NXCDefs.h File Reference

Constants, macros, and API functions for NXC. More...

#include "NBCCommon.h"

Data Structures
struct	ColorSensorReadType
	Parameters for the ColorSensorRead system call. More...
struct	InputValuesType
	Parameters for the RemoteGetInputValues function. More...
struct	InputPinFunctionType
	Parameters for the InputPinFunction system call. More...
struct	OutputStateType
	Parameters for the RemoteGetOutputState function. More...
struct	LocationType
	A point on the NXT LCD screen. More...
struct	SizeType
	Width and height dimensions for the DrawRect system call. More...
struct	DrawTextType
	Parameters for the DrawText system call. More...
struct	DrawPointType
	Parameters for the DrawPoint system call. More...
struct	DrawLineType
	Parameters for the DrawLine system call. More...
struct	DrawCircleType
	Parameters for the DrawCircle system call. More...
struct	DrawRectType
	Parameters for the DrawRect system call. More...
struct	DrawGraphicType
	Parameters for the DrawGraphic system call. More...
struct	SetScreenModeType
	Parameters for the SetScreenMode system call. More...
struct	DisplayExecuteFunctionType
	Parameters for the DisplayExecuteFunction system call. More...
struct	DrawGraphicArrayType
	Parameters for the DrawGraphicArray system call. More...
struct	DrawPolygonType
	Parameters for the DrawPolygon system call. More...
struct	DrawEllipseType
	Parameters for the DrawEllipse system call. More...
struct	DrawFontType
	Parameters for the DrawFont system call. More...
struct	Tone
	Type used with the PlayTones API function. More...
struct	SoundPlayFileType
	Parameters for the SoundPlayFile system call. More...
struct	SoundPlayToneType
	Parameters for the SoundPlayTone system call. More...
struct	SoundGetStateType
	Parameters for the SoundGetState system call. More...
struct	SoundSetStateType
	Parameters for the SoundSetState system call. More...
struct	CommLSWriteType
	Parameters for the CommLSWrite system call. More...
struct	CommLSReadType
	Parameters for the CommLSRead system call. More...
struct	CommLSCheckStatusType
	Parameters for the CommLSCheckStatus system call. More...
struct	CommLSWriteExType
	Parameters for the CommLSWriteEx system call. More...
struct	GetStartTickType
	Parameters for the GetStartTick system call. More...
struct	KeepAliveType
	Parameters for the KeepAlive system call. More...
struct	IOMapReadType
	Parameters for the IOMapRead system call. More...
struct	IOMapWriteType
	Parameters for the IOMapWrite system call. More...
struct	IOMapReadByIDType
	Parameters for the IOMapReadByID system call. More...
struct	IOMapWriteByIDType
	Parameters for the IOMapWriteByID system call. More...
struct	DatalogWriteType
	Parameters for the DatalogWrite system call. More...
struct	DatalogGetTimesType
	Parameters for the DatalogGetTimes system call. More...
struct	ReadSemDataType
	Parameters for the ReadSemData system call. More...
struct	WriteSemDataType
	Parameters for the WriteSemData system call. More...
struct	UpdateCalibCacheInfoType
	Parameters for the UpdateCalibCacheInfo system call. More...
struct	ComputeCalibValueType
	Parameters for the ComputeCalibValue system call. More...
struct	MemoryManagerType
	Parameters for the MemoryManager system call. More...
struct	ReadLastResponseType
	Parameters for the ReadLastResponse system call. More...
struct	MessageWriteType
	Parameters for the MessageWrite system call. More...
struct	MessageReadType
	Parameters for the MessageRead system call. More...
struct	CommBTCheckStatusType
	Parameters for the CommBTCheckStatus system call. More...
struct	CommBTWriteType
	Parameters for the CommBTWrite system call. More...
struct	JoystickMessageType
	The JoystickMessageType structure. More...
struct	JoystickExMessageType
	The JoystickExMessageType structure. More...
struct	CommExecuteFunctionType
	Parameters for the CommExecuteFunction system call. More...
struct	CommHSControlType
	Parameters for the CommHSControl system call. More...
struct	CommHSCheckStatusType
	Parameters for the CommHSCheckStatus system call. More...
struct	CommHSReadWriteType
	Parameters for the CommHSReadWrite system call. More...
struct	CommBTOnOffType
	Parameters for the CommBTOnOff system call. More...
struct	CommBTConnectionType
	Parameters for the CommBTConnection system call. More...
struct	ReadButtonType
	Parameters for the ReadButton system call. More...
struct	SetSleepTimeoutType
	Parameters for the SetSleepTimeout system call. More...
struct	FileOpenType
	Parameters for the FileOpen system call. More...
struct	FileReadWriteType
	Parameters for the FileReadWrite system call. More...
struct	FileCloseType
	Parameters for the FileClose system call. More...
