCustomSensorZeroOffset const p value Function Sets the custom sensor zero offset value of a sensor The port must be specified using a constant e g S1 S2 S3 Or S4 SetCustomSensorZeroOffset S1 12 SetCustomSensorPercentFullScale const p value Function Sets the custom sensor percent full scale value of a sensor The port must be specified using a constant eg S1 S2 S3 or S4 SetCustomSensorPercentFullScale s1 100 SetCustomSensorActiveStatus const p value Function Sets the custom sensor active status value of a sensor The port must be specified using a constant eg S1 S2 S3 or S4 SetCustomSensorActiveStatus S1 true SetSensorDigiPinsDirection const p value Function Sets the digital pins direction value of a sensor The port must be specified using a cons
3. Sound files rso are like wav files They contain thousands of sound samples that digitally represent an analog waveform With sounds files the NXT can speak or play music or make just about any sound imaginable Melody files are like MIDI files They contain multiple tones with each tone being defined by a frequency and duration pair When played on the NXT a melody file sounds like a pure sine wave tone generator playing back a series of notes While not as fancy as sound files melody files are usually much smaller than sound files When a sound or a file is played on the NXT execution of the program does not wait for the previous playback to complete To play multiple tones or files sequentially it is necessary to wait for the previous tone or file playback to complete first This can be done via the Wait API function or by using the sound state value within a while loop The NXC API defines frequency and duration constants which may be used in calls to PlayTone or PlayToneEx Frequency constants start with TONE_A3 the A pitch in octave 3 and go to TONE_B7 the B pitch in octave 7 Duration constants start with MS_1 1 millisecond and go up to MIN_1 60000 milliseconds with several constants in between See NBCCommon h for the complete list 3 5 1 High level functions PlayTone frequency duration Function Play a single tone of the specified frequency and duration The frequency is in Hz The duration is i
4. SetHSSpeed n This method sets the High Speed speed to the specified value SetHSSpeed 1 HSSpeed This method returns the value of the High Speed speed byte x HSSpeed SetHSState n This method sets the High Speed state to the specified value SetHSState 1 HSState This method returns the value of the High Speed state byte x HSState 3 13 2 3 Bluetooth functions GetBTInputBuffer offset count out data Function Value Function Value Function Value Function This method reads count bytes of data from the Bluetooth input buffer and writes it to the buffer provided GetBTInputBuffer 0 10 buffer Page 99 NXC Programmer s Guide SetBTInputBuffer offset count data Function This method writes count bytes of data to the Bluetooth input buffer at the specified offset SetBTInputBuffer 0 10 buffer SetBTInputBufferInPtr n Function This method sets the input pointer of the Bluetooth input buffer to the specified value SetBTInputBufferInPtr 0 BTInputBufferInPtr Value This method returns the value of the input pointer of the Bluetooth input buffer byte x BTInputBufferlnPtr SetBTInputBufferOutPtr n Function This method sets the output pointer of the Bluetooth input buffer to the specified value SetBTInputBufferOutPtr 0 BTInputBufferOutPtr Value This method returns the value
5. declare a 2 dimensional array Global arrays with one dimension can be initialized at the point of declaration using the following syntax ant xp Sy SA ATA LOS TOD arrays The elements of an array are identified by their position within the array called an index The first element has an index of 0 the second has index 1 etc For example my_array 0 123 set first element to 123 my_array 1 my_array 2 copy third into second Currently there are some limitations on how arrays can be used Some of these limitations will likely be removed in future versions of NXC To initialize local arrays or arrays with multiple dimensions it is necessary to use the ArrayInit function The following example shows how to initialize a two dimensional array using ArrayInit It also demonstrates some of the supported array API functions and expressions task main int myArray int myVector byte fooArray ArrayInit myVector 0 10 10 zeros in myVector Page 8 NXC Programmer s Guide ArraylInit myArray myVector 10 10 vectors myArray ArrayInit fooArray myArray 2 2 myArrays in fooArray myVector myArray 1 okay as of b25 fooArray 1 myArray okay as of b25 myVector 4 34 myArray 1 myVector okay as of b25 int ax ayll ArrayBuild ax 5 6 ArrayBuild ay 2 10 6 43 int axlen ArrayLen ax ArraySubset ax ay 1 2
6. NXT sound sensor with dBA scaling SENSOR_TYPE_CUSTOM IN_TYPE_CUSTOM Custom sensor unused SENSOR_TYPE_LOWSPEED IN_TYPE_LOWSPEED I2C digital sensor SENSOR_TYPE_LOWSPEED_9V IN_TYPE_LOWSPEED_9V I2C digital sensor 9V power SENSOR_TYPE_HIGHSPEED IN_TYPE_HISPEED Highspeed sensor unused Table 8 Sensor Type Constants The NXT allows a sensor to be configured in different modes The sensor mode determines how a sensor s raw value is processed Some modes only make sense for certain types of sensors for example SENSOR_MODE_ROTAT1 rotation sensors Call SetSensorMode to set the sensor mode The possible modes are shown below Use either the Sensor Mode constant or the NBC Sensor Mode constant ON is useful only with Sensor Mode NBC Sensor Mode Meaning SENSOR_MODE_RAW IN_MODE_RAW r aw value from 0 to 1023 SENSOR_MODE_BOOL IN_MODE_BOOLEAN boolean value 0 or 1 SENSOR_MODE_EDGE IN_MODE_TRANSITIONCNT counts number of boolean transitions SENSOR_MODE_PULSE IN_MODE_PERIODCOUNTER counts number of boolean periods SENSOR_MODE_PERCENT IN_MODE_PCTFULLSCALE value from 0 to 100 SENSOR_MODE_FAHRENHEIT IN_MODE_FAHRENHEIT degrees F SENSOR_MODE_CELSIUS IN_MODE_CELSIUS degrees C SENSOR_MODE_ROTATION IN_MODE_ANGLESTEP rotation 16 ticks per revolution Table 9 Sensor Mode Constants When
7. p 32 12 4 OutputOffsetMotorRPM p p 32 16 2 OutputOffsetFlags p p 32 18 1 OutputOffsetMode p p 32 19 1 OutputOffsetSpeed p p 32 20 1 OutputOffsetActualSpeed p p 32 21 1 OutputOffsetRegPParameter p p 32 22 1 OutputOffsetRegIParameter p p 32 23 1 OutputOffsetRegDParameter p p 32 24 1 OutputOffsetRunState p p 32 25 1 OutputOffsetRegMode p p 32 26 1 OutputOffsetOverloaded p p 32 27 1 OutputOffsetSyncTurnParameter p p 32 28 1 OutputOffsetPwnFreq 96 1 Table 21 Output Module IOMap Offsets IO Map Addresses The NXT firmware provides a mechanism for reading and writing input sensor and output motor field values using low level constants known as IO Map Addresses IOMA Valid IOMA constants are listed in the following table IOMA Constant Parameter Meaning InputlIOType p SI SA Input Type value InputIOInputMode p S1 S4 Input InputMode value InputIORawValue p S1 S4 Input RawValue value InputIONormalizedValue p S1 S4 Input NormalizedV alue value InputIOScaledValue p S1 S4 Input ScaledValue value InputIOInvalidData p S1 S4 Input InvalidData value OutputlOUpdateFlags p OUT_A OUT_C Output UpdateFlags value OutputIOOutputMode p OUT_A OUT_C Output OutputMode value OutputlOPower p OUT_A OUT_C Output Power value OutputIO ActualSpeed p OUT_A OUT_C Output ActualSpee
8. Return a string containing the byte representation of the specified value msg Flatten 48 returns 0 since 48 ascii 0 msg Flatten 12337 returns 10 little endian 3 1 4 Array Functions ByteArrayToStr arr Value Convert the specified array to a string by appending a null terminator to the end of the array elements The array must be a one dimensional array of byte myStr ByteArrayToStr myArray ByteArrayToStrEx arr out str Function Convert the specified array to a string by appending a null terminator to the end of the array elements The array must be a one dimensional array of byte ByteArrayToStrEx myArray myStr StrToByteArray str out arr Function Convert the specified string to an array of byte by removing the null terminator at the end of the string The output array variable must be a one dimensional array of byte StrToByteArray myStr myArray Page 21 NXC Programmer s Guide ArrayLen array Value Return the length of the specified array x ArraylLen myArray ArraylInit array value count Function Initialize the array to contain count elements with each element equal to the value provided To initialize a multi dimensional array the value should be an array of N 1 dimensions where N is the number of dimensions in the array being initialized ArrayInit myArray 0 10 10 elements zero ArraySubset out aout asrc idx le
9. ax 10 6 if ax ay 1 array comparisons supported as of b25 NXC also supports specifying an initial size for both global and local arrays The compiler automatically generates the required code to correctly initialize the array to zeros If a global array declaration includes both a size and a set of initial values the size is ignored in favor of the specified values task main int int myArray 10 10 myVector 10 ArvayInit myVector 0 10 10 zeros in myVector ArrayInit myArray myVector 10 10 vectors myArray The calls to ArrayInit are not required since we specified th quivalent initial sizes above In fact the myVector array is not needed unless we have a use for it other than to initialize myArray El 2 3 Statements The body of a code block task or function is composed of statements Statements are terminated with a semi colon 2 3 1 Variable Declaration Variable declaration as described in the previous section is one type of statement It declares a local variable with optional initialization for use within the code block The syntax for a variable declaration is int variables where variables is a comma separated list of names with optional initial value Page 9 NXC Programmer s Guide name expression Arrays of variables may also be declared int array n initializer for global
10. ifdef symbol ifndef symbol else Hendif if condition elif Page 17 NXC Programmer s Guide 3 NXC API The NXC API defines a set of constants functions values and macros that provide access to various capabilities of the NXT such as sensors outputs and communication The API consists of functions values and constants A function is something that can be called as a statement Typically it takes some action or configures some parameter Values represent some parameter or quantity and can be used in expressions Constants are symbolic names for values that have special meanings for the target Often a set of constants will be used in conjunction with a function 3 1 General Features 3 1 1 Timing Functions Wait time Function Make a task sleep for specified amount of time in 1000ths of a second The time argument may be an expression or a constant Wait 1000 wait 1 second Wait Random 1000 wait random time up to 1 second CurrentTick Value Return an unsigned 32 bit value which is the current system timing value called a tick in milliseconds x CurrentTick FirstTick Value Return an unsigned 32 bit value which is the system timing value called a tick in milliseconds at the time that the program began running x FirstTick SleepTimeout Value Return the number of minutes that the NXT will remain on before it automatically shuts down x SleepTimeout Sl
11. 1285 1 CommOffsetBtInBufOutPtr 1286 1 CommOffsetBtOutBufBuf 1289 128 CommOffsetBtOutBufInPtr 1417 1 CommOffsetBtOutBufOutPtr 1418 1 CommOffsetHsInBufBuf 1421 128 CommoOffsetHsInBufInPtr 1549 1 CommOffsetHsInBufOutPtr 1549 1 CommOffsetHsOutBufBuf 1553 128 CommoOffsetHsOutBufInPtr 1681 1 CommOffsetHsOutBufOutPtr 1682 1 CommOffsetUsbInBufBuf 1685 64 CommOffsetUsbInBufInPtr 1749 1 CommOffsetUsbInBufOutPtr 1750 1 CommOffsetUsbOutBufBuf 1753 64 CommOffsetUsbOutBuflnPtr 1817 1 CommOffsetUsbOutBufOutPtr 1818 1 CommOffsetUsbPollBufBuf 1821 64 CommoOffsetUsbPollBufInPtr 1885 1 CommOffsetUsbPollBufOutPtr 1886 1 CommOffsetBtDeviceCnt 1889 1 CommOffsetBtDeviceNameCnt 1890 1 CommOffsetHsFlags 1891 1 CommOffsetHsSpeed 1892 1 CommOffsetHsState 1893 1 CommOffsetUsbState 1894 1 Table 65 Comm Module IOMap Offsets Page 104
12. 4 SensorType n Value Return the configured type of a sensor on port n which must be 0 1 2 or 3 ora sensor port name constant A variable whose value is the desired sensor port may also be used x SensorType S1 SensorMode n Value Return the current sensor mode for a sensor on port n which must be 0 1 2 or 3 or a sensor port name constant A variable whose value is the desired sensor port may also be used x SensorMode S1 SensorRaw n Value Return the raw value of a sensor on port n which must be 0 1 2 or 3 or a sensor port name constant A variable whose value is the desired sensor port may also be used x SensorRaw S1 SensorNormalized n Value Return the normalized value of a sensor on port n which must be 0 1 2 or 3 or a sensor port name constant A variable whose value is the desired sensor port may also be used x SensorNormalized S1 SensorScaled n Value Return the scaled value of a sensor on port n which must be 0 1 2 or 3 or a sensor port name constant A variable whose value is the desired sensor port may also be used This is the same as the standard Sensor n value x SensorScaled S1 Page 46 NXC Programmer s Guide SensorInvalid n Value Return the value of the InvalidData flag of a sensor on port n which must be 0 1 2 or 3 or a sensor port name constant A variable whose value is the desired sensor port may also be used x
13. SensorInvalid S1 SensorBoolean const n Value Return the boolean value of a sensor on port n which must be 0 1 2 or 3 or a sensor port name constant Boolean conversion is either done based on preset cutoffs or a slope parameter specified by calling Set SensorMode x SensorBoolean S1 GetInput n const field Value Return the value of the specified field of a sensor on port n which must be 0 1 2 or 3 or a sensor port name constant A variable whose value is the desired sensor port may also be used The field must be a sensor field constant Valid field constants are listed in Table 11 x GetInput S1 Type CustomSensorZeroOffset const p Value Return the custom sensor zero offset value of a sensor on port p which must be 0 1 2 or 3 or a sensor port name constant x CustomSensorZeroOffset S1 CustomSensorPercentFullScale const p Value Return the custom sensor percent full scale value of a sensor on port p which must be 0 1 2 or 3 or a sensor port name constant x CustomSensorPercentFullScale S1 CustomSensorActiveStatus const p Value Return the custom sensor active status value of a sensor on port p which must be 0 1 2 or 3 or a sensor port name constant x CustomSensorActiveStatus S1 SensorDigiPinsDirection const p Value Return the digital pins direction value of a sensor on port p which must be 0 1 2 or 3 or a sensor port name constant x Se
14. Table 52 Low Speed Channel State Constants BAju n 0 Valid low speed mode values are listed in the following table Low Speed Mode Constants Value LOWSPEED_TRANSMITTING 1 LOWSPEED_RECEIVING 2 LOWSPEED_DATA_RECEIVED 3 Table 53 Low Speed Mode Constants Page 84 NXC Programmer s Guide Valid low speed error type values are listed in the following table Low Speed Error Type Constants Value LOWSPEED_NO_ERROR 0 LOWSPEED_CH_NOT_READY 1 LOWSPEED_TX_ERROR 2 LOWSPEED_RX_ERROR 3 Table 54 Low Speed Error Type Constants GetLSInputBuffer port offset count out data Function This method reads data from the lowspeed input buffer associated with the specified port GetLSInputBuffer S1 0 8 buffer SetLSInputBuffer port offset count data Function This method writes data to the lowspeed input buffer associated with the specified port SetLSInputBuffer S1 0 8 data GetLSOutputBuffer port offset count out data Function This method reads data from the lowspeed output buffer associated with the specified port GetLSOutputBuffer S1 0 8 outbuffer SetLSOutputBuffer port offset count data Function This method writes data to the lowspeed output buffer associated with the specified port SetLSOutputBuffer S1 0 8 data LSInputBufferInPtr port Value This method returns the value of
15. a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 OnRev OUT_A 75 OnRevEx outputs pwr const reset Function Set outputs to reverse direction and turn them on Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 The reset parameter controls whether any of the three position counters are reset It must be a constant Valid reset values are listed in Table 19 OnRevEx OUT A 75 RESET NONE OnFwdReg outputs pwr regmode Function Run the specified outputs forward using the specified regulation mode Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 Valid regulation modes are listed in Table 18 OnFwdReg OUT A 75 OUT_REGMODE_SPEED regulate speed OnFwdRegEx outputs pwr regmode const reset Function Run the specified outputs forward using the specified regulation mode Outputs can be a constant or a variable containing the desired output ports Predefined output port Page 54 NXC Programmer s Guide constants are defined in Table 20 Valid regulation modes are listed in Table 18 The reset parameter controls whether any of the three position counters are reset It must be a constant Valid reset values are listed in Table 19
16. access use the motors Release motorMutex Release mutex Function Release the specified mutex variable Use this to relinquish a mutex so that it can be acquired by another task Release should always be called after a matching call to Acquire and as soon as possible after a shared resource is no longer needed Acquire motorMutex make sure we hav xclusive access use the motors Release motorMutex release mutex for other tasks Page 19 NXC Programmer s Guide Precedes task1 task2 taskN Function Schedule the specified tasks for execution once the current task has completed executing The tasks will all execute simultaneously unless other dependencies prevent them from doing so Generally this function should be called once within a task preferably at the start of the task definition Precedes moving drawing playing Follows task1 task2 taskN Function Schedule this task to follow the specified tasks so that it will execute once any of the specified tasks has completed executing Generally this function should be called once within a task preferably at the start of the task definition If multiple tasks declare that they follow the same task then they will all execute simultaneously unless other dependencies prevent them from doing so Follows main ExitTo task Function Immediately exit the current task and start executing the specified task ExitTo ne
17. body By using a compound statement the same control structure can be used to control multiple statements Page 10 NXC Programmer s Guide The if statement evaluates a condition If the condition is true it executes one statement the consequence An optional second statement the alternative is executed if the condition is false The two syntaxes for an if statement is shown below if condition consequence if condition consequence else alternative Note that the condition is enclosed in parentheses Examples are shown below Note how a compound statement is used in the last example to allow two statements to be executed as the consequence of the condition if x 1 y 2 if x 1 y 3 else y 4 if x 1 y 1 z 2 The while statement is used to construct a conditional loop The condition is evaluated and if true the body of the loop is executed then the condition is tested again This process continues until the condition becomes false or a break statement is executed The syntax for a while loop appears below while condition body It is very common to use a compound statement as the body of a loop while x lt 10 x xt 1 y y 2 A variant of the while loop is the do whi le loop Its syntax is do body while condition The difference between a while loop and a do whi le loop is that the do while loop always executes the body at least once whereas the while loop may not
18. both have the same meaning x 2 X 2 Some of the C operators consist of multiple characters In order to preserve these tokens whitespace must not be inserted within them In the example below the first line Page 2 NXC Programmer s Guide uses a right shift operator gt gt but in the second line the added space causes the gt symbols to be interpreted as two separate tokens and thus generate an error x 1 gt gt 4 set x to 1 right shifted by 4 bits Xx 1 gt gt 4 error 2 1 3 Numerical Constants Numerical constants may be written in either decimal or hexadecimal form Decimal constants consist of one or more decimal digits Hexadecimal constants start with 0x or 0X followed by one or more hexadecimal digits x 10 set x to 10 x 0x10 set x to 16 10 hex 2 1 4 Identifiers and Keywords Identifiers are used for variable task function and subroutine names The first character of an identifier must be an upper or lower case letter or the underscore _ Remaining characters may be letters numbers and an underscore A number of potential identifiers are reserved for use in the NXC language itself These reserved words are call keywords and may not be used as identifiers A complete list of keywords appears below __RETURN__ case inline struct __RETVAL__ char int sub __STRRETVAL__ const long switch __TMPBYTE__ continue mutex task __ TMPWORD__ default
19. direct command to the device on the specified connection Use BluetoothStatus to determine when this write request is completed x RemoteStopSound 1 RemoteKeepAlive connection Value This method sends a KeepAlive direct command to the device on the specified connection Use BluetoothStatus to determine when this write request is completed x RemoteKeepAlive 1 RemoteResetScaledValue connection port Value This method sends a ResetScaledValue direct command to the device on the specified connection Use BluetoothStatus to determine when this write request is completed x RemoteResetScaledValue 1 1 RemoteResetMotorPosition connection port bRelative Value This method sends a ResetMotorPosition direct command to the device on the specified connection Use BluetoothStatus to determine when this write request is completed x RemoteResetMotorPosition 1 OUT A true Page 92 NXC Programmer s Guide RemoteSetInputMode connection port type mode Value This method sends a SetInputMode direct command to the device on the specified connection Use BluetoothStatus to determine when this write request is completed x RemoteSetOutputState connection port speed mode regmode Remo IN_TYPI teSetInputMode 1 S1 FE LOWSPEED IN_MODE_RAW turnpct runstate tacholimit Value This method sends a SetOutputState direct command to the device on
