Reference List
NONI Robot Reference
Starting/ending
Simple
Advanced
selectMap()
Description
Select the map to use with the robot.
This is the first of 3 functions that must be called before writing any code.
Syntax
selectMap(myMapName)
Parameters
myMapName Map name without file extension, e.g., “map1” or “map2” etc.
Returns
Nothing
Examples
selectMap("map1"); selectMap("map2"); selectMap("map3"); selectMap("map4");
Related
selectMap()
robotStartPosition()
robotConnect()
robotDisconnect()
robotStartPosition()
Description
Place the robot at the starting position on the map.
This is the second of 3 functions that must be called before writing any code.
The angle is measured between the x-axis of the robot frame and the x-axis of the world frame. Counter clockwise rotation is positive. When the angle is zero, the robot is pointed in the forward direction in the world frame.
Reference frames:
– World frame has positive x-axis to the right, positive y-axis forward. Origin at bottom left of map.
– Robot body frame has positive x-axis to the right, positive y-axis forward. Origin at the center of the robot.
Syntax
robotStartPosition(x, y, theta)
Parameters
x X coordinate of the starting location of the robot (world frame) [mm]
y Y coordinate of the starting location of the robot (world frame) [mm]
theta Starting direction of the robot world frame positive counterclockwise [deg]
Returns
Nothing
Examples
robotStartPosition(100, 100, 0);
robotStartPosition(300, 100, 45);
robotStartPosition(500, 500, 90);
robotStartPosition(500, 500, 180);
robotStartPosition(200, 200, 270);
Related
selectMap()
robotStartPosition()
robotConnect()
robotDisconnect()
robotConnect()
Description
Connect to the robot.
This is the third of 3 functions that must be called before writing any code.
Syntax
robotConnect()
Parameters
None
Returns
Nothing
Examples
robotConnect();
Related
selectMap()
robotStartPosition()
robotConnect()
robotDisconnect()
robotDisconnect()
Description
Disconnect from the robot.
This function must always be called at the end of the code.
Syntax
robotDisconnect()
Parameters
None
Returns
Nothing
Examples
robotDisconnect();
Related
selectMap()
robotStartPosition()
robotConnect()
robotDisconnect()
forward()
Description
Go forward one step (100 mm).
Syntax
forward()
Parameters
None
Returns
Nothing
Examples
forward();
Related
forward()
backward()
right()
left()
paint()
blink()
backward()
Description
Go backward one step (100 mm).
Syntax
backward()
Parameters
None
Returns
Nothing
Examples
backward();
Related
forward()
backward()
right()
left()
paint()
blink()
right()
Description
Turn right (90 degrees).
Syntax
right()
Parameters
None
Returns
Nothing
Examples
right();
Related
forward()
backward()
right()
left()
paint()
blink()
left()
Description
Turn left (90 degrees).
Syntax
left()
Parameters
None
Returns
Nothing
Examples
left();
Related
forward()
backward()
right()
left()
paint()
blink()
paint()
Description
Make a paint dot at the current robot location.
The paint dot appears under the body of the robot, so it will not be visible if the robot stays at that location. It will be visible once the robot moves away from that location.
Syntax
paint()
Parameters
None
Returns
Nothing
Examples
paint();
Related
forward()
backward()
right()
left()
paint()
blink()
blink()
Description
Blink the onboard LED 3 times.
The blink pattern is 1 second on, 1 second off.
Syntax
blink()
Parameters
None
Returns
Nothing
Examples
blink();
Related
forward()
backward()
right()
left()
paint()
blink()
leftMotorVelocity()
Description
Set motor velocity for left motor.
Set to 100 for full speed forward. Set to -100 for full speed backward. Set to 0 to stop motor.
Syntax
leftMotorVelocity(velocity)
Parameters
velocity Motor velocity (-100 to 100).
Returns
Nothing
Examples
Drive the left wheel at full speed in the forward direction:
leftMotorVeclocity(100);
Drive the left wheel at half speed in the forward direction:
leftMotorVeclocity(50);
Drive the left wheel at full speed in the backward direction:
leftMotorVeclocity(-100);
Stop the left wheel:
leftMotorVeclocity(0);
Related
leftMotorVelocity
rightMotorVelocity()
lineSensor()
led()
waitSeconds()
timeSeconds()
rightMotorVelocity()
Description
Set motor velocity for right motor.