struct	FileResolveHandleType
	Parameters for the FileResolveHandle system call. More...
struct	FileRenameType
	Parameters for the FileRename system call. More...
struct	FileDeleteType
	Parameters for the FileDelete system call. More...
struct	LoaderExecuteFunctionType
	Parameters for the LoaderExecuteFunction system call. More...
struct	FileFindType
	Parameters for the FileFind system call. More...
struct	FileSeekType
	Parameters for the FileSeek system call. More...
struct	FileResizeType
	Parameters for the FileResize system call. More...
struct	FileTellType
	Parameters for the FileTell system call. More...
struct	ListFilesType
	Parameters for the ListFiles system call. More...
struct	XGPacketType
	Parameters for the ReadSensorMIXG1300L function. More...
struct	VectorType
	This structure is used for storing three axis values in a single object. More...
struct	RandomNumberType
	Parameters for the RandomNumber system call. More...
struct	RandomExType
	Parameters for the RandomEx system call. More...
struct	div_t
	Output type of the div function. More...
struct	ldiv_t
	Output type of the ldiv function. More...

Macros
#define	u8   unsigned char
#define	s8   char
#define	u16   unsigned int
#define	s16   int
#define	u32   unsigned long
#define	s32   long
#define	NEG_FLT_MIN   -1E-37
#define	FLT_MIN   1E-37
#define	NEG_FLT_MAX   -1E+37
#define	FLT_MAX   1E+37
#define	S1   0
#define	S2   1
#define	S3   2
#define	S4   3
#define	SENSOR_TYPE_NONE   IN_TYPE_NO_SENSOR
#define	SENSOR_TYPE_TOUCH   IN_TYPE_SWITCH
#define	SENSOR_TYPE_TEMPERATURE   IN_TYPE_TEMPERATURE
#define	SENSOR_TYPE_LIGHT   IN_TYPE_REFLECTION
#define	SENSOR_TYPE_ROTATION   IN_TYPE_ANGLE
#define	SENSOR_TYPE_LIGHT_ACTIVE   IN_TYPE_LIGHT_ACTIVE
#define	SENSOR_TYPE_LIGHT_INACTIVE   IN_TYPE_LIGHT_INACTIVE
#define	SENSOR_TYPE_SOUND_DB   IN_TYPE_SOUND_DB
#define	SENSOR_TYPE_SOUND_DBA   IN_TYPE_SOUND_DBA
#define	SENSOR_TYPE_CUSTOM   IN_TYPE_CUSTOM
#define	SENSOR_TYPE_LOWSPEED   IN_TYPE_LOWSPEED
#define	SENSOR_TYPE_LOWSPEED_9V   IN_TYPE_LOWSPEED_9V
#define	SENSOR_TYPE_HIGHSPEED   IN_TYPE_HISPEED
#define	SENSOR_TYPE_COLORFULL   IN_TYPE_COLORFULL
#define	SENSOR_TYPE_COLORRED   IN_TYPE_COLORRED
#define	SENSOR_TYPE_COLORGREEN   IN_TYPE_COLORGREEN
#define	SENSOR_TYPE_COLORBLUE   IN_TYPE_COLORBLUE
#define	SENSOR_TYPE_COLORNONE   IN_TYPE_COLORNONE
#define	SENSOR_MODE_RAW   IN_MODE_RAW
#define	SENSOR_MODE_BOOL   IN_MODE_BOOLEAN
#define	SENSOR_MODE_EDGE   IN_MODE_TRANSITIONCNT
#define	SENSOR_MODE_PULSE   IN_MODE_PERIODCOUNTER
#define	SENSOR_MODE_PERCENT   IN_MODE_PCTFULLSCALE
#define	SENSOR_MODE_CELSIUS   IN_MODE_CELSIUS
#define	SENSOR_MODE_FAHRENHEIT   IN_MODE_FAHRENHEIT
#define	SENSOR_MODE_ROTATION   IN_MODE_ANGLESTEP
#define	_SENSOR_CFG(_type, _mode)   (((_type)<<8)+(_mode))
#define	SENSOR_TOUCH   _SENSOR_CFG(SENSOR_TYPE_TOUCH, SENSOR_MODE_BOOL)
#define	SENSOR_LIGHT   _SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_PERCENT)
#define	SENSOR_ROTATION   _SENSOR_CFG(SENSOR_TYPE_ROTATION, SENSOR_MODE_ROTATION)
#define	SENSOR_CELSIUS   _SENSOR_CFG(SENSOR_TYPE_TEMPERATURE, SENSOR_MODE_CELSIUS)
#define	SENSOR_FAHRENHEIT   _SENSOR_CFG(SENSOR_TYPE_TEMPERATURE, SENSOR_MODE_FAHRENHEIT)