20. field values OutputMode must include OUT_MODE_MOTORON and OUT_MODE_REGULATED RegMode must be set to OUT_REGMODE_SYNC RunState must not be OUT_RUNSTATE_IDLE and Speed must be non zero There are only three valid combinations of left and right motors for use with TurnRatio OUT_AB OUT_BC and OUT AC In each of these three options the first motor listed is considered to be the left motor and the second motor is the right motor regardless of the physical configuration of the robot Negative TurnRatio values shift power toward the left motor while positive values shift power toward the right motor An absolute value of 50 usually results in one motor stopping An absolute value of 100 usually results in two motors turning in opposite directions at equal power RegMode ubyte Read Write 0 255 This field specifies the regulation mode to use with the specified port s It is ignored if the OUT_MODE_REGULATED bit is not set in the OutputMode field Unlike the OutputMode field RegMode is not a bitfield Only one RegMode value can be set at a time Valid RegMode values are listed in Table 18 Speed regulation means that the firmware tries to maintain a certain speed based on the Power setting The firmware adjusts the PWM duty cycle if the motor is affected by a physical load This adjustment is reflected by the value of the ActualSpeed property When using speed regulation do not set Power to its maximum value
21. function lets you set the screen mode of the NXT LCD given the parameters you pass in via the SetScreenModeType structure The standard NXT firmware only supports setting the ScreenMode to SCREEN_MODE_RESTORE which has a value of 0x00 If you install the NBC NXC enhanced standard NXT firmware this system function also supports setting the ScreenMode to SCREEN_MODE_CLEAR which has a value of 0x01 The structure type declaration is shown below H struct SetScreenModeType char Result unsigned long ScreenMode y Declare a variable of this type set its members and then call the function passing in your variable of this structure type SetScreenModeType ssmArgs ssmArgs ScreenMode 0x00 restore default NXT screen SysSetScreenMode ssmArgs Page 26 NXC Programmer s Guide SysSoundPlayFile SoundPlayFileType amp args Function This function lets you play a sound file given the parameters you pass in via the SoundPlayFileType structure The sound file can either be an RSO file containing PCM or compressed ADPCM samples or it can be an NXT melody RMD file containing frequency and duration values The structure type declaration is shown below struct SoundPlayFileType char Result string Filename bool Loop byte SoundLevel Y Declare a variable of this type set its members and then call the function passing in your variable of this st
22. ignored by the specified display command Page 38 NXC Programmer s Guide struct CommExecuteFunctionType unsigned int Result byte Cmd byte Paraml byte Param2 byte Param3 string Name unsigned int RetVal Cmd Meaning Param1 Param2 Param3 Name INTF_SENDFILE Send a file over a Bluetooth connection Connection x x Filename INTF_SEARCH Search for Bluetooth X X X X devices INTF_STOPSEARCH Stop searching for X X X X Bluetooth devices INTF_CONNECT Connect to a Bluetooth device DeviceIndex Connection x x INTF_DISCONNECT Disconnect a Bluetooth device Connection x x X INTF_DISCONNECTALL Disconnect all Bluetooth devices X X X X INTF_REMOVEDEVICE Remove device from My Contacts DeviceIndex x x x INTF_VISIBILITY Set Bluetooth visibility true false x x x INTF_SETCMDMODE Set command mode X X X X INTF_OPENSTREAM Open a stream x Connection x x INTF_SENDDATA Send data Length Connection WaitForlt Buffer INTF_FACTORYRESET Bluetooth factory reset X x x x INTF_BTON Turn Bluetooth on X X X X INTF_BTOFF Turn Bluetooth off X X X X INTF_SETBTNAME Set Bluetooth name X X X X INTF_EXTREAD Handle external read X X X X INTF_PINREQ Handle Blueooth PIN X X X X request INTF_CONNECTREQ Handle Bluetooth X X X X connect request Page 39 NXC
23. internal proportional integral derivative PID control algorithm Set UF_UPDATE_PID_VALUES to commit changes to RegPValue RegI Value and RegDValue simultaneously RegDValue ubyte Read Write 0 255 This field specifies the derivative term used in the internal proportional integral derivative PID control algorithm Set UF_UPDATE_PID_VALUES to commit changes to RegPValue RegI Value and RegDValue simultaneously BlockTachoCount slong Read full range of signed long Return the block relative position counter value for the specified port Refer to the UpdateFlags description for information about how to use block relative position counts Set the UF_UPDATE_RESET_BLOCK_COUNT flag in UpdateFlags to request that the firmware reset the BlockTachoCount The sign of BlockTachoCount indicates the direction of rotation Positive values indicate forward rotation and negative values indicate reverse rotation Forward and reverse depend on the orientation of the motor RotationCount slong Read full range of signed long Return the program relative position counter value for the specified port Refer to the UpdateFlags description for information about how to use program relative position counts Set the UF_UPDATE_RESET_ROTATION_COUNT flag in UpdateFlags to request that the firmware reset the RotationCount The sign of RotationCount indicates the direction of rotation Positive val
24. is returned as the value of the function call The handle parameter must be a variable The value parameter must be a constant a constant expression or a variable The type of the value parameter determines the number of bytes of data written The WriteLn function also writes a carriage return and a line feed to the file following the numeric data result Writeln handle value WriteString handle str out count Value Write the string to the file associated with the specified handle The loader result code 1s returned as the value of the function call The handle parameter must be a variable The count parameter must be a variable The str parameter must be a string variable or string constant The actual number of bytes written is returned in the count parameter result WriteString handle testing count WriteLnString handle str out count Value Write the string to the file associated with the specified handle The loader result code 1s returned as the value of the function call The handle parameter must be a variable The count parameter must be a variable The str parameter must be a string variable or string constant This function also writes a carriage return and a line feed to the file following the string data The total number of bytes written is returned in the count parameter result WriteLnsString handle testing count WriteBytes handle data out count Value Write the contents of
25. method writes count bytes of data to the USB output buffer at the specified offset SetUSBOutputBuffer 0 10 buffer SetUSBOutputBufferInPtr n Function This method sets the input pointer of the USB output buffer to the specified value SetUSBOutputBufferInPtr 0 USBOutputBufferInPtr Q Value This method returns the value of the input pointer of the USB output buffer byte x USBOutputBufferiInPtr SetUSBOutputBufferOutPtr n Function This method sets the output pointer of the USB output buffer to the specified value SetUSBOutputBufferOutPtr 0 USBOutputBufferOutPtr Value This method returns the value of the output pointer of the USB output buffer byte x USBOutputBufferOutPtr GetUSBPollBuffer offset count out data Function This method reads count bytes of data from the USB poll buffer and writes it to the buffer provided GetUSBPollBuffer 0 10 buffer SetUSBPollBuffer offset count data Function This method writes count bytes of data to the USB poll buffer at the specified offset SetUSBPollBuffer 0 10 buffer Page 96 NXC Programmer s Guide SetUSBPollBufferInPtr n Function This method sets the input pointer of the USB poll buffer to the specified value SetUSBPollBufferInPtr 0 USBPollBufferInPtr Value This method returns the value of the input pointer of the USB poll buffer byte x USBPollBuff
26. of the output pointer of the Bluetooth input buffer byte x BTInputBufferOutPtr GetBTOutputBuffer offset count out data Function This method reads count bytes of data from the Bluetooth output buffer and writes it to the buffer provided GetBTOutputBuffer 0 10 buffer SetBTOutputBuffer offset count data Function This method writes count bytes of data to the Bluetooth output buffer at the specified offset SetBTOutputBuffer 0 10 buffer SetBTOutputBufferInPtr n Function This method sets the input pointer of the Bluetooth output buffer to the specified value SetBTOutputBufferInPtr 0 Page 100 NXC Programmer s Guide BTOutputBufferInPtr Value This method returns the value of the input pointer of the Bluetooth output buffer byte x BTOutputBufferInPtr SetBTOutputBufferOutPtr n Function This method sets the output pointer of the Bluetooth output buffer to the specified value SetBTOutputBufferOutPtr 0 BTOutputBufferOutPtr Value This method returns the value of the output pointer of the Bluetooth output buffer byte x BTOutputBufferOutPtr BTDeviceCount Value This method returns the number of devices defined within the Bluetooth device table byte x BTDeviceCount BTDeviceNameCount Value This method returns the number of device names defined within the Bluetooth device table This usu
27. of these values x MotorRegPValue OUT_A MotorReglValue output Value Get the integral PID value of the specified output Output can be OUT_A OUT_B OUT_C or a variable containing one of these values x MotorReglValue OUT_A MotorRegD V alue output Value Get the derivative PID value of the specified output Output can be OUT_A OUT_B OUT_C or a variable containing one of these values x MotorRegDValue OUT_A MotorBlockTachoCount output Value Get the block relative position counter value of the specified output Output can be OUT A OUT_B OUT_C or a variable containing one of these values x MotorBlockTachoCount OUT_A MotorRotationCount output Value Get the program relative position counter value of the specified output Output can be OUT A OUT_B OUT_C or a variable containing one of these values x MotorRotationCount OUT Ai MotorPwnFreq Value Get the current motor pulse width modulation frequency x MotorPwnFreq SetMotorPwnFreq val Function Set the current motor pulse width modulation frequency SetMotorPwnF req x 3 3 3 lOMap Offsets Output Module Offsets Value Size OutputOffsetTachoCount p p 32 0 4 OutputOffsetBlockTachoCount p p 32 4 4 OutputOffsetRotationCount p p 32 8 4 Page 59 NXC Programmer s Guide 3 4 OutputOffsetTachoLimit p
28. one dimension arrays 2 3 2 Assignment Once declared variables may be assigned the value of an expression variable assign_operator expression There are nine different assignment operators The most basic operator simply assigns the value of the expression to the variable The other operators modify the variable s value in some other way as shown in the table below Operator Action Set variable to expression Add expression to variable Subtract expression from variable lt Multiple variable by expression Divide variable by expression Set variable to remainder after dividing by expression amp Bitwise AND expression into variable Bitwise OR expression into variable Bitwise exclusive OR into variable l Set variable to absolute value of expression Set variable to sign 1 1 0 of expression gt gt Right shift variable by expression lt lt Left shift variable by expression Table 3 Operators Some examples x 2 set x to 2 y 1 set y to 7 x y x is 9 y is still 7 2 3 3 Control Structures The simplest control structure is a compound statement This is a list of statements enclosed within curly braces and x 1 y 2 Although this may not seem very significant it plays a crucial role in building more complicated control structures Many control structures expect a single statement as their
29. repeat true _ TMPLONG__ do return typedef abs else safecall unsigned asm false short until bool for sign void break goto start while byte if string Table 1 NXC Keywords 2 2 Program Structure An NXC program is composed of code blocks and variables There are two distinct types of code blocks tasks and functions Each type of code block has its own unique features but they share a common structure 2 2 1 Tasks The NXT supports multi threading so a task in NXC directly corresponds to an NXT thread Tasks are defined using the task keyword using the following syntax Page 3 NXC Programmer s Guide task name ll the task s code is placed here The name of the task may be any legal identifier A program must always have at least one task named main which is started whenever the program is run The maximum number of tasks is 256 The body of a task consists of a list of statements Scheduling dependant tasks using the Precedes or Follows API function is the primary mechanism supported by the NXT for starting other tasks concurrently Tasks may also be started using the start statement Tasks cannot be stopped by another task however The only way to stop a task is by stopping all tasks using the Stop function or by a task stopping on its own via the ExitTo function or by task execution simply reaching the end of the task 2 2 2 Functions It is often helpful to group a set of statements together into a
30. single function which can then be called as needed NXC supports functions with arguments and return values Functions are defined using the following syntax safecall inline return_type name argument_list body of the function The return type should be the type of data returned In the C programming language functions are specified with the type of data they return Functions that do not return data are specified to return void The argument list may be empty or may contain one or more argument definitions An argument is defined by its type followed by its name Commas separate multiple arguments All values are represented as bool char byte int short long unsigned int unsigned long strings struct types or arrays of any type NXC also supports passing argument types by value by constant value by reference and by constant reference When arguments are passed by value from the calling function to the callee the compiler must allocate a temporary variable to hold the argument There are no restrictions on the type of value that may be used However since the function is working with a copy of the actual argument the caller will not see any changes it makes to the value In the example below the function foo attempts to set the value of its argument to 2 This is perfectly legal but since foo is working on a copy of the original argument the variable y from main task remains unchanged Page 4 NXC Program
31. the long UF_UPDATE_TACHO_LIMITT flag Set the UF_UPDATE_RESET_COUNT flag in UpdateFlags to reset TachoCount and cancel any TachoLimit The sign of TachoCount indicates the motor rotation direction TachoLimit ulong Read full Specify the number of degrees the motor should rotate Write range of Use UF_UPDATE_TACHO_LIMIT with the UpdateFlags unsigned field to commit changes to the TachoLimit long The value of this field is a relative distance from the current motor position at the moment when the Page 49 NXC Programmer s Guide UF_UPDATE_TACHO _ LIMIT flag is processed RunState ubyte Read Write 0 255 Use this field to specify the running state of an output Set the RunState to OUT_RUNSTATE_RUNNING to enable power to any output Use OUT_RUNSTATE_RAMPUP to enable automatic ramping to a new Power level greater than the current Power level Use OUT_RUNSTATE_RAMPDOWN to enable automatic ramping to a new Power level less than the current Power level Both the rampup and rampdown bits must be used in conjunction with appropriate TachoLimit and Power values In this case the firmware smoothly increases or decreases the actual power to the new Power level over the total number of degrees of rotation specified in TachoLimit TumRatio sbyte Read Write 100 100 Use this field to specify a proportional turning ratio This field must be used in conjunction with other
32. the data array to the file associated with the specified handle The loader result code is returned as the value of the function call The handle parameter must be a variable The count parameter must be a variable The data parameter must be an array The actual number of bytes written is returned in the count parameter result WriteBytes handle buffer count WriteBytesEx handle in out length buf Value Write the specified number of bytes to the file associated with the specified handle The loader result code is returned as the value of the function call The handle parameter must be a variable The length parameter must be a variable The buf parameter must be an array or a string variable or string constant The actual number of bytes written is returned in the length parameter result WriteBytesEx handle len buffer Page 73 NXC Programmer s Guide 3 8 1 lOMap Offsets Loader Module Offsets Value Size LoaderOffsetPFunc 0 4 LoaderOffsetFreeUserFlash 4 4 Table 36 Loader Module IOMap Offsets 3 9 Command Module The NXT command module encompasses support for the execution of user programs via the NXT virtual machine It also implements the direct command protocol support that enables the NXT to respond to USB or Bluetooth requests from other devices such as a PC or another NXT brick Module Constants Value CommandModuleName Command mod CommandModuleID 0x
33. using the NXT it is common to set both the type and mode at the same time The SetSensor function makes this process a little easier by providing a single function to call and a set of standard type mode combinations Sensor Configuration Type Mo de SENSOR_TOUCH SENSOR_TYPE_TOUCH SENSOR_MODE_BOOL SENSOR_LIGHT SENSOR_TYPE_LIGHT SENSOR_MODE_PERCENT SENSOR_ROTATION SENSOR_TYPE_ROTATION SENSOR_MODE_ROTATION Page 42 NXC Programmer s Guide SENSOR_CELSIUS SENSOR_TYPE_TEMPERATURE SENSOR_MODE_CELSIUS SENSOR_FAHRENHEIT SENSOR_TYPE_TEMPERATURE SENSOR_MODE_FAHRENHEIT SENSOR_PULSE SENSOR_TYPE_TOUCH SENSOR_MODE_PULSE SENSOR_MODE_EDGE SENSOR_EDGE SENSOR_TYPE_TOUCH Table 10 Sensor Configuration Constants The NXT provides a boolean conversion for all sensors not just touch sensors This boolean conversion is normally based on preset thresholds for the raw value A low value less than 460 is a boolean value of 1 A high value greater than 562 is a boolean value of 0 This conversion can be modified a slope value between 0 and 31 may be added to a sensor s mode when calling Set SensorMode If the sensor s value changes more than the slope value during a certain time 3ms then the sensor s boolean state will change This allows the boolean state to reflect rapid changes in the raw value A rapid increase will result in a boolean
34. value of 0 a rapid decrease is a boolean value of 1 Even when a sensor is configured for some other mode i e SENSOR_MODE_PERCENT the boolean conversion will still be carried out Each sensor has six fields that are used to define its state The field constants are described in the following table Sensor Field Constant Meaning Type The sensor type see Table 8 InputMode The sensor mode see Table 9 RawValue The raw sensor value Normalized Value The normalized sensor value Scaled Value The scaled sensor value InvalidData Invalidates the current sensor value Table 11 Sensor Field Constants SetSensor port const configuration Function Set the type and mode of the given sensor to the specified configuration which must be a special constant containing both type and mode information The port may be specified using a constant eg S1 S2 S3 or S4 or a variable SetSensor S1 SENSOR_TOUCH SetSensorType port const type Function Set a sensor s type which must be one of the predefined sensor type constants The port may be specified using a constant eg S1 S2 S3 or S4 or a variable SetSensorType S1 SENSOR_TYPE_TOUCH SetSensorMode port const mode Function Set a sensor s mode which should be one of the predefined sensor mode constants A slope parameter for boolean conversion if desired may be added to the mode The port may be specifie
35. 00010001 Table 37 Command Module Constants 3 9 1 lOMap Offsets Command Module Offsets Value Size CommandOffsetFormatString 0 16 CommandOffsetPRCHandler 16 4 CommandOffsetTick 20 4 CommandOffsetOffsetDS 24 2 CommandOffsetOffsetDVA 26 2 CommandOffsetProgStatus 28 1 CommandOffsetA wake 29 1 CommandOffsetActivateFlag 30 1 CommandOffsetDeactivateFlag 31 1 CommandOffsetFileName 32 20 CommandOffsetMemoryPool 52 32k Table 38 Command Module IOMap Offsets 3 10 Button Module The NXT button module encompasses support for the 4 buttons on the NXT brick Module Constants Value ButtonModuleName Button mod ButtonModuleID 0x00040001 Table 39 Button Module Constants Page 74 NXC Programmer s Guide 3 10 1 High level functions Valid button constant values are listed in the following table Button Constants Value BTN1 BTNEXIT 0 BTN2 BTNRIGHT 1 BTN3 BTNLEFT 2 BTN4 BINCENTER 3 NO_OF_BTNS 4 Table 40 Button Constants ButtonCount btn reset Value Return the number of times the specified button has been pressed since the last time the button press count was reset Optionally clear the count after reading it Valid values for the btn argument are listed in Table 40 value ButtonCount BIN1 true ButtonPressed btn reset Value Return whether the specified button is pressed Optionally c