Set to 100 for full speed forward. Set to -100 for full speed backward. Set to 0 to stop motor.
Syntax
rightMotorVelocity(velocity)
Parameters
velocity Motor velocity (-100 to 100).
Returns
Nothing
Examples
Drive the right wheel at full speed in the forward direction:
rightMotorVeclocity(100);
Drive the right wheel at half speed in the forward direction:
rightMotorVeclocity(50);
Drive the right wheel at full speed in the backward direction:
rightMotorVeclocity(-100);
Stop the right wheel:
rightMotorVeclocity(0);
Related
leftMotorVelocity
rightMotorVelocity()
lineSensor()
led()
waitSeconds()
timeSeconds()
lineSensor()
Description
Read analog value from the line sensor.
Uses infrared light to detect the black lines on a map. A value of zero indicates that no light is being reflected, that is, the surface is black. A value of 255 indicates that all the light is being reflected, that is, the surface is white.
Syntax
lineSensor()
Parameters
None
Returns
Analog value from 0 to 255.
Examples
Check if the line sensor value indicates a dark line. If true, turn on the LED:
var sensorValue;
sensorValue = lineSensor();
if(sensorValue < 128) {
led(1);
waitSeconds(0.1);
}
Related
leftMotorVelocity
rightMotorVelocity()
lineSensor()
led()
waitSeconds()
timeSeconds()
led()
Description
Turn onboard LED on or off.
Syntax
led(value)
Parameters
value On/off value, 0 for on, 1 for off.
Returns
Nothing
Examples
Turn the LED on for 2 seconds, off for 3 seconds, then on for 1 second:
led(1); waitSeconds(2); led(0); waitSeconds(3); led(1); waitSeconds(1);
Related
leftMotorVelocity
rightMotorVelocity()
lineSensor()
led()
waitSeconds()
timeSeconds()
waitSeconds()
Description
Wait for a specified amount of seconds.
If you are using the advanced commands, use this. Can use whole seconds, e.g. 1, 2, 3, or partial seconds, e.g. 1.1, 2.5, 5.7, etc.
You must to use this after advanced commands in order to give the robot time to respond to your commands. If you do not use this at all in your code, then your robot will not have time to carry out any commands and the robot will never move.
At a minimum, after each group of advanced commands, use 0.030 seconds.
Syntax
waitSeconds(seconds)
Parameters
seconds Number of seconds.
Returns
Nothing
Examples
Drive the robot a tiny distance forward, then stop:
leftWheelVelocity(75); rightWheelVelocity(75); waitSeconds(0.1); leftWheelVelocity(0); rightWheelVelocity(0); waitSeconds(0.1);
Turn the robot right for 2.5 seconds, then stop:
leftWheelVelocity(50); rightWheelVelocity(-50); waitSeconds(2.5); leftWheelVelocity(0); rightWheelVelocity(0); waitSeconds(0.1);
Related
leftMotorVelocity
rightMotorVelocity()
lineSensor()
led()
waitSeconds()
timeSeconds()
timeSeconds()
Description
Get time elapsed since the start of the program.
Use this for keeping track of time.
Syntax
timeSeconds()
Parameters
None
Returns
Nothing
Examples
Turn the robot right for 2.5 seconds, then stop:
var currTime = timeSeconds();
while((timeSeconds() - currTime) < 2.5) {
leftWheelVelocity(50);
rightWheelVelocity(-50);
waitSeconds(0.1);
}
leftWheelVelocity(0);
rightWheelVelocity(0);
waitSeconds(0.1);
Drive the robot forward for 5 seconds, then stop:
var currTime = timeSeconds();
while((timeSeconds() - currTime) < 5) {
leftWheelVelocity(50);
rightWheelVelocity(50);
waitSeconds(0.1);
}
leftWheelVelocity(0);
rightWheelVelocity(0);
waitSeconds(0.1);