#define	SENSOR_PULSE   _SENSOR_CFG(SENSOR_TYPE_TOUCH, SENSOR_MODE_PULSE)
#define	SENSOR_EDGE   _SENSOR_CFG(SENSOR_TYPE_TOUCH, SENSOR_MODE_EDGE)
#define	SENSOR_NXTLIGHT   _SENSOR_CFG(SENSOR_TYPE_LIGHT_ACTIVE, SENSOR_MODE_PERCENT)
#define	SENSOR_SOUND   _SENSOR_CFG(SENSOR_TYPE_SOUND_DB, SENSOR_MODE_PERCENT)
#define	SENSOR_LOWSPEED_9V   _SENSOR_CFG(SENSOR_TYPE_LOWSPEED_9V, SENSOR_MODE_RAW)
#define	SENSOR_LOWSPEED   _SENSOR_CFG(SENSOR_TYPE_LOWSPEED, SENSOR_MODE_RAW)
#define	SENSOR_COLORFULL   _SENSOR_CFG(SENSOR_TYPE_COLORFULL, SENSOR_MODE_RAW)
#define	SENSOR_COLORRED   _SENSOR_CFG(SENSOR_TYPE_COLORRED, SENSOR_MODE_PERCENT)
#define	SENSOR_COLORGREEN   _SENSOR_CFG(SENSOR_TYPE_COLORGREEN, SENSOR_MODE_PERCENT)
#define	SENSOR_COLORBLUE   _SENSOR_CFG(SENSOR_TYPE_COLORBLUE, SENSOR_MODE_PERCENT)
#define	SENSOR_COLORNONE   _SENSOR_CFG(SENSOR_TYPE_COLORNONE, SENSOR_MODE_PERCENT)
#define	SENSOR_1   Sensor(S1)
#define	SENSOR_2   Sensor(S2)
#define	SENSOR_3   Sensor(S3)
#define	SENSOR_4   Sensor(S4)
#define	LT   0x00
#define	GT   0x01
#define	LTEQ   0x02
#define	GTEQ   0x03
#define	EQ   0x04
#define	NEQ   0x05
#define	Sqrt(_X)   asm { sqrt __FLTRETVAL__, _X }
	Compute square root.
#define	Sin(_X)   asm { sin __FLTRETVAL__, _X }
	Compute sine.
#define	Cos(_X)   asm { cos __FLTRETVAL__, _X }
	Compute cosine.
#define	Asin(_X)   asm { asin __FLTRETVAL__, _X }
	Compute arc sine.
#define	Acos(_X)   asm { acos __FLTRETVAL__, _X }
	Compute arc cosine.
#define	Atan(_X)   asm { atan __FLTRETVAL__, _X }
	Compute arc tangent.
#define	Ceil(_X)   asm { ceil __FLTRETVAL__, _X }
	Round up value.
#define	Exp(_X)   asm { exp __FLTRETVAL__, _X }
	Compute exponential function .
#define	Floor(_X)   asm { floor __FLTRETVAL__, _X }
	Round down value.
#define	Tan(_X)   asm { tan __FLTRETVAL__, _X }
	Compute tangent.
#define	Tanh(_X)   asm { tanh __FLTRETVAL__, _X }
	Compute hyperbolic tangent.
#define	Cosh(_X)   asm { cosh __FLTRETVAL__, _X }
	Compute hyperbolic cosine.
#define	Sinh(_X)   asm { sinh __FLTRETVAL__, _X }
	Compute hyperbolic sine.
#define	Log(_X)   asm { log __FLTRETVAL__, _X }
	Compute natural logarithm.
#define	Log10(_X)   asm { log10 __FLTRETVAL__, _X }
	Compute common logarithm.
#define	Atan2(_Y, _X)   asm { atan2 __FLTRETVAL__, _Y, _X }
	Compute arc tangent with 2 parameters.
#define	Pow(_Base, _Exponent)   asm { pow __FLTRETVAL__, _Base, _Exponent }
	Raise to power.
#define	Trunc(_X)   asm { trunc __RETVAL__, _X }
	Compute integral part.
#define	Frac(_X)   asm { frac __FLTRETVAL__, _X }
	Compute fractional part.
#define	MulDiv32(_A, _B, _C)   asm { muldiv __RETVAL__, _A, _B, _C }
	Multiply and divide.
#define	SinD(_X)   asm { sind __FLTRETVAL__, _X }
	Compute sine (degrees).
#define	CosD(_X)   asm { cosd __FLTRETVAL__, _X }
	Compute cosine (degrees).
#define	AsinD(_X)   asm { asind __FLTRETVAL__, _X }
	Compute arch sine (degrees).
#define	AcosD(_X)   asm { acosd __FLTRETVAL__, _X }
	Compute arc cosine (degrees).
#define	AtanD(_X)   asm { atand __FLTRETVAL__, _X }
	Compute arc tangent (degrees).
#define	TanD(_X)   asm { tand __FLTRETVAL__, _X }
	Compute tangent (degrees).