36. 17 Table 64 Comm Module Interface Constants 3 13 2 1 USB functions GetUSBInputBuffer offset count out data Function This method reads count bytes of data from the USB input buffer at the specified offset and writes it to the buffer provided GetUSBInputBuffer 0 10 buffer SetUSBInputBuffer offset count data Function This method writes count bytes of data to the USB input buffer at the specified offset SetUSBInputBuffer 0 10 buffer SetUSBInputBufferInPtr n Function This method sets the input pointer of the USB input buffer to the specified value SetUSBInputBufferInPtr 0 USBInputBufferInPtr Value This method returns the value of the input pointer of the USB input buffer byte x USBInputBufferlnPtr SetUSBInputBufferOutPtr n Function This method sets the output pointer of the USB input buffer to the specified value SetUSBInputBufferOutPtr 0 Page 95 NXC Programmer s Guide USBInputBufferOutPtr Value This method returns the value of the output pointer of the USB input buffer byte x USBInputBufferOutPtr GetUSBOutputBuffer offset count out data Function This method reads count bytes of data from the USB output buffer at the specified offset and writes it to the buffer provided GetUSBOutputBuffer 0 10 buffer SetUSBOutputBuffer offset count data Function This
37. 3 BatteryLevel Value Return the battery level in millivolts x BatteryLevel BluetoothState Value Return the Bluetooth state Valid Bluetooth state values are listed in Table 47 x BluetoothState SetBluetoothState value Function Set the Bluetooth state Valid Bluetooth state values are listed in Table 47 SetBluetoothState UI_BT_STATE_ OFF CommandFlags Value Return the command flags Valid command flag values are listed in Table 44 x CommandFlags SetCommandFlags value Function Set the command flags Valid command flag values are listed in Table 44 SetCommandF lags UI_FLAGS_REDRAW_STATUS UIState Value Return the user interface state Valid user interface state values are listed in Table 45 x UIState SetUIState value Function Set the user interface state Valid user interface state values are listed in Table 45 SetUIState UI_STATE_LOW_BATTERY Page 79 NXC Programmer s Guide UlButton O Value Return user interface button information Valid user interface button values are listed in Table 46 x UIButton SetUlButton value Function Set user interface button information Valid user interface button values are listed in Table 46 SetUIButton UI_BUTTON_ENTER VMRunState Return VM run state information x VMRunState SetVMRunSta
38. 40 10 10 Page 66 NXC Programmer s Guide PointOut x y clear false Function Draw a point on the screen at x y Optionally clear the screen first depending on the boolean value of the optional clear argument If this argument is not specified it defaults to false PointOut 40 40 RectOut x y width height clear false Function Draw a rectangle on the screen at x y with the specified width and height Optionally clear the screen first depending on the boolean value of the optional clear argument If this argument is not specified it defaults to false RectOut 40 40 30 10 ResetScreen Function Restore the standard NXT running program screen ResetScreen ClearScreen Function Clear the NXT LCD to a blank screen ClearScreen 3 7 2 Low level functions Valid display flag values are listed in the following table Display Flags Constant Read Write Meaning DISPLAY_ON Write Display is on DISPLAY_REFRESH Write Enable refresh DISPLAY_POPUP Write Use popup display memory DISPLAY_REFRESH_DISABLED Read Refresh is disabled DISPLAY_BUSY Read Refresh is in progress Table 32 Display Flags Constants DisplayFlags Value Return the current display flags Valid flag values are listed in Table 32 x DisplayFlags SetDisplayFlags n Function Set the current display flags Valid flag values are listed in Table 32 SetDisplayFlags x DisplayErase
39. 83 NXC Programmer s Guide PCRead port buflen out buffer Value This is an alias for LowspeedRead x I2CRead S1 1 outbuffer I2CBytes port inbuf in out count out outbuf Value This method writes the bytes contained in the input buffer inbuf to the I2C device on the specified port checks for the specified number of bytes to be ready for reading and then tries to read the specified number count of bytes from the I2C device into the output buffer outbuf The port may be specified using a constant eg S1 S2 S3 or S4 or a variable Returns true or false indicating whether the I2C read process succeeded or failed This is a higher level wrapper around the three main I2C functions It also maintains a last good read buffer and returns values from that buffer if the I2C communication transaction fails x I2CBytes S4 writebuf cnt readbuf 3 12 2 Low level functions Valid low speed state values are listed in the following table Low Speed State Constants Value COM_CHANNEL_NONE_ACTIVE 0x00 COM_CHANNEL_ONE_ACTIVE 0x01 COM_CHANNEL_TWO_ACTIVE 0x02 COM_CHANNEL_THREE_ACTIVE 0x04 COM_CHANNEL_NONE_ACTIVE 0x08 Table 51 Low Speed State Constants Valid low speed channel state values are listed in the following table Low Speed Channel State Constants Value LOWSPEED_IDLE LOWSPEED_INIT LOWSPEED_LOAD_BUFFER LOWSPEED_COMMUNICATING LOWSPEED_ERROR LOWSPEED_DONE 5
40. LDR_CMD_OPENREADLINEAR Read a linear file Filename Buffer Length LDR_CMD_OPENAPPENDDATA Open a file for writing Filename Length LDR_CMD_FINDFIRSTMODULE Start iterating modules Filename Buffer LDR_CMD_FINDNEXTMODULE Continue iterating modules Buffer LDR_CMD_CLOSEMODHANDLE Close module handle 0 LDR_CMD_IOMAPREAD Read IOMap data Filename Buffer Length LDR_CMD_IOMAPWRITE Write IOMap data Filename Buffer Length LDR_CMD_DELETEUSERFLASH Delete all files 0 LDR_CMD_RENAMEFILE Rename file Filename Buffer Length Page 40 NXC Programmer s Guide Declare a variable of this type set its members and then call the function passing in your variable of this structure type LoaderExecuteFunctionType args args Cmd 0xA0 delete user flash SysLoaderExecuteFunction args SysCall funcID args Function This generic macro can be used to call any system function No type checking is performed so you need to make sure you use the correct structure type given the selected system function ID This is however the fastest possible way to call a system function in NXC Function ID constants that can be used with this API call are FileOpenRead FileOpenWrite FileOpenAppend FileRead FileWrite FileClose FileResolveHandle FileRename FileDelete SoundPlayFile SoundPlayTone SoundGetState SoundSetState DrawText D
41. Mask Value Return the current display erase mask Page 67 NXC Programmer s Guide x DisplayEraseMask SetDisplayEraseMask n Set the current display erase mask SetDisplayEraseMask x Display UpdateMask Return the current display update mask x DisplayUpdateMask SetDisplayUpdateMask n Set the current display update mask SetDisplayUpdateMask x DisplayDisplay Return the current display memory address x DisplayDisplay SetDisplayDisplay n Set the current display memory address SetDisplayDisplay x DisplayTextLinesCenterFlags Return the current display text lines center flags x DisplayTextLinesCenterFlags SetDisplayTextLinesCenterFlags n Set the current display text lines center flags SetDisplayTextLinesCenterF lags x GetDisplayNormal x line count data Function Value Function Value Function Value Function Function Read count bytes from the normal display memory into the data array Start reading from the specified x line coordinate Each byte of data read from screen memory is a vertical strip of 8 bits at the desired location Each bit represents a single pixel on the LCD screen Use TEXT_LINE1 through TEXT_LINES8 for the line parameter GetDisplayNormal 0 TEXTLINE_1 8 ScreenMem SetDisplayNormal x line count data Function Write count bytes
42. Not eXactly C NXC Programmer s Guide Version 1 0 1 b31 July 12 2007 by John Hansen Contents 1 2 A e O 1 The NAC EA o 2 2 1 Lexical Rules coins 2 2 1 1 EIERE Eet 2 212 Wie pac Ee tated neta 2 2 1 3 INU CA OTIS AS ie Ue dee 3 2 1 4 Identifiers and Keywords enining sas iite 3 22 A TN 3 Sch dE 3 2 22 ESTO CLOTS a a 4 2 2 3 V i 6 2 2 4 MOET TICES eege ee eene ee dee Geen ca 7 225 PTT DY Sy asses va seins A 8 2 3 EI MIC MEE EEE E E I T E E E TT 9 2 3 1 Matable Declaration EE 9 2 3 2 NS A NT 10 2 3 3 A eau seo sac deaaas acs esucans eadedane 10 2 3 4 The asmi Statement EE 13 2 3 5 Other Statements iia a E A E eaaa 14 DA ERPrEsSSIONS merena Ea tii 15 2 4 1 Conditions ee 16 Doar MG BUG KOTE ESS EE 16 2 5 1 PANIC UES a e r dis 17 252 A Ri vari EE 17 2 5 3 HH CoNCAtenatiOM ooooocnncncnnnonnnananononocnononnnnnnnnononnononnnnn no nono a 17 2 5 4 Conditional Compania iia 17 Ke TEE 18 3 1 General SE 18 3 1 1 Timmins Functions E 18 3 1 2 Program Control Functions sssessesssessseeesseeessressresseesseeesseeessressresseeeseee 19 3 1 3 Stins PUNCUOMS EE 20 3 1 4 o A O 21 3 1 5 EELER 22 3 1 6 Low level System PUNCUODOS 2 27e9kkEeedkENteTd Eed deed thesaghessendenss 23 3 2 Input Modules iii 41 3 2 1 Typ s and e EG 42 3 2 2 Sens r Informatio EE 45 3 2 3 TOMap Offsets EE 48 3 3 Output Module aran isa eg ee 48 3 3 1 Convenience EE 52 3 3 2 e EE 57 3 3 3 are 59 34 TO EE 60 3 5 e E 61 3 5 1 High level TU
43. ONG__ Use this temporary variable to write and return 4 byte values Page 13 NXC Programmer s Guide Table 4 ASM Keywords The asm block statement and these special ASM keywords are used throughout the NXC API See the NXCDefs h header file for several examples of how they can be put to use To keep the main NXC code as C like as possible and for the sake of better readability NXC asm block statements can be wrapped in preprocessor macros and placed in custom header files which are included using include The following example demonstrates using macro wrappers around asm block statements define SetMotorSpeed port cc thresh fast slow asm set theSpeed fast bremp cc EndIfOut__I__ SV thresh A set theSpeed slow EndIfOut__I_ OnFwd port theSpeed nc 2 3 5 Other Statements A function call is a statement of the form name arguments The arguments list is a comma separated list of expressions The number and type of arguments supplied must match the definition of the function itself Tasks may be started with the start statement start task_name Within loops such as a while loop the break statement can be used to exit the loop and the continue statement can be used to skip to the top of the next iteration of the loop The break statement can also be used to exit a switch statement break continue It is possible to cause a function
44. ONNECTION_1_ENABLE 0x20 BT_CONNECTION_2_ENABLE 0x40 BT_CONNECTION_3_ENABLE Table 59 Comm BtStateStatus Constants Valid BtHwStatus values are listed in the following table Comm BtHwStatus Constants Value BT_ENABLE 0x00 BT_DISABLE 0x01 Table 60 Comm BtHwStatus Constants Valid HsFlags values are listed in the following table Comm HsFlags Constants Value HS_UPDATE 1 Table 61 Comm HsFlags Constants Valid HsState values are listed in the following table Comm HsState Constants Value HS_INITIALISE 1 HS_INIT_RECEIVER 2 HS_SEND_DATA 3 HS_DISABLE 4 Table 62 Comm HsState Constants Valid DeviceStatus values are listed in the following table Comm DeviceStatus Constants Value BT_DEVICE_EMPTY 0x00 BT_DEVICE_ UNKNOWN 0x01 BT_DEVICE KNOWN 0x02 BT_DEVICE_NAME 0x40 BT_DEVICE_AWAY 0x80 Table 63 Comm DeviceStatus Constants Page 94 NXC Programmer s Guide Valid module interface values are listed in the following table Comm Module Interface Constants Value INTF_SENDFILE 0 INTF_SEARCH 1 INTF_STOPSEARCH 2 INTF_CONNECT 3 INTF_DISCONNECT 4 INTF_DISCONNECTALL 5 INTF_REMOVEDEVICE 6 INTF_VISIBILITY 7 INTF_SETCMDMODE 8 INTF_OPENSTREAM 9 INTF_SENDDATA 10 INTF_FACTORYRESET 11 INTF_BTON 12 INTF_BTOFF 13 INTF_SETBTNAME 14 INTF_EXTREAD 15 INTF_PINREQ 16 INTF_CONNECTREQ
45. OnFwdRegEx OUT A 75 OUT_REGMODE_SPEED RESET_NONE OnRevReg outputs pwr regmode Function Run the specified outputs in reverse using the specified regulation mode Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 Valid regulation modes are listed in Table 18 OnRevReg OUT_A 75 OUT_REGMODE_SPEED regulate speed OnRevRegEx outputs pwr regmode const reset Function Run the specified outputs in reverse using the specified regulation mode Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 Valid regulation modes are listed in Table 18 The reset parameter controls whether any of the three position counters are reset It must be a constant Valid reset values are listed in Table 19 OnRevRegEx OUT A 75 OUT_REGMODE_SPEED RESET_NONE OnFwdSync outputs pwr turnpct Function Run the specified outputs forward with regulated synchronization using the specified turn ratio Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 OnFwdSync OUT AR 75 100 spin right OnFwdSyncEx outputs pwr turnpct const reset Function Run the specified outputs forward with regulated synchronization using th
46. PI defines several constants that define possible result codes They are listed in the following table Loader Result Codes Value LDR_SUCCESS 0x0000 LDR_INPROGRESS 0x0001 LDR_REQPIN 0x0002 LDR_NOMOREHANDLES 0x8100 LDR_NOSPACE 0x8200 LDR_NOMOREFILES 0x8300 LDR_EOFEXPECTED 0x8400 LDR_ENDOFFILE 0x8500 LDR_NOTLINEARFILE 0x8600 LDR_FILENOTFOUND 0x8700 LDR_HANDLEALREADYCLOSED 0x8800 LDR_NOLINEARSPACE 0x8900 LDR_UNDEFINEDERROR Ox8A00 LDR_FILEISBUSY 0x8B00 LDR_NOWRITEBUFFERS 0x8C00 LDR_APPENDNOTPOSSIBLE 0x8D00 LDR_FILEISFULL Ox8E00 LDR_FILEEXISTS 0x8F00 LDR_MODULENOTFOUND 0x9000 LDR_OUTOFBOUNDARY 0x9100 LDR_ILLEGALFILENAME 0x9200 LDR_ILLEGALHANDLE 0x9300 LDR_BTBUSY 0x9400 LDR_BTCONNECTFAIL 0x9500 LDR_BTTIMEOUT 0x9600 LDR_FILETX_TIMEOUT 0x9700 LDR_FILETX_DSTEXISTS 0x9800 LDR_FILETX_SRCMISSING 0x9900 LDR_FILETX_STREAMERROR 0x9A00 LDR_FILETX_CLOSEERROR 0x9B00 Table 35 Loader Result Codes FreeMemory Value Get the number of bytes of flash memory that are available for use x FreeMemory Page 70 NXC Programmer s Guide CreateFile filename size out handle Value Create a new file with the specified filename and size and open it for writing The file handle is returned in the last parameter which must be a variable The loader result code is returned as the value of the function call The filename and size paramet
47. Programmer s Guide Declare a variable of this type set its members and then call the function passing in your variable of this structure type CommExecuteFunctionType args args Cmd INTF_BTOFF SysCommExecuteFunction args SysLoaderExecuteFunction LoaderExecuteFunctionType amp args Function This function lets you directly execute the Loader module s primary function using the values specified via the LoaderExecuteFunctionType structure The structure type declaration is shown below The values for these fields are documented in the table below If a field member is shown as x it is ignored by the specified display command struct LoaderExecuteFunctionType unsigned int Result byte Cmd string Filename byte Buffer unsigned long Length Cmd Meaning Expected Parameters LDR_CMD_OPENREAD Open a file for reading Filename Length LDR_CMD_OPENWRITE Creat a file Filename Length LDR_CMD_READ Read from a file Filename Buffer Length LDR_CMD_WRITE Write to a file Filename Buffer Length LDR_CMD_CLOSE Close a file Filename LDR_CMD_DELETE Delete a file Filename LDR_CMD_FINDFIRST Start iterating files Filename Buffer Length LDR_CMD_FINDNEXT Continue iterating files Filename Buffer Length LDR_CMD_OPENWRITELINEAR Create a linear file Filename Length
48. RCOS siii instado EES dE EEN 61 3 3 2 Eow level functions E 62 3 5 3 LOMA CHE Ale 64 3 6 TOCA RTE 65 3 6 1 IOMap Offsets dia 65 3 7 ENEE 65 3 7 1 High level EE EE 66 31 2 Low l vel FELSEA 67 3 7 3 TOMap Offsets nren ranee gin ean E A E S 69 3 8 Coad e E 69 3 8 1 IOMA DES di ies 74 3 9 Command Module scssi T NEE aiaa 74 3 9 1 e OA Eege eg 74 SLO er Ma A da 74 S101 High level fupnetpong iii iaa 75 310 2 Low level el Te 75 SS IOMaP A Ee 71 LS 77 SAM Heger AA Ee 81 3 12 EE Me UE 81 Del Ze High level Eu 83 SA Ea A a 84 3 123 TOMap RE CN 88 SS Comm Module a dan dia Done 88 LL HiehldeyelTuncions ii we ie E ae ead 89 313 2 ee e 93 SASS TOMA OS ao 103 Page 11 List of Tables Table NAC AR ae he Se ee casas ia SA cag ia 3 Table 2 Variable Types oy pains Goes cia testa iS a 6 Table 3 Operador uiniaconi IA rra ica 10 Tabl 4 A SMR Gy WOrds EE 14 Table S EXpreSsionS ici 15 Table nt te 16 Table 7 Input Module Constants i 1i0 cseccedesicvegeaseeesecdendesgonstocasseghen ache ee Deet d e deeg edAeeg 41 Table 8 Sensor Type Constants sinti iia diia ENEE ese E 42 Table 9 Sensor Mode Consta is 42 Table 10 Sensor Configuration Constant 43 Table 11 Sensor Field Coms tant iii did 43 Table 12 Input Module IOMap Offsets AAA 48 Table 13 Output Module Constants eege ee ee 48 Table 14 Output Field Constants tia 51 Tabl 15 UpdatePlas Constan ee EE eg 52 Table 16 OutputMode Constants i sicvvascscsiscececsdssr
49. T_C or a variable containing one of these values x MotorActualSpeed OUT_A MotorTachoCount output Value Get the tachometer count value of the specified output Output can be OUT_A OUT_B OUT_C or a variable containing one of these values x MotorTachoCount OUT Ai MotorTachoLimit output Value Get the tachometer limit value of the specified output Output can be OUT_A OUT_B OUT_C or a variable containing one of these values x MotorTachoLimit OUT_A MotorRunState output Value Get the RunState value of the specified output Output can be OUT_A OUT_B OUT_C or a variable containing one of these values x MotorRunState OUT_A MotorTurnRatio output Value Get the turn ratio value of the specified output Output can be OUT_A OUT_B OUT_C or a variable containing one of these values x MotorTurnRatio OUT_A MotorRegulation output Value Get the regulation value of the specified output Output can be OUT_A OUT_B OUT_C or a variable containing one of these values x MotorRegulation OUT_A MotorOverload output Value Get the overload value of the specified output Output can be OUT_A OUT_B OUT_C or a variable containing one of these values Page 58 NXC Programmer s Guide x MotorOverload OUT_A MotorRegPValue output Value Get the proportional PID value of the specified output Output can be OUT_A OUT_B OUT_C or a variable containing one
50. Turn off the specified outputs making them coast to a stop Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 The reset parameter controls whether any of the three position counters are reset It must be a constant Valid reset values are listed in Table 19 CoastEx OUT_A RESET_NONE coast output A Page 53 NXC Programmer s Guide Float outputs Function Make outputs float Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 Float is an alias for Coast Float OUT Ai float output A OnFwd outputs pwr Function Set outputs to forward direction and turn them on Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 OnFwd OUT_A 75 OnFwdEx outputs pwr const reset Function Set outputs to forward direction and turn them on Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 The reset parameter controls whether any of the three position counters are reset It must be a constant Valid reset values are listed in Table 19 OnFwdEx OUT A 75 RESET NONE OnRev outputs pwr Function Set outputs to reverse direction and turn them on Outputs can be
51. accasedcnetassccuatasdesaceesbascavabscesuceaeesectusaecede 52 Table 17 RU E E 52 Table LS RegMode Conta ee eege Ee 32 Table 19 Reset Constadts usina a a EEN 53 Table 20 Output Port Cont da ie 53 Table 21 Output Module IOMap Onisets ii 60 Table 22 TOMA EE 60 Table 23 Sound Module Constants cion iii iia in 61 Lablex24 Souna Flags Conta ie 62 Table 25 Sound State Constants taba 62 Table 26 Sound Mode Constants EE 62 Table 27 Miscellaneous Sound Constants oooococcoccoccoocncoonnnonnncnononcnononaconnnnnnnnnccnonnccnnnnnnnns 63 Table 28 Sound Module TOMap OP SELS citan ni ainia 64 Table EE HE Module COn dd A 65 Table 30 IOCtrl Module IOMap Offsets AAA 65 Table 31 Display Module Consta l Eder EEN 65 Table 32 Display Flags Consta a R Oe 67 Table 33 Display Module IOMap Offsets AA 69 Table 34 Loader Module Constants viscosa iii 70 Table 35 Loader Result Codes mencionas ssacessncigcecisdsian eusesoeaeasuddaass a n 70 Table 36 Loader Module TOMap Offsets ir lso 74 Table 37 Command Module Constantina ds 74 Table 38 Command Module IOMap Offerte 74 Table 39 Button Module Constants ss zvbeieugdoeleetee idee andinos aeaeneactuceynddbenehoenstvenbacaaes 74 Mable AO BUHO Constants a Al 75 Table 41 Button State CGo stantS is 75 Table 42 Button Module IOMap Offset T11 Table 43 UI Module Constants miii deet enden ad Table 44 UI Command Flags Constant 00 cee cceeecceessceceeceeceeeeeceeceecseeeeeseeeeneeeenaee
52. ally has the same value as BTDeviceCount but it can differ in some instances byte x BTDeviceNameCount BTDeviceName idx Value This method returns the name of the device at the specified index in the Bluetooth device table string name BTDeviceName 0 BTConnectionName idx Value This method returns the name of the device at the specified index in the Bluetooth connection table string name BTConnectionName 0 BTConnectionPinCode idx Value This method returns the pin code of the device at the specified index in the Bluetooth connection table string pincode BTConnectionPinCode 0 Page 101 NXC Programmer s Guide BrickDataName Value This method returns the name of the NXT string name BrickDataName GetBTDeviceAddress idx out data Function This method reads the address of the device at the specified index within the Bluetooth device table and stores it in the data buffer provided GetBTDeviceAddress 0 buffer GetBTConnectionAddress idx out data Function This method reads the address of the device at the specified index within the Bluetooth connection table and stores it in the data buffer provided GetBTConnectionAddress 0 buffer GetBrickDataAddress out data Function This method reads the address of the NXT and stores it in the data buffer provided GetBrickDataAddress buffer BTDeviceClass idx Value This method returns th
