Available Memory is divided into four variables for operational use and user memory for storage. The four variables are words and are labeled Variable #1, Variable #2, Variable #3 and Variable #4. The user memory is in bytes and is labeled 1-200. Please Note: the IBUTTON command uses user memory 193-200 is used to store the returned IButton value. Variable ( V1, V2, V3 or V4 ) Commands: ANALOG DECREMENT IF VARIABLE INCREMENT TALK V1 TEMP VARIABLE = User Memory ( 1-200 ) Commands: DATA READ DATA WRITE IBUTTON ACCURACY : Controls # of signals sent to a servo When Using the RC servo command a signal is sent to the RC Servo which it compares to an internal signal. The signal the controller sends is where we want to go. The internal Servo signal tells the Servo where it is. When a command is issued the Servo will try to move from where it is to where we say we want to go. Normally we will send this signal 20 times. This allows the servo to find the position desired and stop. So why change Accuracy? Some times we need to make two motors move at once so it's better then to lower the Accuracy value to say 5 and repeat the command a couple of times in the program. This will allow both motor to move almost at the same time. This lower Value is also great for the sweep command, it will make the movement look smooth. Use the slide bar to choose a value from 1 - 200. ANALOG : Get an Analog input from A1 to A5 (AUX PORT) This Command will let you read the Value of a resistive component such as a Potentiometer or a Photo cell. When the command is executed it places the value of the component as a value of 0 to 255 in the Variable ( V1, V2, V3, or V4 )chosen . You will choose from radio button A1 or A2. Then you will choose from radio button Variable #1, Variable #2, Variable #3 or Variable #4. Variable #5 is the analog calibartion value normal value is 240 (0-255) AUTO START : Set Auto Start On or Off Put this command at the beginning or end of your program. If On is selected , the controller will start running the program that is currently in memory. Once this is done, the program being run can only be stopped by using the controller program software. AXIS HOME : Sets all selected servos to home position You will be asked to select the servos to be sent to the home position. Use the Axis Home Set Command to specify the home position of each servo. AXIS HOME SET : Select I/O Axis Point and then choose degree 0-180. Select the I/O Axis point, then use the sliding bar to select the degree for the home position of this axis ( 0-180 degrees). AXIS MOVE : Select a I/O Axis Point and a position to go to from 0 to 180 degrees User chooses an I/O point that has an RC Servo Connected. Use the sliding bar to enter a degree position to move this servo ( 0-180 ). COMMENT LINE : Enter a Comment Places a Comment line in the program. This is good for reviewing a written program. Please enter a text line into the popup box. DATA READ : READ data value in user memory area 1-200 into V1,V2,V3,V4 Use the slide bar to select a User Memory Location for the read. Then select a variable ( Variable #1, Variable #2, Variable #3 or Variable #4) for the value to be placed. DATA WRITE : WRITE data value in user memory area 1-200 Use the slide bar to select a User Memory Location for the write. Then select a variable ( Variable #1, Variable #2, Variable #3 or Variable #4 ) from which we will take the value and write it to the specified user memory location. DECREMENT : Select a Variable and subtract 1 Subtract 1 from the value of chosen variable ( Variable #1, Variable #2, Variable #3 or Variable #4 ) END : End Program Ends The Program. Once run, the Controller will have to be restated. IF Auto Start is Selected, Auto Start will be canceled. GOTO : Goto another point in this program Changes the program execution to the "TAG" entered. Enter the TAG into the text box provided. IBUTTON : Read a serial code from a Ibutton (Aux Port) Reads the value of a Dallas Ibutton 1990A into user memory locations 193 - 200. IF VARIABLE : Logical and Math operations There are two types of operations you may perform. A logical comparison of two variables and a resulting GOTO or a mathematical operation. Select a variable from Variable #1, Variable #2, Variable #3 or Variable #4. Choose an operation. If a logical operation is selected, you will need to choose the comparison variable ( #1 - #4 ). Then you will be asked to select a goto TAG. If a math operation is selected, the math will be performed. Logical Operators: ---------------------- = Equal to > Greater Than < Less Than <>Not Equal to Math Operations: ------------------------ V1 + V2 Variable #1 added to Variable #2 with the result in Variable #1 V1 - V2 Variable #1 subtracted from Variable #2 with the result in Variable #1 V1 x V2 Variable #1 multiplied by Variable #2 with the result in Variable #1 V1 / V2 Variable #1 divided by Variable #2 with the result in Variable #1 V3 + V4 Variable #3 added to Variable #4 with the result in Variable #3 V3 - V4 Variable #3 subtracted from Variable #4 with the result in Variable #3 V3 x V4 Variable #3 multiplied by Variable #4 with the result in Variable #3 V3 / V4 Variable #3 divided by Variable #4 with the result in Variable #3 INCREMENT : Select a Variable and Add 1 to the Variable Add 1 to the Value of chosen variable. INPUT : ON Input = High goto a line in this program Select a I/O point for input, IF the value of the input is High (connected to the 5 volt output), the program will continue at the chosen TAG. If the input is low the program will continue to the next line. Key Pad Input: Reads attached keyboard to AUX port place key value in V1 (value 1-12 ) 0 = no key pressed LOOP : Start the program over Loop returns to the start of the program. MANUAL MODE : return to manual mode ( PC control ) Manual mode allows the Main Screen to control the servo's /70/00/000 will restart the program running from the manual screen. ** Note: the serial cable must be connected from the PC to the controller. OUTPUT : Set an Output state Set the selected I/O point to High ( 5 volts ) or Low ( 0 volts ). You will be asked to select an I/O port and then high or low. PAUSE : Wait a number of seconds Enter the time in seconds to pause program execution. Use the slide bar to select a valid amount of time. RECEIVE : receive a one byte value from RS-232 Select a value to match a one byte ( single character ) serial input. IF the serial value matches the selected value then the program will goto the TAG entered. If the values don't match then the next program line will be executed. SOUND : Play a note. Send a note to a speaker. Use the slide bars to select pitch and duration of the note. SLEEP : Sets controller into a low power mode from 1 Min up to 18 Hours Suspends program for 1 min up to 18 hours and then continues. SOUND : Play a note (Speaker Aux Port) Select Pitch 1-175 and duration of 1 to 200. SWEEP : Move a servo from one point to another 1 degree at a time Select an I/O point to move. Use the slide bar to select a starting point and then the end point. The servo will move 1 degree at a time. TALK : send out a message from the RS-232 port Value to be sent out the serial port. Enter the value into the text box. Choose send as text or send as value. You have the option to check the checkbox for the addition of a carriage return and line feed at the end of the value. TALK V1 BIN : send out V1 from the RS-232 port as Binary Sends out the value in Variable #1 as binary. TALK V1 DEC : send out V1 from the RS-232 port as decimal Sends out the value in Variable #1 as decimal. TALK V1 HEX : send out V1 from the RS-232 port as Hexadecimal Sends out the value in Variable #1 as hexadecimal. TEMP : Read temperature from a Dallas DS1820 Reads temperature from a Dallas DS1820 and places the value in Variable #1. TOGGLE OUTPUT : Changes Output State Command Changes the STATE of the selected output. It is set to the inverse. ( IF High it is set to Low, IF Low it is set to High ). VARIABLE = : Set the Value of a variable Select one of the 4 variables ( Variable #1,Variable #2,Variable #3,Variable #4 ) and enter the value to be held in the variable. VARIABLE LINE TAG : Set a tag for goto commands Places a TAG for GOTO and IF commands. User can use any name up to 5 Characters.