#define	TanhD(_X)   asm { tanhd __FLTRETVAL__, _X }
	Compute hyperbolic tangent (degrees).
#define	CoshD(_X)   asm { coshd __FLTRETVAL__, _X }
	Compute hyperbolic cosine (degrees).
#define	SinhD(_X)   asm { sinhd __FLTRETVAL__, _X }
	Compute hyperbolic sine (degrees).
#define	Atan2D(_Y, _X)   asm { atan2d __FLTRETVAL__, _Y, _X }
	Compute arc tangent with two parameters (degrees).
#define	getc(_handle)   fgetc(_handle)
	Get character from file.
#define	putc(_ch, _handle)   fputc(_ch, _handle)
	Write character to file.
#define	SEEK_SET   0
#define	SEEK_CUR   1
#define	SEEK_END   2
#define	RICSetValue(_data, _idx, _newval)   _data[(_idx)] = (_newval)&0xFF; _data[(_idx)+1] = (_newval)>>8
	Set the value of an element in an RIC data array.

Functions
void	SetSensorType (const byte &port, byte type)
	Set sensor type.
void	SetSensorMode (const byte &port, byte mode)
	Set sensor mode.
void	ClearSensor (const byte &port)
	Clear a sensor value.
void	ResetSensor (const byte &port)
	Reset the sensor port.
void	SetSensor (const byte &port, const unsigned int config)
	Set sensor configuration.
void	SetSensorTouch (const byte &port)
	Configure a touch sensor.
void	SetSensorLight (const byte &port, bool bActive=true)
	Configure a light sensor.
void	SetSensorSound (const byte &port, bool bdBScaling=true)
	Configure a sound sensor.
void	SetSensorLowspeed (const byte &port, bool bIsPowered=true)
	Configure an I2C sensor.
void	SetSensorUltrasonic (const byte &port)
	Configure an ultrasonic sensor.
void	SetSensorEMeter (const byte &port)
	Configure an EMeter sensor.
void	SetSensorTemperature (const byte &port)
	Configure a temperature sensor.
void	SetSensorColorFull (const byte &port)
	Configure an NXT 2.0 full color sensor.
void	SetSensorColorRed (const byte &port)
	Configure an NXT 2.0 red light sensor.
void	SetSensorColorGreen (const byte &port)
	Configure an NXT 2.0 green light sensor.
void	SetSensorColorBlue (const byte &port)
	Configure an NXT 2.0 blue light sensor.
void	SetSensorColorNone (const byte &port)
	Configure an NXT 2.0 no light sensor.
variant	GetInput (const byte &port, const byte field)
	Get an input field value.
void	SetInput (const byte &port, const int field, variant value)
	Set an input field value.
unsigned int	Sensor (const byte &port)
	Read sensor scaled value.
bool	SensorBoolean (const byte port)
	Read sensor boolean value.
byte	SensorDigiPinsDirection (const byte port)
	Read sensor digital pins direction.
byte	SensorDigiPinsOutputLevel (const byte port)
	Read sensor digital pins output level.
byte	SensorDigiPinsStatus (const byte port)
	Read sensor digital pins status.
bool	SensorInvalid (const byte &port)
	Read sensor invalid data flag.
byte	SensorMode (const byte &port)
	Read sensor mode.
unsigned int	SensorNormalized (const byte &port)
	Read sensor normalized value.
unsigned int	SensorRaw (const byte &port)
	Read sensor raw value.
unsigned int	SensorScaled (const byte &port)
	Read sensor scaled value.
byte	SensorType (const byte &port)
	Read sensor type.
unsigned int	SensorValue (const byte &port)
	Read sensor scaled value.
bool	SensorValueBool (const byte port)
	Read sensor boolean value.
unsigned int	SensorValueRaw (const byte &port)
	Read sensor raw value.
byte	CustomSensorActiveStatus (byte port)
	Get the custom sensor active status.
byte	CustomSensorPercentFullScale (byte port)
	Get the custom sensor percent full scale.
unsigned int	CustomSensorZeroOffset (byte port)
	Get the custom sensor zero offset.
void	SetCustomSensorActiveStatus (byte port, byte activeStatus)
	Set active status.
void	SetCustomSensorPercentFullScale (byte port, byte pctFullScale)
	Set percent full scale.
void	SetCustomSensorZeroOffset (byte port, int zeroOffset)
	Set custom zero offset.
void	SetSensorBoolean (byte port, bool value)
	Set sensor boolean value.
void	SetSensorDigiPinsDirection (byte port, byte direction)
	Set digital pins direction.
void	SetSensorDigiPinsOutputLevel (byte port, byte outputLevel)
	Set digital pins output level.
void	SetSensorDigiPinsStatus (byte port, byte status)
	Set digital pins status.
void	SysColorSensorRead (ColorSensorReadType &args)
	Read LEGO color sensor.