53. ation of conditions If you combine conditions using logical operators all parts of the condition are evaluated before determining the condition value The table below summarizes the different types of conditions Condition Meaning true always true false always false Expr true if expr is not equal to 0 Exprl expr2 true if exprl equals expr2 Exprl expr2 true if exprl is not equal to expr2 Exprl lt expr2 true if one expr is less than expr2 Exprl lt expr2 true if exprl is less than or equal to expr2 Exprl gt expr2 true if exprl is greater than expr2 Exprl gt expr2 true if exprl is greater than or equal to expr2 condition logical negation of a condition true if condition is false Condl amp amp cond2 logical AND of two conditions true if and only if both conditions are true Condl cond2 logical OR of two conditions true if and only if at least one of the conditions are true Table 6 Conditions 2 5 The Preprocessor The preprocessor implements the following directives include define ifdef ifndef endif if elif undef line and pragma Its implementation is fairly close to a standard C preprocessor so most things that work in a generic C preprocessor should have the expected effect in NXC Significant deviations are listed below Page 16 NXC Programmer s Guide 2 5 1 include The include command works as expe
54. ave device communicating via a specific mailbox or message queue Optionally remove the last read message from the message queue depending on the value of the boolean remove parameter x ReceiveRemoteMessageEx queue true strval val bval SendMessage queue msg Value This method writes the message buffer contents to the specified mailbox or message queue The maximum message length is 58 bytes x SendMessage mbox data ReceiveMessage queue remove out buffer Value This method retrieves a message from the specified queue and writes it to the buffer provided Optionally removes the last read message from the message queue depending on the value of the boolean remove parameter x RecieveMessage mbox true buffer BluetoothStatus connection Value This method returns the status of the specified Bluetooth connection Avoid calling BluetoothWrite or any other API function that writes data over a Bluetooth connection while BluetoothStatus returns STAT_COMM_PENDING x BluetoothStatus 1 BluetoothWrite connection buffer Value This method tells the NXT firmware to write the data in the buffer to the device on the specified Bluetooth connection Use BluetoothStatus to determine when this write request is completed x BluetoothWrite 1 data RemoteMessageRead connection queue Value This method sends a MessageRead direct command to the device on the specified connection Use Bluetoo
55. cted with the caveat that the filename must be enclosed in double quotes There is no notion of a system include path so enclosing a filename in angle brackets is forbidden Hinclude foo h ok include lt foo h gt error NXC programs can begin with include NXCDefs h but they don t need to This standard header file includes many important constants and macros which form the core NXC APT Current versions of NXC no longer require that you manually include the NXCDefs h header file Unless you specifically tell the compiler to ignore the standard system files this header file will automatically be included for you 2 5 2 define The define command is used for simple macro substitution Redefinition of a macro is an error The end of the line normally terminates macros but the newline may be escaped with the backslash 1 to allow multi line macros define foo x do bar x baz x while false The undef directive may be used to remove a macro s definition 2 5 3 Concatenation The directive works similar to the C preprocessor It is replaced by nothing which causes tokens on either side to be concatenated together Because it acts as a separator initially it can be used within macro functions to produce identifiers via combination with parameter values 2 5 4 Conditional Compilation Conditional compilation works similar to the C preprocessor The following preprocessor directives may be used
56. d using a constant eg S1 S2 S3 or S4 or a variable SetSensorMode S1 SENSOR_MODE_RAW raw mode SetSensorMode S1 SENSOR_MODE_RAW 10 slope 10 Page 43 NXC Programmer s Guide SetSensorLight port Function Configure the sensor on the specified port as a light sensor active The port may be specified using a constant eg S1 S2 S3 or S4 or a variable SetSensorLight S1 SetSensorSound port Function Configure the sensor on the specified port as a sound sensor dB scaling The port may be specified using a constant eg S1 S2 S3 or S4 or a variable SetSensorSound S1 SetSensorTouch port Function Configure the sensor on the specified port as a touch sensor The port may be specified using a constant eg S1 S2 S3 or S4 or a variable SetSensorSound S1 SetSensorLowspeed port Function Configure the sensor on the specified port as an DC digital sensor 9V powered The port may be specified using a constant eg S1 S2 S3 or S4 or a variable SetSensorLowspeed S1 SetInput port const field value Function Set the specified field of the sensor on the specified port to the value provided The port may be specified using a constant eg S1 S2 S3 or S4 or a variable The field must be a sensor field constant Valid field constants are listed in Table 11 The value may be any valid expression SetInput S1 Type IN_TYPE_SOUND_DB
57. d value OutputIOTachoCount p OUT_A OUT_C Output TachoCount value OutputIOTachoLimit p OUT_A OUT_C Output TachoLimit value OutputIORunState p OUT_A OUT_C Output RunState value OutputlOTurnRatio p OUT_A OUT_C Output TurnRatio value OutputIORegMode p OUT_A OUT_C Output RegMode value OutputIOOverload p OUT_A OUT_C Output Overload value OutputIORegP Value p OUT_A OUT_C Output RegP Value value OutputlOReglValue p OUT_A OUT_C Output RegI Value value OutputIORegDValue p OUT_A OUT_C Output RegDValue value OutputIOBlockTachoCount p OUT_A OUT_C Output BlockTachoCount value OutputIORotationCount p OUT_A OUT_C Output RotationCount value Table 22 IOMA Constants IOMA const n Value Get the specified IO Map Address value Valid IO Map Address constants are listed in Table 22 x IOMA InputIORawValue S3 Page 60 NXC Programmer s Guide SetIOMA const n val Function Set the specified IO Map Address to the value provided Valid IO Map Address constants are listed in Table 22 The value must be a specified via a constant a constant expression or a variable Set IOMA OutputIOPower OUT_A x 3 5 Sound Module The NXT sound module encompasses all sound output features The NXT provides support for playing basic tones as well as two different types of files Module Constants Value SoundModuleName Sound mod SoundModuleID 0x00080001 Table 23 Sound Module Constants
58. dRemoteBool 1 queue false SendRemoteNumber comnection queue value Value This method sends a numeric value to the device on the specified connection The message containing the numeric value will be written to the specified queue on the remote brick x SendRemoteNumber 1 queue 123 SendRemoteString connection queue strval Value This method sends a string value to the device on the specified connection The message containing the string value will be written to the specified queue on the remote brick x SendRemoteString 1 queue hello world Page 89 NXC Programmer s Guide SendResponseBool queue bvalue Value This method sends a boolean value as a response to a received message The message containing the boolean value will be written to the specified queue 10 on the slave brick so that 1t can be retrieved by the master brick via automatic polling x SendResponseBool queue false SendResponseNumber queue value Value This method sends a numeric value as a response to a received message The message containing the numeric value will be written to the specified queue 10 on the slave brick so that 1t can be retrieved by the master brick via automatic polling x SendResponseNumber queue 123 SendResponseString queue strval Value This method sends a string value as a response to a received message The message containing the string value will be written to the spec
59. duleID 0x00020001 Table 13 Output Module Constants Nearly all of the NXC API functions dealing with outputs take either a single output or a set of outputs as their first argument Depending on the function call the output or set of outputs may be a constant or a variable containing an appropriate output port value The constants OUT_A OUT_B and OUT_C are used to identify the three outputs Unlike NQC adding individual outputs together does not combine multiple outputs Instead the NXC API provides predefined combinations of outputs OUT_AB OUT_AC OUT_BC and Page 48 NXC Programmer s Guide OUT_ABC Manually combining outputs involves creating an array and adding two or more of the three individual output constants to the array Power levels can range 0 lowest to 100 highest Negative power levels reverse the direction of rotation 1 e forward at a power level of 100 actually means reverse at a power level of 100 The outputs each have several fields that define the current state of the output port These fields are defined in the table below Field Constant Type Access Range Meaning UpdateFlags ubyte Read 0 255 This field can include any combination of the flag bits Write described in Table 15 Use UF_UPDATE_MODE UF_UPDATE_SPEED UF_UPDATE_TACHO_LIMIT and UF_UPDATE_PID_VALUES along with other fields to commit changes to the state of outputs Set the appropriate flags afte
60. e set its members and then call the function passing in your variable of this structure type FileReadWriteType frArgs frArgs FileHandle foArgs FileHandle frArgs Length 12 number of bytes to read SysFileRead frArgs if frArgs Result NO_ERR TextOut 0 LCD_LINE1 frArgs Buffer show how many bytes were actually read NumOut 0 LCD_LINE2 frArgs Length SysFileWrite FileReadWriteType amp args Function This function lets you write to a file using the values specified via the FileReadWriteType structure The structure type declaration is shown below struct FileReadWriteType unsigned int Result byte FileHandle string Buffer unsigned long Length y Declare a variable of this type set its members and then call the function passing in your variable of this structure type FileReadWriteType fwArgs fwArgs FileHandle foArgs FileHandle wArgs Buffer data to write SysFileWrite fwArgs if fwArgs Result NO_ERR E Page 31 NXC Programmer s Guide display number of bytes written NumOut 0 LCD_LINE1 fwArgs Length SysFileClose FileCloseType amp args Function This function lets you close a file using the values specified via the FileCloseType structure The structure type declaration is shown below struct FileCloseType unsigned int Result by
61. e a constant Reset Constants Value RESET_NONE 0x00 RESET_COUNT 0x08 RESET_BLOCK_COUNT 0x20 Page 52 NXC Programmer s Guide RESET_ROTATION_COUNT 0x40 RESET_BLOCKANDTACHO 0x28 RESET_ALL 0x68 Table 19 Reset Constants Output Port Constants Value OUT_A 0x00 OUT_B 0x01 OUT_C 0x02 OUT_AB 0x03 OUT_AC 0x04 OUT_BC 0x05 OUT_ABC 0x06 Table 20 Output Port Constants Off outputs Function Turn the specified outputs off with braking Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 Off OUT_A turn off output A OffEx outputs const reset Function Turn the specified outputs off with braking Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 The reset parameter controls whether any of the three position counters are reset It must be a constant Valid reset values are listed in Table 19 OffEx OUT_A RESET_NONE turn off output A Coast outputs Function Turn off the specified outputs making them coast to a stop Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 Coast OUT_A coast output A CoastEx outputs const reset Function
62. e class of the device at the specified index within the Bluetooth device table long class BTDeviceClass idx BTDeviceStatus idx Value This method returns the status of the device at the specified index within the Bluetooth device table byte status BTDeviceStatus idx BTConnectionClass idx Value This method returns the class of the device at the specified index within the Bluetooth connection table long class BTConnectionClass idx BTConnectionHandleNum idx Value This method returns the handle number of the device at the specified index within the Bluetooth connection table byte handlenum BTConnect ionHandleNum idx Page 102 NXC Programmer s Guide BTConnectionStreamStatus idx Value This method returns the stream status of the device at the specified index within the Bluetooth connection table byte streamstatus BTConnectionStreamStatus idx BTComnectionLinkQuality idx This method returns the link quality of the device at the specified index within the Bluetooth connection table byte linkquality BTConnect ionLinkQuality idx BrickDataBluecoreVersion This method returns the bluecore version of the NXT int bv BrickDataBluecoreVersion BrickDataBtStateStatus This method returns the Bluetooth state status of the NXT int x BrickDataBtStateStatus BrickDataBtHardwareStatus This method returns the B
63. e listed in the following table Low Speed Return Constants Value Meaning NO_ERR 0 The operation succeeded STAT_COMM_PENDING 32 The specified port is busy performing a communication transaction ERR_INVALID_SIZE 19 The specified buffer or byte count exceeded the 16 byte limit ERR_COMM_CHAN_NOT_READY 32 The specified port is busy or improperly configured ERR_COMM_CHAN_INVALID 33 The specified port is invalid It must be between 0 and 3 ERR_COMM_BUS_ERR 35 The last transaction failed possibly due to a device failure Table 50 Lowspeed 12C Return Value Constants Page 82 NXC Programmer s Guide 3 12 1 High level functions Lowspeed Write port returnlen buffer Value This method starts a transaction to write the bytes contained in the array buffer to the DC device on the specified port It also tells the DC device the number of bytes that should be included in the response The maximum number of bytes that can be written or read is 16 The port may be specified using a constant eg S1 S2 S3 or s4 or a variable Constants should be used where possible to avoid blocking access to I2C devices on other ports by code running on other threads Lowspeed return values are listed in Table 50 x LowspeedWrite S1 1 inbuffer LowspeedStatus port out bytesready Value This method checks the status of the DC communication on the specified port If the last operation on th
64. e lowspeed output buffer associated with the specified port The port must be a constant S1 S4 x LSOutputBufferlInPtr S1 SetLSOutputBufferInPtr port Function This method sets the value of the input pointer for the lowspeed output buffer associated with the specified port The port must be a constant S1 S4 SetLSOutputBufferlnPtr S1 x LSOutputBufferOutPtr port Value This method returns the value of the output pointer for the lowspeed output buffer associated with the specified port The port must be a constant S1 S4 x LSOutputBufferOutPtr S1 SetLS OutputBufferOutPtr port Function This method sets the value of the output pointer for the lowspeed output buffer associated with the specified port The port must be a constant S1 S4 SetLSOutputBufferOutPtr S1 x Page 86 NXC Programmer s Guide LSOutputBufferBytesToRx port Value This method returns the bytes to receive for the lowspeed output buffer associated with the specified port The port must be a constant S1 S4 x LSOutputBufferBytesToRx S1 SetLSOutputBufferBytesToRx port Function This method sets the bytes to receive for the lowspeed output buffer associated with the specified port The port must be a constant S1 S4 SetLSOutputBufferBytesToRx Sl x LSMode port Value This method returns the mode of the lowspeed communication over the specified port The port m
65. e several standard structures that are defined by the NXC API for use with calls to low level system functions defined within the NXT firmware These structures are the means for passing values into the system functions and for returning values from the system functions In order to call a system function you will need to declare a variable of the required system function structure type set the structure members as needed by the system function call the function and then read the results if desired Many of these system functions are wrapped into higher level NXC API functions so that the details are hidden from view Using these low level API calls you can improve the speed of your programs a little If you install the NBC NXC enhanced standard NXT firmware on your NXT all the screen drawing system function also supports clearing pixels in addition to setting them To switch from setting pixels to clearing pixels just specify the DRAW_OPT_CLEAR_PIXELS value 0x0004 in the Options member of the structures This value can be ORed together with the DRAW_OPT_CLEAR_WHOLE_SCREEN value 0x0001 if desired Also some of the system functions and their associated structures are only supported by the NBC NXC enhanced standard NXT firmware These functions are marked with to indicate this additional requirement The first two structures define types are used within several other structures required by the screen drawing
66. e specified turn ratio Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 The reset parameter controls whether any of the three position counters are reset It must be a constant Valid reset values are listed in Table 19 OnFwdSyncEx OUT_AB 75 0 RESET_NONE OnRevSync outputs pwr turnpct Function Run the specified outputs in reverse with regulated synchronization using the specified turn ratio Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 OnRevSync OUT_AB 75 100 spin left OnRevSyncEx outputs pwr turnpct const reset Function Run the specified outputs in reverse with regulated synchronization using the specified turn ratio Outputs can be a constant or a variable containing the desired Page 55 NXC Programmer s Guide output ports Predefined output port constants are defined in Table 20 The reset parameter controls whether any of the three position counters are reset It must be a constant Valid reset values are listed in Table 19 OnRevSyncEx OUT_AB 75 100 RESET_NONE spin left RotateMotor outputs pwr angle Function Run the specified outputs forward for the specified number of degrees Outputs can be a constant or a variable containing the desired output port
67. e values are listed in Table 25 x SoundsState SetSoundState n Function Set the current sound state Valid sound state values are listed in Table 25 SetSoundState SOUND_STATE_STOP SoundMode Value Return the current sound mode Valid sound mode values are listed in Table 26 x SoundMode SetSoundMode n Function Set the current sound mode Valid sound mode values are listed in Table 26 SetSoundMode SOUND_MODE_ONCE SoundFrequency Value Return the current sound frequency x SoundFrequency SetSoundFrequency n Function Set the current sound frequency SetSoundFrequency 440 Page 63 NXC Programmer s Guide SoundDuration Return the current sound duration x SoundDuration SetSoundDuration n Set the current sound duration Set SoundDuration 500 SoundSampleRate Return the current sound sample rate x SoundSampleRate SetSoundSampleRate n Set the current sound sample rate SetSoundSampleRate 4000 Sound Volume Return the current sound volume x SoundVolume SetSound V olume n Set the current sound volume SetSoundVolume 3 StopSound Stop playback of the current tone or file StopSound 3 5 3 lOMap Offsets Value Function Value Function Value Function Function Sound Module Offsets Value Size SoundOffsetFreq 0 2 SoundOffsetDurat
68. eName CommandModuleName args Offset CommandOffsetTick args Count 4 this value happens to be 4 bytes long SysIOMapRead args if args Result NO_ERR do something with data SysIOMapWrite IOMapWriteType args Function This function lets you write data to a firmware module s IOMap using the values specified via the IOMapWriteType structure The structure type declaration is shown below struct IOMapWriteType char Result string ModuleName Page 36 NXC Programmer s Guide unsigned int Offset byte Buffer y Declare a variable of this type set its members and then call the function passing in your variable of this structure type IOMapWriteType args args ModuleName SoundModuleName args Offset SoundOffsetSampleRate args Buffer theData SysIOMapWrite args SysIOMapReadByID IOMapReadByIDType args Function This function lets you read data from a firmware module s IOMap using the values specified via the IOMapReadByIDType structure The structure type declaration is shown below This function can be as much as three times faster than using SysIOMapRead since it does not have to do a string lookup using the ModuleName struct IOMapReadByIDType char Result unsigned long ModulelD unsigned int Offset unsigned int Count byte Buffer y Declare a variable of this type set its members and then call the function passin
69. eepTimer Value Return the number of minutes left in the countdown to zero from the original SleepTimeout value When the SleepTimer value reaches zero the NXT will shutdown x SleepTimer Page 18 NXC Programmer s Guide ResetSleepTimer Function Reset the system sleep timer back to the SleepTimeout value Executing this function periodically can keep the NXT from shutting down while a program is running ResetSleepTimer SetSleepTimeout minutes Function Set the NXT sleep timeout value to the specified number of minutes SetSleepTimeout 8 SetSleepTimer minutes Function Set the system sleep timer to the specified number of minutes SetSleepTimer 3 3 1 2 Program Control Functions Stop bvalue Function Stop the running program if bvalue is true This will halt the program completely so any code following this command will be ignored Stop x 24 stop the program if x 24 Acquire mutex Function Acquire the specified mutex variable If another task already has acquired the mutex then the current task will be suspended until the mutex is released by the other task This function is used to ensure that the current task has exclusive access to a shared resource such as the display or a motor After the current task has finished using the shared resource the program should call Release to allow other tasks to acquire the mutex Acquire motorMutex make sure we hav xclusive
