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For motors / actuators the port has to be one of A, B, C.

Snippet Name and Parameters	Description	Use on	Variable type	Remark

Defined in File

(only relevant for developers)

Example
Clock, milliseconds	Sets a variable to true for one tick if the time in milliseconds passed since the last time it was set to true.	input	bool	See also ResetClock.

timing.ftl

input bool @macro "Clock", "1000" second

ResetClock, clockVariableName, autoFalse

Resets a clock, such that the full time interval of the clock has to elapse, before the clock will be set to true again.

If autoFalse is true, the reset variable will be set to false automatically.

output

bool

autoFalse is true per default.

timing.ftl

output bool @macro "ResetClock", "second", "true" reset
Time	Reads the elapsed time since program start (milliseconds)	input	int

timing.ftl

input int @macro "Time" timeInMs

TickLoopDuration, targetInMilliseconds

Delays the execution until the tick loop takes at least as long as the given target duration.

The input variable is set to the actual tick loop duration.

input

int

Should be used on the very first input variable in the model, such that waiting is the last action in the tick loop.

In case the actual tick loop duration is longer than the target duration, the modeler can provide some error handling.

timing.ftl

input int @macro "TickLoopDuration", "1000000" duration
TickWakeUp	Sets the input variable to the current system time (milliseconds). The model can add to this variable to get a new value. This is the next system time the tick function will be called. In other words, the next tick function call is delayed until the wake up time has been reached. For instance the statement nextTickWakeUp += 500 could be used to call the tick function again in 500 milliseconds, if nextTickWakeUp is an input with the corresponding annotation.	input	int	Should be used on the very last input variable in the model, such that waiting and settings the system time is the last action done, before the tick function call.

timing.ftl

input int @macro "TickWakeUp" nextTickWakeUp
TickCount	Counts the ticks. First tick is 0, the following are 1, 2, 3, ...	input	int

timing.ftl

	input int @macro "TickCount" ticks
Sleep	Lets the current thread sleep the time in milliseconds of the variable value.	output	int

timing.ftl

	output int @macro "Sleep" sleep
Print, autoReset	Prints a string variable if the string is not empty. If autoReset is true then the string variable is set to the empty string after it has been printed	output	string	autoReset is true per default.

print.ftlButton

output string @macro "Print", "true" text
DrawString, x, y	Prints a string to the given x and y coordinate on the LCD.	output	string

print.ftl

output string @macro "DrawString", "1", "1" text
Button, buttonId	Sets a variable to true iff the button on the Mindstorms device is pressed.	input	bool	The buttonId has to be one of ENTER, LEFT, RIGHT

touch_and_buttons.ftl

input bool @macro "Button", "ENTER" enterButtonDown
TouchSensor, port	Sets a variable to true iff the touch sensor on the given port is pressed.	input	bool

touch_and_buttons.ftl

input bool @macro "TouchSensor", "S4" touch

LightSensor, port, percentValue

Reads the value of a light sensor.

If percentValue is true, the a percent value is returned, based on the light sensor calibration.

input

int

percentValue is not available on EV3

light.ftl

input int @macro "LightSensor", "S1" lightLevel
CalibrateLightSensor, port, signal	Calibrates a light sensors high or low values. This means if the variable is true, the current value of the light sensor is taken as its reference high / low value.	output	bool	signal has to be one of High, Low	output bool @macro "CalibrateLightSensor", "S1", "Low"
Floodlight, port	Sets the state of the red lamp of the light sensor.

ftlFloodlight,

	output	bool		output bool @macro "Floodlight", "S1" setFloodlight
GetFloodlight, port	Reads

/ Sets

the state of the red lamp of the light sensor.

input

outputlight.ftl

bool

input bool @macro "GetFloodlight", "S1" getFloodlight
RCXLamp, port	Turns an RCX lamp on (variable is true) or off (variable is false)	output	bool

light.ftl

	output bool @macro "RXCLamp", "S2" lamp
MotorSpeed, port, brake

Reads /

Sets the speed of the motor in degrees per minute. If the speed value is negative, the motor will drive backwards. If the speed is zero, the motor will actively brake until it stops (brake is true) or remove all power and rollout (brake is false).

input

output

int

brake is true per default.

motor.ftl

output int @macro "MotorSpeed", "A"
GetMotorSpeed, port	Allows to get the current motor speed in degrees.	input	int		motor.ftl
MotorIsMoving, port	Sets a variable to true iff the motor on the given port is moving.	input	bool		motor.ftl
MotorRotation, port	Lets a motor rotate the variable value in degrees. This is only done if the value is unequal zero. If the value is negative, the motor rotates backwards. The variable is set to zero afterwards, such that setting the variable once to a value X, will let the motor rotate X degrees.	output	int		motor.ftl
GetMotorRotation, port	Allows to get the current motor rotation in degress.	input	int		motor.ftl
Beep, volume	Plays a beep sound as long as the variable is true.	output	bool	default volume is 10	sound.ftl
Buzz, volume	Plays a buzz sound as long as the variable is true.	output	bool	default volume is 10	sound.ftl
BeepSequence, direction, volume	Plays a sequence of tones in either ascending or descending tone frequency if the variable is true. The variable is set to false automatically.	output	bool	direction has to be one of Up, Down default volume is 10	sound.ftl
UltrasonicSensor, port	Reads the distance that an ultrasonic sensor measures.	input	int		ultrasonic.ftl
Gyro, port, mode	Reads the value of a gyroscope.	input	int	Not available on NXT mode hat to be one of Angle, Rate	gyro.ftl
CalibrateGyro, port, autoReset	Resets a gyroscope if the variable is true. If autoReset is true, the variable is set to false automatically.	output	bool	autoReset is true per default	gyro.ftl

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