int	ReadSensorColorEx (const byte &port, int &colorval, unsigned int &raw[], unsigned int &norm[], int &scaled[])
	Read LEGO color sensor extra.
int	ReadSensorColorRaw (const byte &port, unsigned int &rawVals[])
	Read LEGO color sensor raw values.
unsigned int	ColorADRaw (byte port, byte color)
	Read a LEGO color sensor AD raw value.
bool	ColorBoolean (byte port, byte color)
	Read a LEGO color sensor boolean value.
long	ColorCalibration (byte port, byte point, byte color)
	Read a LEGO color sensor calibration point value.
byte	ColorCalibrationState (byte port)
	Read LEGO color sensor calibration state.
unsigned int	ColorCalLimits (byte port, byte point)
	Read a LEGO color sensor calibration limit value.
unsigned int	ColorSensorRaw (byte port, byte color)
	Read a LEGO color sensor raw value.
unsigned int	ColorSensorValue (byte port, byte color)
	Read a LEGO color sensor scaled value.
void	SysInputPinFunction (InputPinFunctionType &args)
	Execute the Input module pin function.
void	SetMotorPwnFreq (byte n)
	Set motor regulation frequency.
void	SetMotorRegulationTime (byte n)
	Set regulation time.
void	SetMotorRegulationOptions (byte n)
	Set regulation options.
void	OnFwdSyncPID (byte outputs, char pwr, char turnpct, byte p, byte i, byte d)
	Run motors forward synchronised with PID factors.
void	OnFwdSyncExPID (byte outputs, char pwr, char turnpct, const byte reset, byte p, byte i, byte d)
	Run motors forward synchronised and reset counters with PID factors.
void	OnRevSyncPID (byte outputs, char pwr, char turnpct, byte p, byte i, byte d)
	Run motors backward synchronised with PID factors.
void	OnRevSyncExPID (byte outputs, char pwr, char turnpct, const byte reset, byte p, byte i, byte d)
	Run motors backward synchronised and reset counters with PID factors.
void	OnFwdRegPID (byte outputs, char pwr, byte regmode, byte p, byte i, byte d)
	Run motors forward regulated with PID factors.
void	OnFwdRegExPID (byte outputs, char pwr, byte regmode, const byte reset, byte p, byte i, byte d)
	Run motors forward regulated and reset counters with PID factors.
void	OnRevRegPID (byte outputs, char pwr, byte regmode, byte p, byte i, byte d)
	Run motors reverse regulated with PID factors.
void	OnRevRegExPID (byte outputs, char pwr, byte regmode, const byte reset, byte p, byte i, byte d)
	Run motors backward regulated and reset counters with PID factors.
void	Off (byte outputs)
	Turn motors off.
void	OffEx (byte outputs, const byte reset)
	Turn motors off and reset counters.
void	Coast (byte outputs)
	Coast motors.
void	CoastEx (byte outputs, const byte reset)
	Coast motors and reset counters.
void	Float (byte outputs)
	Float motors.
void	OnFwd (byte outputs, char pwr)
	Run motors forward.
void	OnFwdEx (byte outputs, char pwr, const byte reset)
	Run motors forward and reset counters.
void	OnRev (byte outputs, char pwr)
	Run motors backward.
void	OnRevEx (byte outputs, char pwr, const byte reset)
	Run motors backward and reset counters.
void	OnFwdReg (byte outputs, char pwr, byte regmode)
	Run motors forward regulated.
void	OnFwdRegEx (byte outputs, char pwr, byte regmode, const byte reset)
	Run motors forward regulated and reset counters.
void	OnRevReg (byte outputs, char pwr, byte regmode)
	Run motors forward regulated.
void	OnRevRegEx (byte outputs, char pwr, byte regmode, const byte reset)
	Run motors backward regulated and reset counters.
void	OnFwdSync (byte outputs, char pwr, char turnpct)
	Run motors forward synchronised.
void	OnFwdSyncEx (byte outputs, char pwr, char turnpct, const byte reset)
	Run motors forward synchronised and reset counters.
void	OnRevSync (byte outputs, char pwr, char turnpct)
	Run motors backward synchronised.
void	OnRevSyncEx (byte outputs, char pwr, char turnpct, const byte reset)
	Run motors backward synchronised and reset counters.
void	RotateMotor (byte outputs, char pwr, long angle)
	Rotate motor.
void	RotateMotorPID (byte outputs, char pwr, long angle, byte p, byte i, byte d)
	Rotate motor with PID factors.
void	RotateMotorEx (byte outputs, char pwr, long angle, char turnpct, bool sync, bool stop)
	Rotate motor Ex.
void	RotateMotorExPID (byte outputs, char pwr, long angle, char turnpct, bool sync, bool stop, byte p, byte i, byte d)
	Rotate motor Ex with PID factors.
void	ResetTachoCount (byte outputs)
	Reset tachometer counter.
void	ResetBlockTachoCount (byte outputs)
	Reset block-relative counter.