70. efined output port constants are defined in Table 20 ResetAllTachoCounts OUT_AB 3 3 2 Primitive Calls SetOutput outputs const field1 vall const fieldN valN Function Set the specified field of the outputs to the value provided Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 The field must be a valid output field constant This function takes a variable number of field value pairs SetOutput OUT_AB TachoLimit 720 set tacho limit The output field constants are described in Table 14 GetOutput output const field Value Get the value of the specified field for the specified output Output can be OUT_A OUT_B OUT_C or a variable containing one of these values The field must be a valid output field constant x GetOutput OUT A TachoLimit The output field constants are described in Table 14 MotorMode output Value Get the mode of the specified output Output can be OUT_A OUT_B OUT_C ora variable containing one of these values Page 57 NXC Programmer s Guide x MotorMode OUT_A MotorPower output Value Get the power level of the specified output Output can be OUT_A OUT_B OUT_C or a variable containing one of these values x MotorPower OUT_A MotorActualSpeed output Value Get the actual speed value of the specified output Output can be OUT_A OUT_B OU
71. erInPtr SetUSBPollBufferOutPtr n Function This method sets the output pointer of the USB poll buffer to the specified value SetUSBPollBufferOutPtr 0 USBPollBufferOutPtr Value This method returns the value of the output pointer of the USB poll buffer byte x USBPollBufferOutPtr SetUSBState n Function This method sets the USB state to the specified value SetUSBState 0 USBState Value This method returns the USB state byte x USBPollBufferOutPtr 3 13 2 2 High Speed port functions GetHSInputBuffer offset count out data Function This method reads count bytes of data from the High Speed input buffer and writes it to the buffer provided GetHSInputBuffer 0 10 buffer SetHSInputBuffer offset count data Function This method writes count bytes of data to the High Speed input buffer at the specified offset SetHSInputBuffer 0 10 buffer Page 97 NXC Programmer s Guide SetHSInputBufferInPtr n Function This method sets the input pointer of the High Speed input buffer to the specified value SetHSInputBufferInPtr 0 HSInputBufferInPtr Value This method returns the value of the input pointer of the High Speed input buffer byte x HSInputBufferInPtr SetHSInputBufferOutPtr n Function This method sets the output pointer of the High Speed input buffer to the specified value SetHSIn
72. ers must be constants constant expressions or variables A file created with a size of zero bytes cannot be written to since the NXC file writing functions do not grow the file if its capacity is exceeded during a write attempt result CreateFile data txt 1024 handle OpenFileA ppend filename out size out handle Value Open an existing file with the specified filename for writing The file size is returned in the second parameter which must be a variable The file handle is returned in the last parameter which must be a variable The loader result code is returned as the value of the function call The filename parameter must be a constant or a variable result OpenFileAppend data txt fsize handle OpenFileRead filename out size out handle Value Open an existing file with the specified filename for reading The file size is returned in the second parameter which must be a variable The file handle is returned in the last parameter which must be a variable The loader result code is returned as the value of the function call The filename parameter must be a constant or a variable result OpenFileRead data txt fsize handle CloseFile handle Value Close the file associated with the specified file handle The loader result code is returned as the value of the function call The handle parameter must be a constant or a variable result CloseFile handle ResolveHandle filename o
73. es 78 Page 111 Table 45 Table 46 Table 47 Table 48 Table 49 Table 50 Table 51 Table 52 Table 53 Table 54 Table 55 Table 56 Table 57 Table 58 Table 59 Table 60 Table 61 Table 62 Table 63 Table 64 Table 65 LW State Consta EE 78 Ul Button Constants icono pi Ses EEN NS 78 UI Bluetooth State Constant 78 UL Module TOMap TE 81 LowSpecd Module Constants iiv scveesisedvarses detedoavadsialcssanssegedessoenadeseuesduweteceanees 81 Lowspeed 2C Return Value Constants ti 82 Low Speed State EE 84 Low Speed Channel State Constant 84 Low Speed Mode Constants ycscissjcscsssvaveissseysrcsaavaceezassseatnavcsuneestdeedensvocsareceoanens 84 Low Speed Error Type Constants a idas 85 LowSpeed Module LO Map OMSets gece ia 88 Comin Module Constant utilities 88 Comm Miscellaneous Constants 93 Comm BtState ConstantS occcnnonooononnnonccnononnononononocnononnnnonnnnnnonononnnno A Ea 94 Comm BtStateStatus Constant 94 Comm BtHwStatus Constants ooooooooonnnccnnonononanononocnoncnnanononnnconononnnno no nnnnnnononanos 94 Comm HsFlags Constants ados 94 Comm HsState Constants e ES R i aae 94 Comm DeviceStatus Constant 94 Comm Module Interface Constant 95 Comm Module LON apy DIS ee ed 104 Page iv NXC Programmer s Guide 1 Introduction NXC stands for Not eXactly C It is a simple language for programming the LEGO MINDSTORMS NXT product The NXT has a bytecode interpreter provided by LEGO wh
74. et to true or no turning will occur Specify whether the motor s should brake at the end of the rotation using the stop parameter Also specify the proportional integral and derivative factors used by the firmware s PID motor control algorithm RotateMotorExPID OUT_AB 75 360 50 true true 30 50 90 ResetTachoCount outputs Function Reset the tachometer count and tachometer limit goal for the specified outputs Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 Page 56 NXC Programmer s Guide ResetTachoCount OUT_AB F ResetBlockTachoCount outputs Function Reset the block relative position counter for the specified outputs Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 ResetBlockTachoCount OUT_AB wa ResetRotationCount outputs Function Reset the program relative position counter for the specified outputs Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 ResetRotationCount OUT_AB wa ResetAllTachoCounts outputs Function Reset all three position counters and reset the current tachometer limit goal for the specified outputs Outputs can be a constant or a variable containing the desired output ports Pred
75. execute it at all Another kind of loop is the for loop for stmt1 condition stmt2 body A for loop always executes stmt1 then it repeatedly checks the condition and while it remains true executes the body followed by stmt2 The for loop is equivalent to stmtl while condition body stmt2 The repeat statement executes a loop a specified number of times repeat expression body The expression determines how many times the body will be executed Note It is only evaluated a single time and then the body is repeated that number of times This is Page 11 NXC Programmer s Guide different from both the while and do whi le loops which evaluate their condition each time through the loop A switch statement can be used to execute one of several different blocks of code depending on the value of an expression One or more case labels precede each block of code Each case must be a constant and unique within the switch statement The switch statement evaluates the expression then looks for a matching case label It will then execute any statements following the matching case until either a break statement or the end of the switch is reached A single default label may also be used it will match any value not already appearing in a case label Technically a switch statement has the following syntax switch expression body The case and default labels are not statements in themselves they are labels that precede state
76. fsetRechargeable 35 1 UIOffsetVolume 36 1 UIOffsetError 37 1 UIOffsetOBPPointer 38 1 UIOffsetForceOff 39 1 Table 48 UI Module IOMap Offsets 3 12 LowSpeed Module The NXT low speed module encompasses support for digital DC sensor communication Module Constants Value LowSpeedModuleName Low Speed mod LowSpeedModuleID 0x000B0001 Table 49 LowSpeed Module Constants Use the lowspeed aka DCH communication methods to access devices that use the DC protocol on the NXT brick s four input ports Page 81 NXC Programmer s Guide You must set the input port s Type property to SENSOR_TYPE_LOWSPEED or SENSOR_TYPE_LOWSPEED_9V On a given port before using an DC device on that port Use SENSOR_TYPE_LOWSPEED_9V if your device requires 9V power from the NXT brick Remember that you also need to set the input port s InvalidData property to true after setting a new Type and then wait in a loop for the NXT firmware to set InvalidData back to false This process ensures that the firmware has time to properly initialize the port including the 9V power lines if applicable Some digital devices might need additional time to initialize after power up The SetSensorLowspeed API function sets the specified port to SENSOR_TYPE_LOWSPEED_9v and calls ResetSensor to perform the InvalidData reset loop described above When communicating w
77. g in your variable of this structure type IOMapReadByIDType args args ModuleID CommandModulelD args Offset CommandOffsetTick args Count 4 this value happens to be 4 bytes long SysIOMapReadByID args if args Result NO_ERR do something with data SysIOMapWriteByID IOMapWriteByIDType amp args Function This function lets you write data to a firmware module s IOMap using the values specified via the OMapWriteByIDType structure The structure type declaration is shown below This function can be as much as three times faster than using SysIOMapWrite since it does not have to do a string lookup using the ModuleName struct IOMapWriteByIDType char Result unsigned long ModulelD unsigned int Offset byte Buffer y Declare a variable of this type set its members and then call the function passing in your variable of this structure type Page 37 NXC Programmer s Guide IOMapWriteByIDType args args ModulelID SoundModulelD args Offset SoundOffsetSampleRate args Buffer theData SyslOMapWriteByID args SysDisplayExecuteFunction DisplayExecuteFunctionType amp args Function This function lets you directly execute the Display module s primary drawing function using the values specified via the DisplayExecuteFunctionType structure The structure type declaration is show
78. ich can be used to execute programs The NXC compiler translates a source program into NXT bytecodes which can then be executed on the target itself Although the preprocessor and control structures of NXC are very similar to C NXC is not a general purpose programming language there are many restrictions that stem from limitations of the NXT bytecode interpreter Logically NXC is defined as two separate pieces The NXC language describes the syntax to be used in writing programs The NXC Application Programming Interface API describes the system functions constants and macros that can be used by programs This API is defined in a special file known as a header file which is by default automatically included when compiling a program This document describes both the NXC language and the NXC API In short it provides the information needed to write NXC programs Since there are different interfaces for NXC this document does not describe how to use any specific NXC implementation such as the command line compiler or Bricx Command Center Refer to the documentation provided with the NXC tool such as the NXC User Manual for information specific to that implementation For up to date information and documentation for NXC visit the NXC website at http bricxcc sourceforge net nxc Page 1 NXC Programmer s Guide 2 The NXC Language This section describes the NXC language itself This includes the lexical rules used by
79. idered a block int x x is global task main int y y is local to task main x y ok begin compound statement int z local z declared y zz ok y z error no longer in scope task foo x 1 ok y 2 error y is not global 2 2 4 Structs NXC supports user defined aggregate types known as structs These are declared very much like you declare structs in a C program struct car string car_type int manu_year y struct person string name int age car vehicle y Page 7 NXC Programmer s Guide myType fred 23 person myPerson After you have defined the structure type you can use the new type to declare a variable or nested within another structure type declaration Members or fields within the struct are accessed using a dot notation myPerson age 40 anotherPerson myPerson fooBar car_type honda fooBar manu_year anotherPerson age You can assign structs of the same type but the compiler will complain if the types do not match 2 2 5 Arrays NXC also support arrays Arrays are declared the same way as ordinary variables but with an open and close bracket following the variable name int my_array declare an array with 0 elements To declare arrays with more than one dimension simply add more pairs of square brackets The maximum number of dimensions supported in NXC is 4 bool my_array
80. if rbArgs Pressed do something Page 28 NXC Programmer s Guide SysRandomNumber RandomNumberType args Function This function lets you obtain a random number via the RandomNumberType structure The structure type declaration is shown below struct RandomNumberType int Result y Declare a variable of this type and then call the function passing in your variable of this structure type RandomNumberType rnArgs SysRandomNumber rnArgs int myRandomValue rnArgs Result SysGetStartTick GetStartTickType args Function This function lets you obtain the tick value at the time your program began executing via the GetStartTickType structure The structure type declaration is shown below struct GetStartTickType unsigned long Result Declare a variable of this type and then call the function passing in your variable of this structure type GetStartTickType gstArgs SysGetStartTick gstArgs unsigned long myStart gstArgs Result SysKeepAlive KeepAliveType amp args Function This function lets you reset the sleep timer via the KeepAliveType structure The structure type declaration is shown below struct KeepAliveType unsigned long Result y Declare a variable of this type and then call the function passing in your variable of this structure type KeepAliveType kaArgs SysKeepAlive kaArgs reset sleep timer SysFileOpenWrite FileOpenType a
81. ified queue 10 on the slave brick so that 1t can be retrieved by the master brick via automatic polling x SendResponseString queue hello world ReceiveRemoteBool queue remove out bvalue Value This method is used on a master brick to receive a boolean value from a slave device communicating via a specific mailbox or message queue Optionally remove the last read message from the message queue depending on the value of the boolean remove parameter x ReceiveRemoteBool queue true bvalue ReceiveRemoteNumber queue remove out value Value This method is used on a master brick to receive a numeric value from a slave device communicating via a specific mailbox or message queue Optionally remove the last read message from the message queue depending on the value of the boolean remove parameter x ReceiveRemoteBool queue true value ReceiveRemoteString queue remove out strval Value This method is used on a master brick to receive a string value from a slave device communicating via a specific mailbox or message queue Optionally remove the last read message from the message queue depending on the value of the boolean remove parameter x ReceiveRemoteString queue true strval Page 90 NXC Programmer s Guide ReceiveRemoteMessageEx queue remove out strval out val out bval Value This method is used on a master brick to receive a string boolean or numeric value from a sl
82. in your variable of this structure type CommBTWriteType args args Connection 1 args Buffer myData SysCommBTWrite args Page 35 NXC Programmer s Guide SysCommBTCheckStatus CommBTCheckStatusType amp args Function This function lets you check the status of a Bluetooth connection using the values specified via the CommBTCheckStatusType structure The structure type declaration is shown below Possible values for Result include ERR_INVALID_PORT STAT_COMM_PENDING ERR_COMM_CHAN_NOT_READY and LDR_SUCCESS 0 struct CommBTCheckStatusType char Result byte Connection byte Buffer y Declare a variable of this type set its members and then call the function passing in your variable of this structure type CommBTCheckStatusType args args Connection 1 SysCommBTCheckStatus args if args Result LDR_SUCCESS do something SysIOMapRead IO0MapReadType amp args Function This function lets you read data from a firmware module s IOMap using the values specified via the IOMapReadType structure The structure type declaration is shown below struct IOMapReadType char Result string ModuleName unsigned int Offset unsigned int Count byte Buffer y Declare a variable of this type set its members and then call the function passing in your variable of this structure type IOMapReadType args args Modul
83. involving nothing but constants The operators are listed here in order of precedence highest to lowest Operator Description Associativity Restriction Example abs Absolute value n a abs x sign Sign of operand n a sign x Post increment Post left variables only x decrement Unary minus right X Bitwise negation unary right constant only 123 Logical negation right Ix 1 Multiplication division left x y modulo Addition subtraction left x y lt lt gt gt Left and right shift left x lt lt 4 lt gt relational operators left x lt y eech ZE Ss le equal to not equal to left x amp Bitwise AND left x amp y de Bitwise XOR left x y Bitwise OR left xly amp E amp Logical AND left x amp amp y Il Logical OR left x Il y Zi conditional value n a x y z Table 5 Expressions Page 15 NXC Programmer s Guide Where needed parentheses may be used to change the order of evaluation x 2 3 4 set x to 14 y 2 3 4 set y to 20 2 4 1 Conditions Comparing two expressions forms a condition There are also two constant conditions true and false that always evaluate to true or false respectively A condition may be negated with the negation operator or two conditions combined with the AND and OR operators Unlike some compilers NXC does not support what is called short circuit evalu
84. ion 2 2 SoundOffsetSampleRate 4 2 SoundOffsetSoundFilename 6 20 SoundOffsetFlags 26 1 SoundOffsetState 27 1 SoundOffsetMode 28 1 SoundOffset Volume 29 1 Table 28 Sound Module IO Map Offsets Page 64 NXC Programmer s Guide 3 6 IOCtrl Module The NXT ioctrl module encompasses low level communication between the two processors that control the NXT The NXC API exposes two functions that are part of this module Module Constants Value TIOCtrIModuleName IOCtrl mod 1OCtrIModuleID 0x00060001 Table 29 IOCtrl Module Constants PowerDown Function Turn off the NXT immediately PowerDown RebootInFirmwareMode Function Reboot the NXT in SAMBA or firmware download mode This function is not likely to be used in a normal NXC program Reboot InFirmwareMode 3 6 1 lOMap Offsets IOCtrl Module Offsets Value Size TOCtrlOffsetPowerOn 0 2 Table 30 IOC Module IOMap Offsets 3 7 Display module The NXT display module encompasses support for drawing to the NXT LCD The NXT supports drawing points lines rectangles and circles on the LCD It supports drawing graphic icon files on the screen as well as text and numbers Module Constants Value DisplayModuleName Display mod DisplayModuleID 0x000A0001 Table 31 Display Module Constants The LCD screen has its origin 0 0 at the bottom left hand corner of the screen with the
85. is port was a successful LowspeedWrite call that requested response data from the device then bytesready will be set to the number of bytes in the internal read buffer The port may be specified using a constant eg S1 S2 S3 or S4 or a variable Constants should be used where possible to avoid blocking access to I2C devices on other ports by code running on other threads Lowspeed return values are listed in Table 50 If the return value is O then the last operation did not cause any errors Avoid calls to LowspeedRead or LowspeedWrite while LowspeedStatus returns STAT_COMM_PENDING x LowspeedStatus S1 nRead LowspeedRead port buflen out buffer Value Read the specified number of bytes from the DC device on the specified port and store the bytes read in the array buffer provided The maximum number of bytes that can be written or read is 16 The port may be specified using a constant e g S1 S2 S3 or S4 or a variable Constants should be used where possible to avoid blocking access to I2C devices on other ports by code running on other threads Lowspeed return values are listed in Table 50 If the return value is negative then the output buffer will be empty x LowspeedRead S1 1 outbuffer PCWrite port returnlen buffer Value This is an alias for Lowspeed Write x I2CWrite S1 1 inbuffer RCStatus port out bytesready Value This is an alias for LowspeedStatus x I2CStatus S1 nRead Page
86. ith DC devices the NXT firmware uses a master slave setup in which the NXT brick is always the master device This means that the firmware is responsible for controlling the write and read operations The NXT firmware maintains write and read buffers for each port and the three main Lowspeed 12C methods described below enable you to access these buffers A call to LowspeedWrite starts an asynchronous transaction between the NXT brick and a digital DC device The program continues to run while the firmware manages sending bytes from the write buffer and reading the response bytes from the device Because the NXT is the master device you must also specify the number of bytes to expect from the device in response to each write operation You can exchange up to 16 bytes in each direction per transaction After you start a write transaction with LowspeedWrite use LowspeedStatus in a loop to check the status of the port If LowspeedStatus returns a status code of O and a count of bytes available in the read buffer the system is ready for you to use LowspeedRead to copy the data from the read buffer into the buffer you provide Note that any of these calls might return various status codes at any time A status code of 0 means the port is idle and the last transaction if any did not result in any errors Negative status codes and the positive status code 32 indicate errors There are a few possible errors per call Valid low speed return values ar
