For motors / actuators the port has to be one of A, B, C.
For sensors, the port has to be on of S1, S2, S3, S4.
| Snippet Name and Parameters | Description | Use on | Variable type | Remark | 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. | 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. | output bool @macro "ResetClock", "second", "true" reset |
| Time | Reads the elapsed time since program start (milliseconds) | input | int | 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. | 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. | input int @macro "TickWakeUp" nextTickWakeUp |
| TickCount | Counts the ticks. First tick is 0, the following are 1, 2, 3, ... | input | int | input int @macro "TickCount" ticks | |
| Sleep | Lets the current thread sleep the time in milliseconds of the variable value. | output | int | 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. | output string @macro "Print", "true" text |
| DrawString, x, y | Prints a string to the given x and y coordinate on the LCD. | output | string | output string @macro "DrawString", "1", "1" text | |
| DrawInt, x, y | Prints a interger to the given x and y coordinate on the LCD. | outptu | int | output int @macro "DrawInt", "1", "1" number | |
| 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 | 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 | 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 | 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. Note that this should be used together with the LightSensor, because this macro introduces the actual variable. | output | bool | signal has to be one of High, Low | output bool @macro "CalibrateLightSensor", "S1", "Low" calibrateLow |
| Floodlight, port | Sets the state of the red lamp of the light sensor. | output | bool | output bool @macro "Floodlight", "S1" setFloodlight | |
| GetFloodlight, port | Reads the state of the red lamp of the light sensor. | input | bool | input bool @macro "GetFloodlight", "S1" getFloodlight | |
| RCXLamp, port | Turns an RCX lamp on (variable is true) or off (variable is false) | output | bool | output bool @macro "RCXLamp", "A" lamp | |
| MotorSpeed, port, brake | Sets the speed of the motor in degrees per second. Maximum is 900. 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). | output | int | brake is true per default. | output int @macro "MotorSpeed", "A", "false" motorA |
| GetMotorSpeed, port | Allows to get the current motor speed in degrees. | input | int | input int @macro "GetMotorSpeed", "A" getMotorA | |
| MotorIsMoving, port | Sets a variable to true iff the motor on the given port is moving. | input | bool | input bool @macro "MotorIsMoving", "A" isMotorAMoving | |
| 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 | output int @macro "MotorRotation", "A" rotateInDegrees | |
| GetMotorRotation, port | Allows to get the current motor rotation in degress. | input | int | input int @macro "GetMotorRotation", "A" rotationA | |
| MotorRotationSpeed, port | Sets the speed of a motor without rotation it. This speed will be used by MotorRotation. | output | int | output int @macro "MotorRotationSpeed", "A" rotationSpeed | |
| Beep, volume | Plays a beep sound as long as the variable is true. | output | bool | default volume is 10 | output bool @macro "Beep", "10" beep |
| Buzz, volume | Plays a buzz sound as long as the variable is true. | output | bool | default volume is 10 | output bool @macro "Buzz", "10" buzz |
| 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 | output bool @macro "BeepSequence", "10" beepSequence |
| PlayTone, frequency, duration, volume | Plays the tone specified by frequency (e.g. 440 is an A), duration and volume. Duration and volume are optional and will be set to 100 if not defined. | output | bool | Default duration and volume is 100 | ouput bool @macro "PlayTone", "440", "100", "10" A4 |
| PlayFrequency, duration, volume | Plays the tone specified by frequency (the value of the varibale e.g. 440 is an A), duration and volume. Duration and volume are optional and will be set to 100 if not defined. Used frequency will be used as default frequency for next tone | output | int | Default duration and volume is 100 | ouput int @macro "PlayFrequency", "100" A4 |
| Volume | Sets the volume for sound output. | output | int | ouput int @macro "Volume" volume | |
| UltrasonicSensor, port | Reads the distance that an ultrasonic sensor measures. | input | int | input int @macro "UltrasonicSensor", "S3" ultraSonic | |
| Gyro, port, mode | Reads the value of a gyroscope. | input | int | Not available on NXT mode hat to be one of Angle, Rate | input int @macro "Gyro", "S3", "Angle" gyro |
| 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 | output bool @macro "CalibrateGyro", "S3", "true" calibrateGyro |
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