void	ResetRotationCount (byte outputs)
	Reset program-relative counter.
void	ResetAllTachoCounts (byte outputs)
	Reset all tachometer counters.
void	SetOutput (byte outputs, byte field1, variant val1,..., byte fieldN, variant valN)
	Set output fields.
variant	GetOutput (byte output, const byte field)
	Get output field value.
byte	MotorMode (byte output)
	Get motor mode.
char	MotorPower (byte output)
	Get motor power level.
char	MotorActualSpeed (byte output)
	Get motor actual speed.
long	MotorTachoCount (byte output)
	Get motor tachometer counter.
long	MotorTachoLimit (byte output)
	Get motor tachometer limit.
byte	MotorRunState (byte output)
	Get motor run state.
char	MotorTurnRatio (byte output)
	Get motor turn ratio.
byte	MotorRegulation (byte output)
	Get motor regulation mode.
bool	MotorOverload (byte output)
	Get motor overload status.
byte	MotorRegPValue (byte output)
	Get motor P value.
byte	MotorRegIValue (byte output)
	Get motor I value.
byte	MotorRegDValue (byte output)
	Get motor D value.
long	MotorBlockTachoCount (byte output)
	Get motor block-relative counter.
long	MotorRotationCount (byte output)
	Get motor program-relative counter.
byte	MotorOutputOptions (byte output)
	Get motor options.
byte	MotorMaxSpeed (byte output)
	Get motor max speed.
byte	MotorMaxAcceleration (byte output)
	Get motor max acceleration.
byte	MotorPwnFreq ()
	Get motor regulation frequency.
byte	MotorRegulationTime ()
	Get motor regulation time.
byte	MotorRegulationOptions ()
	Get motor regulation options.
void	ResetScreen ()
	Reset LCD screen.
char	CircleOut (int x, int y, byte radius, unsigned long options=DRAW_OPT_NORMAL)
	Draw a circle.
char	LineOut (int x1, int y1, int x2, int y2, unsigned long options=DRAW_OPT_NORMAL)
	Draw a line.
char	PointOut (int x, int y, unsigned long options=DRAW_OPT_NORMAL)
	Draw a point.
char	RectOut (int x, int y, int width, int height, unsigned long options=DRAW_OPT_NORMAL)
	Draw a rectangle.
char	TextOut (int x, int y, string str, unsigned long options=DRAW_OPT_NORMAL)
	Draw text.
char	NumOut (int x, int y, variant value, unsigned long options=DRAW_OPT_NORMAL)
	Draw a number.
char	EllipseOut (int x, int y, byte radiusX, byte radiusY, unsigned long options=DRAW_OPT_NORMAL)
	Draw an ellipse.
char	PolyOut (LocationType points[], unsigned long options=DRAW_OPT_NORMAL)
	Draw a polygon.
char	FontTextOut (int x, int y, string filename, string str, unsigned long options=DRAW_OPT_NORMAL)
	Draw text with font.
char	FontNumOut (int x, int y, string filename, variant value, unsigned long options=DRAW_OPT_NORMAL)
	Draw a number with font.
char	GraphicOut (int x, int y, string filename, unsigned long options=DRAW_OPT_NORMAL)
	Draw a graphic image.
char	GraphicArrayOut (int x, int y, byte data[], unsigned long options=DRAW_OPT_NORMAL)
	Draw a graphic image from byte array.
char	GraphicOutEx (int x, int y, string filename, byte vars[], unsigned long options=DRAW_OPT_NORMAL)
	Draw a graphic image with parameters.
char	GraphicArrayOutEx (int x, int y, byte data[], byte vars[], unsigned long options=DRAW_OPT_NORMAL)
	Draw a graphic image from byte array with parameters.
void	GetDisplayNormal (const byte x, const byte line, unsigned int cnt, byte &data[])
	Read pixel data from the normal display buffer.
void	SetDisplayNormal (const byte x, const byte line, unsigned int cnt, byte data[])
	Write pixel data to the normal display buffer.
void	GetDisplayPopup (const byte x, const byte line, unsigned int cnt, byte &data[])
	Read pixel data from the popup display buffer.
void	SetDisplayPopup (const byte x, const byte line, unsigned int cnt, byte data[])
	Write pixel data to the popup display buffer.
unsigned long	DisplayEraseMask ()
	Read the display erase mask value.
unsigned long	DisplayUpdateMask ()
	Read the display update mask value.
unsigned long	DisplayFont ()
	Read the display font memory address.
unsigned long	DisplayDisplay ()
	Read the display memory address.
byte	DisplayFlags ()
	Read the display flags.
byte	DisplayTextLinesCenterFlags ()
	Read the display text lines center flags.
void	SysDrawText (DrawTextType &args)
	Draw text.
void	SysDrawPoint (DrawPointType &args)
	Draw a point.