87. lear the press count Valid values for the btn argument are listed in Table 40 value ButtonPressed BIN1 true ReadButtonEx btn reset out pressed out count Function Read the specified button Set the pressed and count parameters with the current state of the button Optionally reset the press count after reading it Valid values for the btn argument are listed in Table 40 ReadButtonEx BTN1 true pressed count 3 10 2 Low level functions Valid button state values are listed in the following table Button State Constants Value BTNSTATE_PRESSED_EV 0x01 BTNSTATE_SHORT_RELEASED_EV 0x02 BTNSTATE_LONG_PRESSED_EV 0x04 BTNSTATE_LONG_RELEASED_EV 0x08 BTNSTATE_PRESSED_STATE 0x80 Table 41 Button State Constants ButtonPressCount btn Value Return the press count of the specified button Valid values for the btn argument are listed in Table 40 value ButtonPressCount BIN1 Page 75 NXC Programmer s Guide SetButtonPressCount btn value Function Set the press count of the specified button Valid values for the btn argument are listed in Table 40 SetButtonPressCount BIN1 value ButtonLongPressCount btn Value Return the long press count of the specified button Valid values for the btn argument are listed in Table 40 value ButtonLongPressCount BIN1 SetButtonLongPressCount btn value Function Set the long press count of
88. lowing types Type Name Information bool 8 bit unsigned byte unsigned char 8 bit unsigned char 8 bit signed unsigned int 16 bit unsigned short int 16 bit signed unsigned long 32 bit unsigned long 32 bit signed mutex Special type used for exclusive code access string Array of byte struct User defined structure types Arrays Arrays of any type Table 2 Variable Types Variables are declared using the keyword for the desired type followed by a comma separated list of variable names and terminated by a semicolon Optionally an initial Page 6 NXC Programmer s Guide value for each variable may be specified using an equals sign after the variable name Several examples appear below int x declare x bool y z declare y and z long a 1 b declare a and b initialize a to 1 Global variables are declared at the program scope outside of any code block Once declared they may be used within all tasks functions and subroutines Their scope begins at declaration and ends at the end of the program Local variables may be declared within tasks and functions Such variables are only accessible within the code block in which they are defined Specifically their scope begins with their declaration and ends at the end of their code block In the case of local variables a compound statement a group of statements bracketed by and is cons
89. lues are described in the following table RunState Constants Value Meaning OUT_RUNSTATE_IDLE 0x00 Disable all power to motors OUT_RUNSTATE_RAMPUP 0x10 Enable ramping up from a current Power to a new higher Power over a specified TachoLimit goal OUT_RUNSTATE_RUNNING 0x20 Enable power to motors at the specified Power level OUT_RUNSTATE_RAMPDOWN 0x40 Enable ramping down from a current Power to a new lower Power over a specified TachoLimit goal Table 17 RunState Constants Valid RegMode values are described in the following table RegMode Constants Value Meaning OUT_REGMODE_IDLE 0x00 No regulation OUT_REGMODE_ SPEED 0x01 Regulate a motor s speed Power OUT_REGMODE_SYNC 0x02 Synchronize the rotation of two motors Table 18 RegMode Constants 3 3 1 Convenience Calls Since control of outputs is such a common feature of programs a number of convenience functions are provided that make it easy to work with the outputs It should be noted that most of these commands do not provide any new functionality above lower level calls described in the following section They are merely convenient ways to make programs more concise The Ex versions of the motor functions use special reset constants They are defined in the following table The Var versions of the motor functions require that the outputs argument be a variable while the non Var versions require that the outputs argument b
90. luetooth hardware status of the NXT int x BrickDataBtHardwareStatus BrickDataTimeoutValue This method returns the timeout value of the NXT int x BrickDataTimeoutValue 3 13 3 lOMap Offsets Comm Module Offsets Value Size CommOffsetPFunc 0 4 CommOffsetPFuncTwo 4 4 Comm OffsetBtDeviceTableName p p 31 8 16 CommOffsetBtDeviceTableClassOfDevice p p 31 24 4 CommOffsetBtDeviceTableBdAddr p p 31 28 H CommOffsetBtDeviceTableDeviceStatus p p 31 35 1 CommOffsetBtConnectTableName p p 47 938 16 CommOffsetBtConnectTableClassOfDevice p p 47 954 4 Comm OffsetBtConnectTablePinCode p p 47 958 16 CommOffsetBtConnectTableBdAddr p p 47 974 7 Comm OffsetBtConnectTableHandleNr p p 47 981 1 CommOffsetBtConnectTableStreamStatus p p 47 982 1 Comm OffsetBtConnectTableLinkQuality p p 47 983 1 CommOffsetBtConnectTableSpare p p 47 984 1 CommOffsetBrickDataName 1126 16 Value Value Value Value Value Page 103 NXC Programmer s Guide CommOffsetBrickDataBluecore Version 1142 2 CommOffsetBrickDataBdAddr 1144 7 CommOffsetBrickDataBtStateStatus 1151 1 CommOffsetBrickDataBtHwStatus 1152 1 CommOffsetBrickDataTimeOut Value 1153 1 CommOffsetBtInBufBuf 1157 128 CommoOffsetBtInBufInPtr
91. mber and type of arguments The example below shows several different legal and illegal calls to function foo Page 5 NXC Programmer s Guide void foo int bar const int baz do something here task main int x declare variable x foo 1 2 ok foo x 2 ok foo 2 x error 2nd argument not constant foo 2 error wrong number of arguments NXC functions may optionally be marked as inline functions This means that each call to a function will result in another copy of the function s code being included in the program Unless used judiciously inline functions can lead to excessive code size If a function is not marked as inline then an actual NXT subroutine is created and the call to the function in NXC code will result in a subroutine call to the NXT subroutine The total number of non inline functions aka subroutines and tasks must not exceed 256 Another optional keyword that can be specified prior to the return type of a function is the safecall keyword If a function is marked as safecall then the compiler will synchronize the execution of this function across multiple threads by wrapping each call to the function in Acquire and Release calls If a second thread tries to call a safecall function while another thread is executing it the second thread will have to wait until the function returns to the first thread 2 2 3 Variables All variables in NXC are of the fol
92. ments Multiple labels can precede the same statement These labels have the following syntax case constant_expression default A typical switch statement might look like this switch x case 1 do something when X is 1 break case 2 case 3 do something else when x is 2 or 3 break default do this when x is not 1 2 or 3 break NXC also supports using string types in the switch expression and constant strings in case labels The goto statement forces a program to jump to the specified location Statements in a program can be labeled by preceding them with an identifier and a colon A goto statement then specifies the label that the program should jump to For example this is how an infinite loop that increments a variable could be implemented using goto my_loop X 5 goto my_loop The goto statement should be used sparingly and cautiously In almost every case control structures such as if while and switch make a program much more readable and maintainable than using goto Page 12 NXC Programmer s Guide NXC also defines the until macro which provides a convenient alternative to the while loop The actual definition of until is define until c while ci In other words until will continue looping until the condition becomes true It is most often used in conjunction with an empty body statement until SENSOR_1 1 wait for sensor to be pressed 2 3 4 The asm Statemen
93. mer s Guide void foo int x x 2 task main int y 1 y is now equal to 1 foo y y is still equal to 1 The second type of argument const arg_type jis also passed by value but with the restriction that only constant values e g numbers may be used This is rather important since there are a few NXT functions that only work with constant arguments void foo const int x PlaySound x ok x 1 error cannot modify argument task main foo 2 ok foo 4 5 ok expression is still constant foo x error x is not a constant The third type arg_type amp passes arguments by reference rather than by value This allows the callee to modify the value and have those changes visible in the caller However only variables may be used when calling a function using arg_type arguments void foo int x x 2 task main int y 1 y is equal to 1 foo y y is now equal to 2 foo 2 error only variables allowed The fourth type const arg_type 8 is rather unusual It is also passed by reference but with the restriction that the callee is not allowed to modify the value Because of this restriction the compiler is able to pass anything not just variables to functions using this type of argument In general this is the most efficient way to pass arguments in NXC Functions must be invoked with the correct nu
94. n Function Copy a subset of the source array starting at the specified index and containing the specified number of elements into the destination array ArraySubset myArray srcArray 2 5 copy 5 elements ArrayBuild out aout erc sre2 sreN Function Build a new array from the specified source s The sources can be of any type Ifa source is an array then all of its elements are added to the output array ArrayBuild myArray srcl src2 3 1 5 Numeric Functions Random n Value Return an unsigned 16 bit random number between 0 and n exclusive N can be a constant or a variable x Random 10 return a value of 0 9 Random Value Return a signed 16 bit random number x Random Sqrt x Value Return the square root of the specified value x Sgrt x Sin degrees Value Return the sine of the specified degrees value The result is 100 times the sine value 100 100 x Sin theta Page 22 NXC Programmer s Guide Cos degrees Value Return the cosine of the specified degrees value The result is 100 times the cosine value 100 100 x Cos y Asin value Value Return the inverse sine of the specified value 100 100 The result is degrees 90 90 deg Asin 80 Acos value Value Return the inverse cosine of the specified value 100 100 The result is degrees 0 180 deg Acos 0 3 1 6 Low level System Functions There ar
95. n your variable of this structure type FileRenameType frArgs frArgs OldFilename myfile txt frArgs NewFilename myfile2 txt SysFileRename frArgs if frArgs Result LDR_SUCCESS do something SysFileDelete FileDeleteType amp args Function This function lets you delete a file using the values specified via the FileDeleteType structure The structure type declaration is shown below struct FileDeleteType unsigned int Result string Filename Y Declare a variable of this type set its members and then call the function passing in your variable of this structure type FileDeleteType fdArgs fdArgs Filename myfile txt SysFileDelete fdArgs delete the fil SysCommLSWrite CommLSWriteType amp args Function This function lets you write to an I2C Lowspeed sensor using the values specified via the CommLSWriteType structure The structure type declaration is shown below struct CommLSWriteType char Result byte Port byte Buffer byte ReturnLen y Declare a variable of this type set its members and then call the function passing in your variable of this structure type CommLSWriteType args args Port Sl args Buffer myBuf args ReturnLen 8 SysCommLSWrite args check Result for error status Page 33 NXC Programmer s Guide SysCommLSCheckStatus CommLSCheckStatusType amp args Function This function le
96. n 1000ths of a second All parameters may be any valid expression PlayTone 440 500 Play A for one half second Page 61 NXC Programmer s Guide PlayToneEx frequency duration volume bLoop Function Play a single tone of the specified frequency duration and volume The frequency is in Hz The duration is in 1000ths of a second Volume should be a number from 0 silent to 4 loudest All parameters may be any valid expression PlayToneEx 440 500 2 false PlayFile filename Function Play the specified sound file rso or a melody file rmd The filename may be any valid string expression PlayFile startup rso PlayFileEx filename volume bLoop Function Play the specified sound file rso or a melody file rmd The filename may be any valid string expression Volume should be a number from 0 silent to 4 loudest bLoop is a boolean value indicating whether to repeatedly play the file PlayFileEx startup rso 3 true 3 5 2 Low level functions Valid sound flags constants are listed in the following table Sound Flags Constants Read Write Meaning SOUND_FLAGS_IDLE Read Sound is idle SOUND_FLAGS_ UPDATE Write Make changes take effect SOUND_FLAGS_ RUNNING Read Processing a tone or file Table 24 Sound Flags Constants Valid sound state constants are listed in the following table Sound State Constants Read Write Meani
97. n below The values for these fields are documented in the table below If a field member is shown as x it is ignored by the specified display command struct DisplayExecuteFunctionType byte Status byte Cmd bool On byte X1 byte Y1 byte X2 byte Y2 y Cmd Meaning Expected parameters DISPLAY_ERASE_ALL erase entire screen O DISPLAY PIXEL set pixel on off true false X1 Y1 x x DISPLAY _HORIZONTAL_LINE draw horizontal line true false X1 Y1 X2 x DISPLAY _VERTICAL_LINE draw vertical line true false X1 Y1 x Y2 DISPLAY_CHAR draw char actual font true false X1 Y1 Char x DISPLAY_ERASE_LINE erase a single line x LINE x x x DISPLAY_FILL_REGION fill screen region true false X1 Y1 X2 Y2 DISPLAY _FILLED_FRAME draw a frame on off true false X1 Y1 X2 Y2 Declare a variable of this type set its members and then call the function passing in your variable of this structure type DisplayExecuteFunctionType args args Cmd DISPLAY _ERASE_ALL SysDisplayExecuteFunction args SysCommExecuteFunction CommExecuteFunctionType amp args Function This function lets you directly execute the Comm module s primary function using the values specified via the CommExecuteFunctionType structure The structure type declaration is shown below The values for these fields are documented in the table below If a field member is shown as x it is
98. n via the DrawRectType structure The structure type declaration is shown below struct DrawRectType char Result LocationType Location SizeType Size unsigned long Options y Declare a variable of this type set its members and then call the function passing in your variable of this structure type DrawRectType drArgs drArgs Location X 20 drArgs Location Y 20 drArgs Size Width 20 Page 25 NXC Programmer s Guide drArgs Size Height 10 drArgs Options 0x00 do not clear before drawing SysDrawRect drArgs SysDrawGraphic DrawGraphicType amp args Function This function lets you draw a graphic image RIC file on the NXT LCD given the parameters you pass in via the DrawGraphicType structure The structure type declaration is shown below struct DrawGraphicType char Result LocationType Location string Filename int Variables unsigned long Options y Declare a variable of this type set its members and then call the function passing in your variable of this structure type DrawGraphicType dgArgs dgArgs Location X 20 dgArgs Location Y 20 dgArgs Filename image ric ArrayInit dgArgs Variables 0 10 10 zeros dgArgs Variables 0 12 dgArgs Variables 1 14 etc dgArgs Options 0x00 do not clear before drawing SysDrawGraphic dgArgs SysSetScreenMode SetScreenModeType amp args Function This
99. nction lets you t dpArgs Function draw a line on the NXT LCD given the parameters you pass in via the DrawLineType structure The structure type declaration is shown below struct char DrawLineType Result LocationType StartLoc LocationType EndLoc Page 24 NXC Programmer s Guide unsigned long Options y Declare a variable of this type set its members and then call the function passing in your variable of this structure type DrawLineType dlArgs dlArgs StartLoc X 20 dlArgs StartLoc Y 20 dlArgs EndLoc X 60 dlArgs EndLoc Y 60 dlArgs Options 0x01 clear before drawing SysDrawLine dlArgs SysDrawCircle DrawCircleType amp args Function This function lets you draw a circle on the NXT LCD given the parameters you pass in via the DrawCircleType structure The structure type declaration is shown below struct DrawCircleType char Result LocationType Center byte Size unsigned long Options y Declare a variable of this type set its members and then call the function passing in your variable of this structure type DrawCircleType dcArgs dcArgs Center X 20 dcArgs Center Y 20 dcArgs Size 10 radius dcArgs Options 0x01 clear before drawing SysDrawCircle dcArgs SysDrawRect DrawRectType amp args Function This function lets you draw a rectangle on the NXT LCD given the parameters you pass i
100. ng SOUND_STATE_IDLE Read Idle ready for start sound SOUND_STATE_FILE Read Processing file of sound melody data SOUND_STATE_TONE Read Processing play tone request SOUND_STATE_STOP Write Stop sound immediately and close hardware Table 25 Sound State Constants Valid sound mode constants are listed in the following table Sound Mode Constants Read Write Meaning SOUND_MODE ONCE Read Only play file once SOUND_MODE_LOOP Read Play file until writing SOUND_STATE_STOP into State SOUND_MODE_TONE Read Play tone specified in Frequency for Duration milliseconds Table 26 Sound Mode Constants Page 62 NXC Programmer s Guide Miscellaneous sound constants are listed in the following table Misc Sound Constants Value Meaning FREQUENCY_MIN 220 Minimum frequency in Hz FREQUENCY_MAX 14080 Maximum frequency in Hz SAMPLERATE_MIN 2000 Minimum sample rate supported by NXT SAMPLERATE_DEFAULT 8000 Default sample rate SAMPLERATE_MAX 16000 Maximum sample rate supported by NXT Table 27 Miscellaneous Sound Constants SoundFlags Value Return the current sound flags Valid sound flags values are listed in Table 24 x SoundFlags SetSoundFlags n Function Set the current sound flags Valid sound flags values are listed in Table 24 SetSoundF lags SOUND_FLAGS_UPDATE lt SoundState Value Return the current sound state Valid sound stat
101. nsorDigiPinsDirection S1 Page 47 NXC Programmer s Guide SensorDigiPinsStatus const p Value Return the digital pins status value of a sensor on port p which must be 0 1 2 or 3 or a sensor port name constant x SensorDigiPinsStatus S1 SensorDigiPinsOutputLevel const p Value Return the digital pins output level value of a sensor on port p which must be 0 1 2 or 3 or a sensor port name constant x SensorDigiPinsOutputLevel S1 3 2 3 lOMap Offsets Input Module Offsets Value Size InputOffsetCustomZeroOffset p p 20 0 2 InputOffsetADRaw p p 20 2 2 InputOffsetSensorRaw p p 20 4 2 InputOffsetSensorValue p p 20 6 2 InputOffsetSensorType p p 20 8 1 InputOffsetSensorMode p p 20 9 1 InputOffsetSensorBoolean p p 20 10 1 InputOffsetDigiPinsDir p p 20 11 1 InputOffsetDigiPinsIn p p 20 12 1 InputOffsetDigiPinsOut p p 20 13 1 InputOffsetCustomPctFullScale p p 20 14 1 InputOffsetCustomActiveStatus p p 20 15 1 InputOffsetInvalidData p p 20 16 1 InputOffsetSpareOne p p 20 17 1 InputOffsetSpareTwo p p 20 18 1 InputOffsetSpareThree p p 20 19 1 Table 12 Input Module OMap Offsets 3 3 Output Module The NXT output module encompasses all the motor outputs Module Constants Value OutputModuleName Output mod OutputMo
102. ogram using Bluetooth If the NXT 1s the master device then you can configure up to three slave devices using connection 1 2 and 3 on the NXT brick If your NXT is a slave device then connection 0 on the brick must be reserved for the master device Programs running on the master NXT brick can send packets of data to any connected slave devices using the BluetoothWrite method Slave devices write response packets to the message queuing system where they wait for the master device to poll for the response Using the direct command protocol a master device can send messages to slave NXT bricks in the form of text strings addressed to a particular mailbox Each mailbox on the slave NXT brick is a circular message queue holding up to five messages Each message can be up to 58 bytes long To send messages from a master NXT brick to a slave brick use BluetoothWrite on the master brick to send a Message Write direct command packet to the slave Then you can use ReceiveMessage on the slave brick to read the message The slave NXT brick must be running a program when an incoming message packet is received Otherwise the slave NXT brick ignores the message and the message is dropped 3 13 1 High level functions SendRemoteBool connection queue bvalue Value This method sends a boolean value to the device on the specified connection The message containing the boolean value will be written to the specified queue on the remote brick x Sen