void	SysDrawLine (DrawLineType &args)
	Draw a line.
void	SysDrawCircle (DrawCircleType &args)
	Draw a circle.
void	SysDrawRect (DrawRectType &args)
	Draw a rectangle.
void	SysDrawGraphic (DrawGraphicType &args)
	Draw a graphic (RIC file).
void	SysSetScreenMode (SetScreenModeType &args)
	Set the screen mode.
void	SysDisplayExecuteFunction (DisplayExecuteFunctionType &args)
	Execute any Display module command.
byte	DisplayContrast ()
	Read the display contrast setting.
void	SysDrawGraphicArray (DrawGraphicArrayType &args)
	Draw a graphic image from a byte array.
void	SysDrawPolygon (DrawPolygonType &args)
	Draw a polygon.
void	SysDrawEllipse (DrawEllipseType &args)
	Draw an ellipse.
void	SysDrawFont (DrawFontType &args)
	Draw text using a custom font.
void	ClearScreen ()
	Clear LCD screen.
void	ClearLine (byte line)
	Clear a line on the LCD screen.
void	SetDisplayFont (unsigned long fontaddr)
	Set the display font memory address.
void	SetDisplayDisplay (unsigned long dispaddr)
	Set the display memory address.
void	SetDisplayEraseMask (unsigned long eraseMask)
	Set the display erase mask.
void	SetDisplayFlags (byte flags)
	Set the display flags.
void	SetDisplayTextLinesCenterFlags (byte ctrFlags)
	Set the display text lines center flags.
void	SetDisplayUpdateMask (unsigned long updateMask)
	Set the display update mask.
void	SetDisplayContrast (byte contrast)
	Set the display contrast.
char	PlayFile (string filename)
	Play a file.
char	PlayFileEx (string filename, byte volume, bool loop, unsigned int sr=0)
	Play a file with extra options.
char	PlayTone (unsigned int frequency, unsigned int duration)
	Play a tone.
char	PlayToneEx (unsigned int frequency, unsigned int duration, byte volume, bool loop)
	Play a tone with extra options.
byte	SoundState ()
	Get sound module state.
byte	SoundFlags ()
	Get sound module flags.
byte	StopSound ()
	Stop sound.
unsigned int	SoundFrequency ()
	Get sound frequency.
unsigned int	SoundDuration ()
	Get sound duration.
unsigned int	SoundSampleRate ()
	Get sample rate.
byte	SoundMode ()
	Get sound mode.
byte	SoundVolume ()
	Get volume.
void	SetSoundDuration (unsigned int duration)
	Set sound duration.
void	SetSoundFlags (byte flags)
	Set sound module flags.
void	SetSoundFrequency (unsigned int frequency)
	Set sound frequency.
void	SetSoundMode (byte mode)
	Set sound mode.
void	SetSoundModuleState (byte state)
	Set sound module state.
void	SetSoundSampleRate (unsigned int sampleRate)
	Set sample rate.
void	SetSoundVolume (byte volume)
	Set sound volume.
void	SysSoundPlayFile (SoundPlayFileType &args)
	Play sound file.
void	SysSoundPlayTone (SoundPlayToneType &args)
	Play tone.
void	SysSoundGetState (SoundGetStateType &args)
	Get sound state.
void	SysSoundSetState (SoundSetStateType &args)
	Set sound state.
void	PlaySound (const int &aCode)
	Play a system sound.
void	PlayTones (Tone tones[])
	Play multiple tones.
byte	SensorUS (const byte port)
	Read ultrasonic sensor value.
byte	SensorUS0 (const byte port)
	Read ultrasonic sensor value without wait.
byte	SensorUSWait (const byte port, const byte wait)
	Read ultrasonic sensor value with specified wait.
char	ReadSensorUSEx (const byte port, byte &values[])
	Read multiple ultrasonic sensor values.
char	ReadSensorUSEx0 (const byte port, byte &values[])
	Read multiple ultrasonic sensor values without wait.
char	ReadSensorUSExWait (const byte port, byte &values[], const byte wait)
	Read multiple ultrasonic sensor values with specified wait.
char	ReadSensorEMeter (const byte &port, float &vIn, float &aIn, float &vOut, float &aOut, int &joules, float &wIn, float &wOut)
	Read the LEGO EMeter values.
char	ConfigureTemperatureSensor (const byte &port, const byte &config)
	Configure LEGO Temperature sensor options.
float	SensorTemperature (const byte &port)
	Read the LEGO Temperature sensor value.
long	LowspeedStatus (const byte port, byte &bytesready)
	Get lowspeed status.
long	LowspeedCheckStatus (const byte port)
	Check lowspeed status.
byte	LowspeedBytesReady (const byte port)
	Get lowspeed bytes ready.
long	LowspeedWrite (const byte port, byte retlen, byte buffer[])
	Write lowspeed data.