103. om the file associated with the specified handle The loader result code is returned as the value of the function call The handle parameter must be a variable The value parameter must be a variable The type of the value parameter determines the number of bytes of data read The ReadLn function reads two additional bytes from the file which it assumes are a carriage return and line feed pair result ReadLn handle value ReadBytes handle in out length out buf Value Read the specified number of bytes from the file associated with the specified handle The loader result code is returned as the value of the function call The handle parameter must be a variable The length parameter must be a variable The buf parameter must be an array or a string variable The actual number of bytes read is returned in the length parameter result ReadBytes handle len buffer Write handle value Value Write a numeric value to the file associated with the specified handle The loader result code is returned as the value of the function call The handle parameter must be a variable The value parameter must be a constant a constant expression or a variable The type of the value parameter determines the number of bytes of data written result Write handle value Page 72 NXC Programmer s Guide WriteLn handle value Value Write a numeric value to the file associated with the specified handle The loader result code
104. ow struct MessageWriteType char Result byte QueuelD string Message y Page 34 NXC Programmer s Guide Declare a variable of this type set its members and then call the function passing in your variable of this structure type MessageWriteType args args QueuelID MAILBOX1 0 args Message testing SysMessageWrite args check Result for error status SysMessageRead MessageReadType args Function This function lets you read a message from a queue aka mailbox using the values specified via the MessageReadType structure The structure type declaration is shown below struct ssageReadType char Result byte QueuelD bool Remove string Message y Declare a variable of this type set its members and then call the function passing in your variable of this structure type MessageReadType args args QueueID MAILBOX1 0 args Remove true SysMessageRead args if args Result NO_ERR TextOut 0 LCD_LINE1 args Message SysCommBTWrite CommBTWriteType amp args Function This function lets you write to a Bluetooth connection using the values specified via the CommBTWriteType structure The structure type declaration is shown below struct CommBTWriteType char Result byte Connection byte Buffer y Declare a variable of this type set its members and then call the function passing
105. positive Y axis extending upward and the positive X axis extending toward the right The NXC API provides constants for use in the NumOut and TextOut functions which make it possible to specify LCD line numbers between 1 and 8 with line 1 being at the top of the screen and line 8 being at the bottom of the screen These constants LCD_LINE1 LCD_LINE2 LCD_LINE3 LCD_LINE4 LCD_LINE5 LCD_LINE6 LCD_LINE 7 LCD_LINE8 should be used as the Y coordinate in NumOut and TextOut calls Values of Y other than these constants will be adjusted so that text and numbers are on one of 8 fixed line positions Page 65 NXC Programmer s Guide 3 7 1 High level functions NumOut x y value clear false Function Draw a numeric value on the screen at the specified x and y location Optionally clear the screen first depending on the boolean value of the optional clear argument If this argument is not specified it defaults to false NumOut 0 LCD_LINE1 x TextOut x y msg clear false Function Draw a text value on the screen at the specified x and y location Optionally clear the screen first depending on the boolean value of the optional clear argument If this argument is not specified it defaults to false TextOut 0 LCD_LINE3 Hello World GraphicOut x y filename clear false Function Draw the specified graphic icon file on the screen at the
106. putBufferOutPtr 0 HSInputBufferOutPtr Value This method returns the value of the output pointer of the High Speed input buffer byte x HSInputBufferOutPtr GetHSOutputBuffer offset count out data Function This method reads count bytes of data from the High Speed output buffer and writes it to the buffer provided GetHSOutputBuffer 0 10 buffer SetHSOutputBuffer offset count data Function This method writes count bytes of data to the High Speed output buffer at the specified offset SetHSOutputBuffer 0 10 buffer SetHSOutputBufferInPtr n Function This method sets the Output pointer of the High Speed output buffer to the specified value SetHSOutputBufferInPtr 0 HSOutputBufferInPtr Value This method returns the value of the Output pointer of the High Speed output buffer byte x HSOutputBufferInPtr Page 98 NXC Programmer s Guide SetHSOutputBufferOutPtr n Function This method sets the output pointer of the High Speed output buffer to the specified value SetHSOutputBufferOutPtr 0 HSOutputBufferOutPtr Value This method returns the value of the output pointer of the High Speed output buffer byte x HSOutputBufferOutPtr SetHSFlags n This method sets the High Speed flags to the specified value SetHSFlags 0 HSFlags This method returns the value of the High Speed flags byte x HSFlags
107. r setting one or more of the output fields in order for the changes to actually go into affect OutputMode ubyte Read 0 255 This is a bitfield that can include any of the values listed in Write Table 16 The OUT_MODE_MOTORON bit must be set in order for power to be applied to the motors Add OUT_MODE_BRAKE to enable electronic braking Braking means that the output voltage is not allowed to float between active PWM pulses It improves the accuracy of motor output but uses more battery power To use motor regulation include OUT_MODE_REGULATED in the OutputMode value Use UF_UPDATE_MODE with UpdateFlags to commit changes to this field Power sbyte Read 100 Specify the power level of the output The absolute value of Write 100 Power is a percentage of the full power of the motor The sign of Power controls the rotation direction Positive values tell the firmware to turn the motor forward while negative values turn the motor backward Use UE UPDATE POWER with UpdateFlags to commit changes to this field ActualSpeed sbyte Read 100 Return the percent of full power the firmware is applying to the 100 output This may vary from the Power value when auto regulation code in the firmware responds to a load on the output TachoCount slong Read full Return the internal position counter value for the specified range of output The internal count is reset automatically when a new signed goal is set using the TachoLimit and
108. rawPoint DrawLine DrawCircle DrawRect DrawGraphic SetScreenMode ReadButton CommLSWrite CommLSRead CommLSCheckStatus RandomNumber GetStartTick MessageWrite MessageRead CommBTCheckStatus CommBTWrite KeepAlive IOMapRead TOMapWrite IOMapReadByID IOMapWriteByID DisplayExecuteFunction CommExecuteFunction and LoaderExecuteFunction DrawTextType dtArgs dtArgs Location X 0 dtArgs Location Y LCD_LINE1 dtArgs Text Please Work SysCall DrawText dtArgs 3 2 Input Module The NXT input module encompasses all sensor inputs except for digital DC LowSpeed sensors Module Constants Value InputModuleName Input mod InputModuleID 0x00030001 Table 7 Input Module Constants There are four sensors which internally are numbered 0 1 2 and 3 This is potentially confusing since they are externally labeled on the NXT as sensors 1 2 3 and 4 To help mitigate this confusion the sensor port names S1 S2 S3 and S4 have been defined These sensor names may be used in any function that requires a sensor port as an argument Alternatively the NBC port name constants IN_1 IN_2 IN_3 and IN_4 may also be used when a sensor port is required Sensor value names SENSOR_1 SENSOR_2 SENSOR_3 and SENSOR_4 have also been defined These names may also be used whenever a program wishes to read
109. rgs Function This function lets you create a file that you can write to using the values specified via the FileOpenType structure The structure type declaration is shown below Use the FileHandle return value for subsequent file write operations The desired maximum file capacity in bytes is specified via the Length member struct FileOpenType unsigned int Result Page 29 NXC Programmer s Guide byte FileHandle string Filename unsigned long Length y Declare a variable of this type set its members and then call the function passing in your variable of this structure type FileOpenType foArgs foArgs Filename myfile txt foArgs Length 256 create with capacity for 256 bytes SysFileOpenWrite foArgs create the fil if foArgs Result NO_ERR write to the file using FileHandle SysFileOpenA ppend FileOpenType amp args Function This function lets you open an existing file that you can write to using the values specified via the FileOpenType structure The structure type declaration is shown below Use the FileHandle return value for subsequent file write operations The available length remaining in the file is returned via the Length member struct FileOpenType unsigned int Result byte FileHandle string Filename unsigned long Length y Declare a variable of this type set its members and then call the function passing in your variable of this structure t
110. ructure type SoundPlayFileType spfArgs spfArgs Filename hello rso spfArgs Loop false spfArgs SoundLevel 3 SysSoundPlayFile spfArgs SysSoundPlayTone SoundPlayToneType amp args Function This function lets you play a tone given the parameters you pass in via the SoundPlayToneType structure The structure type declaration is shown below struct SoundPlayToneType char Result unsigned int Frequency unsigned int Duration bool Loop byte SoundLevel Declare a variable of this type set its members and then call the function passing in your variable of this structure type SoundPlayToneType sptArgs sptArgs Frequency 440 sptArgs Duration 1000 1 second sptArgs Loop false sptArgs SoundLevel 3 SysSoundPlayTone sptArgs SysSoundGetState SoundGetStateType amp args Function This function lets you retrieve information about the sound module state via the SoundGetStateType structure Constants for sound state are SOUND_STATE_IDLE SOUND_STATE_FILE SOUND_STATE_TONE and SOUND_STATE_STOP Constants for sound flags are SOUND_FLAGS_IDLE SOUND_FLAGS_UPDATE and SOUND_FLAGS_RUNNING The structure type declaration is shown below Page 27 NXC Programmer s Guide struct SoundGetStateType byte State byte Flags y Declare a variable of this type set its members and then call the function pas
111. s Predefined output port constants are defined in Table 20 RotateMotor OUT_A 75 45 forward 45 degrees RotateMotor OUT_A 75 45 reverse 45 degrees RotateMotorPID outputs pwr angle p i d Function Run the specified outputs forward for the specified number of degrees Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 Also specify the proportional integral and derivative factors used by the firmware s PID motor control algorithm RotateMotorPID OUT_A 75 45 20 40 100 RotateMotorEx outputs pwr angle turnpct sync stop Function Run the specified outputs forward for the specified number of degrees Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 If a non zero turn percent is specified then sync must be set to true or no turning will occur Specify whether the motor s should brake at the end of the rotation using the stop parameter RotateMotorEx OUT_AB 75 360 50 true true RotateMotorExPID outputs pwr angle turnpct sync stop p i d Function Run the specified outputs forward for the specified number of degrees Outputs can be a constant or a variable containing the desired output ports Predefined output port constants are defined in Table 20 If a non zero turn percent is specified then sync must be s
112. since the firmware cannot adjust to higher power levels in that situation Synchronization means the firmware tries to keep two motors in synch regardless of physical loads Use this mode to maintain a straight path for a mobile robot automatically Also use this mode with the TurnRatio property to provide proportional turning Set OUT_REGMODE_SYNC on at least two motor ports in order for synchronization to function Setting OUT_REGMODE_SYNC on all three motor ports will result in only the first two OUT_A and OUT_B being synchronized Page 50 NXC Programmer s Guide Overload ubyte Read 0 1 This field will have a value of 1 true if the firmware speed regulation cannot overcome a physical load on the motor In other words the motor is turning more slowly than expected If the motor speed can be maintained in spite of loading then this field value is zero false In order to use this field the motor must have a non idle RunState an OutputMode which includes OUT_MODE_MOTORON and OUT_MODE_REGULATED and its RegMode must be set to OUT_REGMODE_SPEED RegPValue ubyte Read Write 0 255 This field specifies the proportional term used in the internal proportional integral derivative PID control algorithm Set UF_UPDATE_PID_VALUES to commit changes to RegPValue RegI Value and RegDValue simultaneously RegI Value ubyte Read Write 0 255 This field specifies the integral term used in the
113. sing in your variable of this structure type SoundGetStateType sgsArgs SysSoundGetState sgsArgs if sgsArgs State SOUND_STATE_IDLE do stuff SysSoundSetState SoundSetStateType amp args Function This function lets you set sound module state settings via the SoundSetStateType structure Constants for sound state are SOUND_STATE_IDLE SOUND_STATE_FILE SOUND_STATE_TONE and SOUND_STATE_STOP Constants for sound flags are SOUND_FLAGS_IDLE SOUND_FLAGS_UPDATE and SOUND_FLAGS_RUNNING The structure type declaration is shown below struct SoundSetStateType byte Result byte State byte Flags bi Declare a variable of this type set its members and then call the function passing in your variable of this structure type SoundSetStateType sssArgs sssArgs State SOUND_STATE_STOP SysSoundSetState sssArgs SysReadButton ReadButtonType amp args Function This function lets you read button state information via the ReadButtonType structure The structure type declaration is shown below struct ReadButtonType char Result byte Index bool Pressed byte Count bool Reset reset count after reading y Declare a variable of this type set its members and then call the function passing in your variable of this structure type ReadButtonType rbArgs rbArgs Index BINRIGHT SysReadButton rbArgs
114. specified x and y location Optionally clear the screen first depending on the boolean value of the optional clear argument If this argument is not specified it defaults to false If the file cannot be found then nothing will be drawn and no errors will be reported GraphicOut 40 40 image ric GraphicOutEx x y filename vars clear false Function Draw the specified graphic icon file on the screen at the specified x and y location Use the values contained in the vars array to transform the drawing commands contained within the specified icon file Optionally clear the screen first depending on the boolean value of the optional clear argument If this argument is not specified it defaults to false If the file cannot be found then nothing will be drawn and no errors will be reported GraphicOutEx 40 40 image ric variables CircleOut x y radius clear false Function Draw a circle on the screen with its center at the specified x and y location using the specified radius Optionally clear the screen first depending on the boolean value of the optional clear argument If this argument is not specified it defaults to false CircleOut 40 40 10 LineOut x1 y1 x2 y2 clear false Function Draw a line on the screen from x1 yl to x2 y2 Optionally clear the screen first depending on the boolean value of the optional clear argument If this argument is not specified it defaults to false LineOut 40
115. speed module SetLSSpeed 100 3 12 3 lOMap Offsets LowSpeed Module Offsets Value Size LowSpeedOffsetInBufBuf p p 19 0 16 LowSpeedOffsetInBufInPtr p p 19 16 1 LowSpeedOffsetInBufOutPtr p p 19 17 1 LowSpeedOffsetInBufB ytesToRx p p 19 18 58 LowSpeedOffsetOutBufBuf p p 19 76 16 LowSpeedOffsetOutBufInPtr p p 19 92 1 LowSpeedOffsetOutBufOutPtr p p 19 93 1 LowSpeedOffsetOutBufB ytesToRx p p 19 94 58 LowSpeedOffsetMode p p 152 4 LowSpeedOffsetChannelState p p 156 4 LowSpeedOffsetErrorType p p 160 4 LowSpeedOffsetState 164 1 LowSpeedOffsetSpeed 165 1 LowSpeedOffsetSpare 166 1 Table 55 LowSpeed Module IOMap Offsets 3 13 Comm Module The NXT comm module encompasses support for all forms of Bluetooth USB and HiSpeed communication Module Constants Value CommModuleName Comm mod CommModuleID 0x00050001 Table 56 Comm Module Constants Value Function Value Function Page 88 NXC Programmer s Guide You can use the Bluetooth communication methods to send information to other devices connected to the NXT brick The NXT firmware also implements a message queuing or mailbox system which you can access using these methods Communication via Bluetooth uses a master slave connection system One device must be designated as the master device before you run a pr
116. sted in the following table lt 5 UI State Constants UI_STATE_INIT_DISPLAY UI_STATE_INIT_LOW_BATTERY UI_STATE_INIT_INTRO UI_STATE_INIT_WAIT UI_STATE_INIT_MENU UI_STATE_NEXT_MENU UI_STATE_DRAW_MENU UI_STATE_TEST_BUTTONS UI_STATE_LEFT_PRESSED UI_STATE_RIGHT_PRESSED UI_STATE_ENTER_PRESSED UI_STATE_EXIT_PRESSED UI_STATE_CONNECT_REQUEST UI_STATE_EXECUTE_FILE UI_STATE_EXECUTING_FILE UI_STATE_LOW_BATTERY UI_STATE_BT_ERROR Table 45 UI State Constants o ZAI A M BA DW N O NO o na N he LA ua E Ra Nn hn mm Valid UI button values are listed in the following table UI Button Constants Value UL BUTTON NONE 1 UL BUTTON LEFT 2 UI_BUTTON_ENTER 3 UI_BUTTON_RIGHT 4 UI_BUTTON_EXIT 5 Table 46 UI Button Constants Valid UI Bluetooth state values are listed in the following table UI Bluetooth State Constants Value UL BT_STATE_VISIBLE 0x01 UI_BT_STATE_CONNECTED 0x02 UI_BT_STATE_OFF 0x04 UI_BT_ERROR_ATTENTION 0x08 UI_BT_CONNECT_REQUEST 0x40 UI_BT_PIN_REQUEST 0x80 Table 47 UI Bluetooth State Constants Page 78 NXC Programmer s Guide Volume Value Return the user interface volume level Valid values are from 0 to 4 x Volume SetV olume value Function Set the user interface volume level Valid values are from 0 to 4 SetVolume
117. system functions struct LocationType int X int Y y struct SizeType int Width Page 23 NXC Programmer s Guide int Height y SysDrawText DrawTextType args Function This function lets you draw text on the NXT LCD given the parameters you pass in via the DrawTextType structure The structure type declaration is shown below struct DrawTextType char Result LocationType string Text Location unsigned long Options y Declare a variable of this type set its members and then call the function passing in your variable of this structure type DrawTextType dtArgs dtArgs Location X 0 dtArgs Location Y Pleas LCD_LINE1 dtArgs Text dtArgs Options Work 0x01 clear before drawing SysDrawText dtArgs SysDrawPoint DrawPointType amp args Function This function lets you draw a pixel on the NXT LCD given the parameters you pass in via the DrawPointType structure The structure type declaration is shown below struct char Result LocationType DrawPointType Location unsigned long Options y Declare a variable of this type set its members and then call the function passing in your variable of this structure type DrawPointType dpArgs dpArgs Loca dpArgs Loca dpArgs Options tion X 20 tion Y 20 0x04 clear this pixel SysDrawPoin SysDrawLine DrawLineType amp args This fu
118. t The asm statement is used to define many of the NXC API calls The syntax of the statement is asm one or more lines of assembly language The statement simply emits the body of the statement as NeXT Byte Codes NBC code and passes it directly to the NBC compiler backend The asm statement can often be used to optimize code so that it executes as fast as possible on the NXT firmware The following example shows an asm block containing variable declarations labels and basic NBC statements as well as comments asm jmp __1b100D5 dseg segment s10000 slong s10005 slong bGTTrue byte dseg ends mov s10000 0x0 mov s10005 s10000 mov s10000 0x1 cmp GT bGTTrue s10005 s10000 set bGTTrue FALSE brtst EQ __1b100D5 bGTTrue __1b100D5 A few NXC keywords have meaning only within an asm statement These keywords provide a means for returning string or scalar values from asm statements and for using temporary integer variables of byte word and long sizes ASM Keyword Meaning __RETURN__ Used to return a value other than RETVAL or _STRRETVAL__ __RETVAL__ Writing to this 4 byte value returns it to the calling program __STRRETVAL__ Writing to this string value returns it to the calling program __TMPBYTE__ Use this temporary variable to write and return single byte values _ TMPWORD__ Use this temporary variable to write and return 2 byte values _ TMPL
119. tant e g S1 S2 S3 or S4 SetSensorDigiPinsDirection S1 1 SetSensorDigiPinsStatus const p value Function Sets the digital pins status value of a sensor The port must be specified using a constant e g S1 S2 S3 or S4 SetSensorDigiPinsStatus S1 false SetSensorDigiPinsOutputLevel const p value Function Sets the digital pins output level value of a sensor The port must be specified using a constant e g S1 S2 S3 or S4 SetSensorDigiPinsOutputLevel S1 100 3 2 2 Sensor Information There are a number of values that can be inspected for each sensor For all of these values the sensor must be specified by a constant port value e g S1 S2 S3 or S4 unless otherwise specified Sensor n Value Return the processed sensor reading for a sensor on port n where n is 0 1 2 or 3 or a sensor port name constant This is the same value that is returned by the sensor value names e g SENSOR_1 A variable whose value is the desired sensor port may also be used Page 45 NXC Programmer s Guide x Sensor Sl read sensor 1 SensorUS n Value Return the processed sensor reading for an ultrasonic sensor on port n where n is 0 1 2 or 3 or a sensor port name constant Since an ultrasonic sensor is an I2C digital sensor its value cannot be read using the standard Sensor n value A variable whose value is the desired sensor port may also be used x SensorUS S4 read sensor
120. te FileHandle y Declare a variable of this type set its members and then call the function passing in your variable of this structure type FileCloseType fcArgs fcArgs FileHandle foArgs FileHandle SysFileClose fcArgs SysFileResolveHandle FileResolveHandleType args Function This function lets you resolve the handle of a file using the values specified via the FileResolveHandleType structure The structure type declaration is shown below struct FileResolveHandleType unsigned int Result byte FileHandl bool WeiteHandle string Filename y Declare a variable of this type set its members and then call the function passing in your variable of this structure type FileResolveHandleType frhArgs frhArgs Filename myfile txt SysFileResolveHandle frhArgs if frhArgs Result LDR_SUCCE use the FileHandle as need if frhArgs WriteHandle file is open for writing SS S d else file is open for reading SysFileRename FileRenameType amp args Function This function lets you rename a file using the values specified via the FileRenameType structure The structure type declaration is shown below Page 32 NXC Programmer s Guide struct FileRenameType unsigned int Result string OldFilename string NewFilename y Declare a variable of this type set its members and then call the function passing i
121. te value Set VM run state information SetVMRunState 0 stopped BatteryState Return battery state information 0 4 x BatteryState SetBatteryState value Set battery state information SetBatteryState 4 RechargeableBattery Return whether the NXT has a rechargeable battery installed or not x RechargeableBattery ForceOff n Force the NXT to turn off if the specified value is greater than zero ForceOff true UsbState Return USB state information O disconnected 1 connected 2 working x UsbState Value Function Value Function Value Function Value Page 80 NXC Programmer s Guide SetUsbState value Function Set USB state information O disconnected 1 connected 2 working SetUsbState 2 OnBrickProgramPointer Value Return the current OBP on brick program step x OnBrickProgramPointer SetOnBrickProgramPointer value Function Set the current OBP on brick program step SetOnBrickProgramPointer 2 3 11 1 lOMap Offsets UI Module Offsets Value Size UIOffsetPMenu 0 4 UlOffsetBattery Voltage 4 2 UIOffsetLMSfilename 6 20 UlOffsetFlags 26 1 UIOffsetState 27 1 UIOffsetButton 28 1 UIOffsetRunState 29 1 UlOffsetBatteryState 30 1 UIOffsetBluetoothState 31 1 UIOffsetUsbState 32 1 UlOffsetSleepTimeout 33 1 UlOffsetSleepTimer 34 1 UlOf
122. thStatus to determine when this write request is completed x RemoteMessageRead 1 5 RemoteMessageWrite connection queue msg Value This method sends a Message Write direct command to the device on the specified connection Use BluetoothStatus to determine when this write request is completed x RemoteMessageWrite 1 5 test Page 91 NXC Programmer s Guide RemoteStartProgram connection filename Value This method sends a StartProgram direct command to the device on the specified connection Use BluetoothStatus to determine when this write request is completed x RemoteStartProgram 1 myprog rxe RemoteStopProgram connection Value This method sends a StopProgram direct command to the device on the specified connection Use BluetoothStatus to determine when this write request is completed x RemoteStopProgram 1 RemotePlaySoundFile comnection filename bLoop Value This method sends a PlaySoundFile direct command to the device on the specified connection Use BluetoothStatus to determine when this write request is completed x RemotePlaySoundFile 1 click rso false RemotePlayTone connection frequency duration Value This method sends a PlayTone direct command to the device on the specified connection Use BluetoothStatus to determine when this write request is completed x RemotePlayTone 1 440 1000 RemoteStopSound comnection Value This method sends a StopSound
123. the compiler the structure programs statements and expressions and the operation of the preprocessor NXC is a case sensitive language just like C and C That means that the identifier xYz is not the same identifier as Xyz Similarly the if statement begins with the keyword if but iF If or IF are all just valid identifiers not keywords 2 1 Lexical Rules The lexical rules describe how NXC breaks a source file into individual tokens This includes the way comments are written the handling of whitespace and valid characters for identifiers 2 1 1 Comments Two forms of comments are supported in NXC The first form traditional C comments begin with and end with They may span multiple lines but do not nest this is a comment this is a two line comment another comment trying to nest ending the inner comment this text is no longer a comment The second form of comments begins with and ends with a newline sometimes known as C style comments a single line comment The compiler ignores comments Their only purpose is to allow the programmer to document the source code 2 1 2 Whitespace Whitespace spaces tabs and newlines is used to separate tokens and to make programs more readable As long as the tokens are distinguishable adding or subtracting whitespace has no effect on the meaning of a program For example the following lines of code
124. the current value of the sensor x SENSOR_1 read sensor and store value in x Page 41 NXC Programmer s Guide 3 2 1 Types and Modes The sensor ports on the NXT are capable of interfacing to a variety of different sensors It 1s up to the program to tell the NXT what kind of sensor is attached to each port Calling SetSensorType configures a sensor s type There are 12 sensor types each corresponding to a specific LEGO RCX or NXT sensor A thirteenth type SENSOR_TYPE_NONE is used to indicate that no sensor has been configured In general a program should configure the type to match the actual sensor If a sensor port is configured as the wrong type the NXT may not be able to read it accurately Use either the Sensor Type constants or the NBC Sensor Type constants Sensor Type NBC Sensor Type Meaning SENSOR_TYPE_NONE IN_TYPE_NO_SENSOR no sensor configured SENSOR_TYPE_TOUCH IN_TYPE_SWITCH NXT or RCX touch sensor SENSOR_TYPE_TEMPERATURE IN_TYPE_TEMPERATURE RCX temperature sensor SENSOR_TYPE_LIGHT IN_TYPE_REFLECTION RCX light sensor SENSOR_TYPE_ROTATION IN_TYPE_ANGLE RCX rotation sensor SENSOR_TYPE_LIGHT_ACTIVE IN_TYPE_LIGHT_ACTIVE NXT light sensor with light SENSOR_TYPE_LIGHT_INACTIVE IN_TYPE_LIGHT_INACTIVE NXT light sensor without light SENSOR_TYPE_SOUND_DB IN_TYPE_SOUND_DB NXT sound sensor with dB scaling SENSOR_TYPE_SOUND_DBA IN_TYPE_SOUND_DBA
125. the input pointer for the lowspeed input buffer associated with the specified port The port must be a constant S1 S4 x LSInputBufferInPtr S1 SetLSInputBufferInPtr port Function This method sets the value of the input pointer for the lowspeed input buffer associated with the specified port The port must be a constant S1 S4 SetLSInputBufferlnPtr Sl x Page 85 NXC Programmer s Guide LSInputBufferOutPtr port Value This method returns the value of the output pointer for the lowspeed input buffer associated with the specified port The port must be a constant S1 S4 x LSInputBufferOutPtr S1 SetLSInputBufferOutPtr port Function This method sets the value of the output pointer for the lowspeed input buffer associated with the specified port The port must be a constant S1 S4 SetLSInputBufferOutPtr S1 x LSInputBufferBytesToRx port Value This method returns the bytes to receive for the lowspeed input buffer associated with the specified port The port must be a constant S1 S4 x LSInputBufferBytesToRx S1 SetLSInputBufferBytesToRx port Function This method sets the bytes to receive for the lowspeed input buffer associated with the specified port The port must be a constant S1 S4 SetLSInputBufferBytesToRx S1 x LSOutputBufferInPtr port Value This method returns the value of the input pointer for th
126. the specified connection Use BluetoothStatus to determine when this write request is completed x RemoteSetOutputState 1 OUT_A 75 OUT_MODE_MOTORON OUT_REGMODE_IDLE 0 OUT_RUNSTATE_RUNN ING 0 3 13 2 Low level functions Valid miscellaneous constant values are listed in the following table Comm Miscellaneous Constants Value SIZE_OF_USBBUF 64 USB_PROTOCOL_OVERHEAD 2 SIZE_OF_USBDATA 62 SIZE_OF_HSBUF 128 SIZE_OF_BTBUF 128 BT_CMD_BYTE 1 SIZE_OF_BT_DEVICE_TABLE 30 SIZE_OF_BT_CONNECT_TABLE 4 SIZE_OF_BT_NAME 16 SIZE_OF_BRICK_NAME 8 SIZE_OF_CLASS_OF DEVICE 4 SIZE_OF_BDADDR 7 MAX_BT_MSG_SIZE 60000 BT_DEFAULT_INQUIRY_MAX 0 BT_DEFAULT_INQUIRY_TIMEOUT_LO 15 LR_SUCCESS 0x50 LR_COULD_NOT_SAVE 0x51 LR STORE IS PULL 0x52 LR_ENTRY_REMOVED 0x53 LR_UNKNOWN_ADDR 0x54 USB_CMD_READY 0x01 BT_CMD_READY 0x02 HS_CMD_READY 0x04 Table 57 Comm Miscellaneous Constants Page 93 NXC Programmer s Guide Valid BtState values are listed in the following table Comm BtState Constants Value BT_ARM_OFF 0 BT ARM CMD MODE 1 BT_ARM_DATA_MODE 2 Table 58 Comm BtState Constants Valid BtStateStatus values are listed in the following table Comm BtStateStatus Constants Value BT_BRICK_VISIBILITY 0x01 BT_BRICK_PORT_OPEN 0x02 BT_CONNECTION_0_ ENABLE 0x10 BT_C
127. the specified button Valid values for the btn argument are listed in Table 40 SetButtonLongPressCount BTN1 value ButtonShortReleaseCount btn Value Return the short release count of the specified button Valid values for the btn argument are listed in Table 40 value ButtonShortReleaseCount BIN1 SetButtonShortReleaseCount btn value Function Set the short release count of the specified button Valid values for the btn argument are listed in Table 40 SetButtonShortReleaseCount BIN1 value ButtonLongReleaseCount btn Value Return the long release count of the specified button Valid values for the btn argument are listed in Table 40 value ButtonLongReleaseCount BIN1 SetButtonLongReleaseCount btn value Function Set the long release count of the specified button Valid values for the btn argument are listed in Table 40 SetButtonLongReleaseCount BIN1 value ButtonReleaseCount btn Value Return the release count of the specified button Valid values for the btn argument are listed in Table 40 value ButtonReleaseCount BIN1 Page 76 NXC Programmer s Guide SetButtonReleaseCount btn value Function Set the release count of the specified button Valid values for the btn argument are listed in Table 40 SetButtonReleaseCount BIN1 value ButtonState btn Value Return the state of the specified button Valid values for the b
128. tn argument are listed in Table 40 Button state values are listed in Table 41 value ButtonsState BIN1 SetButtonState btn value Function Set the state of the specified button Valid values for the btn argument are listed in Table 40 Button state values are listed in Table 41 SetButtonState BIN1 BINSTATE_PRESSED_EV 3 10 3 IOMap Offsets Button Module Offsets Value Size ButtonOffsetPressedCnt b b 8 0 1 ButtonOffsetLongPressCnt b b 8 1 1 ButtonOffsetShortRelCnt b b 8 2 1 ButtonOffsetLongRelCnt b b 8 3 1 ButtonOffsetRelCnt b b 8 4 1 ButtonOffsetState b b 32 1 4 Table 42 Button Module IOMap Offsets 3 11 Ul Module The NXT UI module encompasses support for various aspects of the user interface for the NXT brick Module Constants Value UlModuleName Ui mod UIModuleID 0x000C0001 Table 43 UI Module Constants Valid command flag values are listed in the following table Page 77 NXC Programmer s Guide UI Command Flags Constants Value UI_FLAGS_UPDATE 0x01 UI_FLAGS_DISABLE_LEFT_RIGHT_ENTER 0x02 UI_FLAGS_DISABLE_EXIT 0x04 UI_FLAGS_REDRAW_STATUS 0x08 UI_FLAGS_RESET_SLEEP_TIMER 0x10 UI_FLAGS_EXECUTE_LMS_FILE 0x20 UI_FLAGS_BUSY 0x40 UI_FLAGS_ENABLE_STATUS_UPDATE 0x80 Table 44 UI Command Flags Constants Valid UI state values are li
129. to return before it reaches the end of its code using the return statement with an optional return value return expression Many expressions are not legal statements One notable exception is expressions involving the increment or decrement operators X The empty statement just a bare semicolon is also a legal statement Page 14 NXC Programmer s Guide 2 4 Expressions Values are the most primitive type of expressions More complicated expressions are formed from values using various operators The NXC language only has two built in kinds of values numerical constants and variables Numerical constants in the NXT are represented as integers The type depends on the value of the constant NXC internally uses 32 bit signed math for constant expression evaluation Numeric constants can be written as either decimal e g 123 or hexadecimal e g OxABC Presently there is very little range checking on constants so using a value larger than expected may have unusual effects Two special values are predefined true and false The value of false is zero 0 while the value of t rue is one 1 The same values hold for relational operators e g lt when the relation is false the value is 0 otherwise the value is 1 Values may be combined using operators Several of the operators may only be used in evaluating constant expressions which means that their operands must either be constants or expressions
130. to the normal display memory from the data array Start writing at the specified x line coordinate Each byte of data read from screen memory is a Page 68 NXC Programmer s Guide vertical strip of 8 bits at the desired location Each bit represents a single pixel on the LCD screen Use TEXT_LINE T through T EXT_LINE8 for the line parameter SetDisplayNormal 0 TEXTLINE_1 8 ScreenMem GetDisplayPopup x line count data Function Read count bytes from the popup display memory into the data array Start reading from the specified x line coordinate Each byte of data read from screen memory is a vertical strip of 8 bits at the desired location Each bit represents a single pixel on the LCD screen Use TEXT_LINE1 through T GetDisplayPopup 0 TEXTLINE_1 EXT_LINE8 for the line parameter 8 PopupMem SetDisplayPopup x line count data Function Write count bytes to the popup display memory from the data array Start writing at the specified x line coordinate Each byte of data read from screen memory is a vertical strip of 8 bits at the desired location Each bit represents a single pixel on the LCD screen Use TEXT_LINE1 through T SetDisplayPopup 0 TEXTLINE_1 3 7 3 lOMap Offsets EXT_LINE8 for the line parameter 8 PopupMem
131. ts you check the status of an I2C Lowspeed sensor transaction using the values specified via the CommLSCheckStatusType structure The structure type declaration is shown below struct char byte byte CommLSCheckStatusType Result Port BytesReady hi Declare a variable of this type set its members and then call the function passing in your variable of this structure type CommLSCheckStatusType args args Port Sl SysCommLSCheckStatus args is the status Result IDL if args Result LOWSPEED_IDL E E proceed SysCommLSRead CommLSReadType amp args Function This function lets you read from an I2C Lowspeed sensor using the values specified via the CommLSReadType structure The structure type declaration is shown below struct char byte byte byte y Declare a variable of this type set its members and then call the function passing in your variable of this structure type CommLSReadType Result Port Buffer BufferLen CommLSReadType args args Port Sl args Buffer myBuf args BufferLen 8 SysCommLSRead args check Result for error status amp use Buffer contents SysMessageWrite MessageWriteType amp args Function This function lets you write a message to a queue aka mailbox using the values specified via the MessageWriteType structure The structure type declaration is shown bel
132. ues indicate forward rotation and negative values indicate reverse rotation Forward and reverse depend on the orientation of the motor Table 14 Output Field Constants Valid UpdateFlags values are described in the following table UpdateFlags Constants Meaning UF_UPDATE_MODE Commits changes to the OutputMode output property UF_UPDATE_SPEED Commits changes to the Power output property UP UPDATE TACHO LIMIT Commits changes to the TachoLimit output property Page 51 NXC Programmer s Guide UF_UPDATE_RESET_COUNT Resets all rotation counters cancels the current goal and resets the rotation error correction system UF_UPDATE_PID_VALUES Commits changes to the PID motor regulation properties UF_UPDATE_RESET_BLOCK_COUNT Resets the block relative rotation counter UF_UPDATE_RESET_ROTATION_COUNT Resets the program relative rotation counter Table 15 UpdateFlag Constants Valid OutputMode values are described in the following table OutputMode Constants Value Meaning OUT_MODE_COAST 0x00 No power and no braking so motors rotate freely OUT_MODE_MOTORON 0x01 Enables PWM power to the outputs given the Power setting OUT_MODE_BRAKE 0x02 Uses electronic braking to outputs OUT_MODE_REGULATED 0x04 Enables active power regulation using the RegMode value OUT_MODE_REGMETHOD 0xf0 Table 16 OutputMode Constants Valid RunState va
133. ust be a constant S1 S4 x LSMode S1 SetLSMode port Function This method sets the mode of the lowspeed communication over the specified port The port must be a constant S1 S4 SetLSMode S1 LOWSPEED_TRANSMITTING LSChannelState port Value This method returns the channel state of the lowspeed communication over the specified port The port must be a constant S1 S4 x LSChannelState S1 SetLS ChannelState port Function This method sets the channel state of the lowspeed communication over the specified port The port must be a constant S1 S4 SetLSChannelState S1 LOWSPEED_IDLE LSErrorType port Value This method returns the error type of the lowspeed communication over the specified port The port must be a constant S1 S4 x LSErrorType S1 SetLSErrorType port Function This method sets the error type of the lowspeed communication over the specified port The port must be a constant S1 S4 SetLSErrorType S1 LOWSPEED_CH_NOT_READY Page 87 NXC Programmer s Guide LSState This method returns the state of the lowspeed module x LSState SetLSState n This method sets the state of the lowspeed module SetLSState COM_CHANNEL_THREE_ACTIVE LSSpeed This method returns the speed of the lowspeed module x LSSpeed SetLSSpeed n This method sets the speed of the low
134. ut handle out bWriteable Value Resolve a file handle from the specified filename The file handle is returned in the second parameter which must be a variable A boolean value indicating whether the handle can be used to write to the file or not is returned in the last parameter which must be a variable The loader result code is returned as the value of the function call The filename parameter must be a constant or a variable result ResolveHandle data txt handle bCanWrite Page 71 NXC Programmer s Guide RenameFile oldfilename newfilename Value Rename a file from the old filename to the new filename The loader result code is returned as the value of the function call The filename parameters must be constants or variables result RenameFile data txt mydata txt DeleteFile filename Value Delete the specified file The loader result code is returned as the value of the function call The filename parameter must be a constant or a variable result DeleteFile data txt Read handle out value Value Read a numeric value from the file associated with the specified handle The loader result code is returned as the value of the function call The handle parameter must be a variable The value parameter must be a variable The type of the value parameter determines the number of bytes of data read result Read handle value ReadLn handle out value Value Read a numeric value fr
135. xtTask 3 1 3 String Functions StrToNum str Value Return the numeric value specified by the string passed to the function If the content of the string is not a numeric value then this function returns zero x StrToNum strVal StrLen str Value Return the length of the specified string The length of a string does not include the null terminator at the end of the string x StrLen msg return the length of msg StrIndex str idx Value Return the numeric value of the character in the specified string at the specified index x StrIndex msg 2 return the value of msg 2 NumToStr value Value Return the string representation of the specified numeric value msg NumToStr 2 returns 2 in a string Page 20 NXC Programmer s Guide StrCat str1 str2 strN Value Return a string which is the result of concatenating all of the string arguments together msg StrCat test please returns testplease SubStr string idx len Value Return a sub string from the specified input string starting at idx and including the specified number of characters msg SubStr test 1 2 returns es StrReplace string idx newStr Value Return a string with the part of the string replaced starting at the specified index with the contents of the new string value provided in the third argument msg StrReplace testing 3 xx returns tesxxng Flatten value Value
136. ype FileOpenType foArgs foArgs Filename myfile txt SysFileOpenAppend foArgs open the file if foArgs Result NO_ERR write to the file using FileHandle up to the remaining available length in Length SysFileOpenRead FileOpenType amp args Function This function lets you open an existing file for reading using the values specified via the FileOpenType structure The structure type declaration is shown below Use the FileHandle return value for subsequent file read operations The number of bytes that can be read from the file is returned via the Length member struct FileOpenType unsigned int Result byte FileHandle string Filename unsigned long Length y Page 30 NXC Programmer s Guide Declare a variable of this type set its members and then call the function passing in your variable of this structure type FileOpenType foArgs foArgs Filename myfile txt SysFileOpenRead foArgs open the file for reading if foArgs Result NO_ERR read data from the file using FileHandle SysFileRead FileReadWriteType args Function This function lets you read from a file using the values specified via the FileReadWriteType structure The structure type declaration is shown below struct FileReadWriteType unsigned int Result byte FileHandle string Buffer unsigned long Length y Declare a variable of this typ

Not eXactly C (NXC)

Contents

Download Pdf Manuals

Related Search

Related Contents