long	LowspeedRead (const byte port, byte buflen, byte &buffer[])
	Read lowspeed data.
long	I2CStatus (const byte port, byte &bytesready)
	Get I2C status.
long	I2CCheckStatus (const byte port)
	Check I2C status.
byte	I2CBytesReady (const byte port)
	Get I2C bytes ready.
long	I2CWrite (const byte port, byte retlen, byte buffer[])
	Write I2C data.
long	I2CRead (const byte port, byte buflen, byte &buffer[])
	Read I2C data.
long	I2CBytes (const byte port, byte inbuf[], byte &count, byte &outbuf[])
	Perform an I2C write/read transaction.
char	ReadI2CRegister (byte port, byte i2caddr, byte reg, byte &out)
	Read I2C register.
char	WriteI2CRegister (byte port, byte i2caddr, byte reg, byte val)
	Write I2C register.
string	I2CDeviceInfo (byte port, byte i2caddr, byte info)
	Read I2C device information.
string	I2CVersion (byte port, byte i2caddr)
	Read I2C device version.
string	I2CVendorId (byte port, byte i2caddr)
	Read I2C device vendor.
string	I2CDeviceId (byte port, byte i2caddr)
	Read I2C device identifier.
long	I2CSendCommand (byte port, byte i2caddr, byte cmd)
	Send an I2C command.
void	GetLSInputBuffer (const byte port, const byte offset, byte cnt, byte &data[])
	Get I2C input buffer data.
void	GetLSOutputBuffer (const byte port, const byte offset, byte cnt, byte &data[])
	Get I2C output buffer data.
byte	LSInputBufferInPtr (const byte port)
	Get I2C input buffer in-pointer.
byte	LSInputBufferOutPtr (const byte port)
	Get I2C input buffer out-pointer.
byte	LSInputBufferBytesToRx (const byte port)
	Get I2C input buffer bytes to rx.
byte	LSOutputBufferInPtr (const byte port)
	Get I2C output buffer in-pointer.
byte	LSOutputBufferOutPtr (const byte port)
	Get I2C output buffer out-pointer.
byte	LSOutputBufferBytesToRx (const byte port)
	Get I2C output buffer bytes to rx.
byte	LSMode (const byte port)
	Get I2C mode.
byte	LSChannelState (const byte port)
	Get I2C channel state.
byte	LSErrorType (const byte port)
	Get I2C error type.
byte	LSState ()
	Get I2C state.
byte	LSSpeed ()
	Get I2C speed.
byte	LSNoRestartOnRead ()
	Get I2C no restart on read setting.
void	SetI2COptions (byte port, byte options)
	Set I2C options.
void	SysCommLSWrite (CommLSWriteType &args)
	Write to a Lowspeed sensor.
void	SysCommLSRead (CommLSReadType &args)
	Read from a Lowspeed sensor.
void	SysCommLSCheckStatus (CommLSCheckStatusType &args)
	Check Lowspeed sensor status.
void	SysCommLSWriteEx (CommLSWriteExType &args)
	Write to a Lowspeed sensor (extra).
unsigned long	CurrentTick ()
	Read the current system tick.
unsigned long	FirstTick ()
	Get the first tick.
long	ResetSleepTimer ()
	Reset the sleep timer.
void	SysCall (byte funcID, variant &args)
	Call any system function.
void	SysGetStartTick (GetStartTickType &args)
	Get start tick.
void	SysKeepAlive (KeepAliveType &args)
	Keep alive.
void	SysIOMapRead (IOMapReadType &args)
	Read from IOMap by name.
void	SysIOMapWrite (IOMapWriteType &args)
	Write to IOMap by name.
void	SysIOMapReadByID (IOMapReadByIDType &args)
	Read from IOMap by identifier.
void	SysIOMapWriteByID (IOMapWriteByIDType &args)
	Write to IOMap by identifier.
void	SysDatalogWrite (DatalogWriteType &args)
	Write to the datalog.
void	SysDatalogGetTimes (DatalogGetTimesType &args)
	Get datalog times.
void	SysReadSemData (ReadSemDataType &args)
	Read semaphore data.
void	SysWriteSemData (WriteSemDataType &args)
	Write semaphore data.
void	SysUpdateCalibCacheInfo (UpdateCalibCacheInfoType &args)
	Update calibration cache information.
void	SysComputeCalibValue (ComputeCalibValueType &args)
	Compute calibration values.
char	GetMemoryInfo (bool Compact, unsigned int &PoolSize, unsigned int &DataspaceSize)
	Read memory information.
void	SysMemoryManager (MemoryManagerType &args)
	Read memory information.
char	GetLastResponseInfo (bool Clear, byte &Length, byte &Command, byte &Buffer[])
	Read last response information.
void	SysReadLastResponse (ReadLastResponseType &args)
	Read last response information.
void	Wait (unsigned long ms)
	Wait some milliseconds.
void	Yield ()
	Yield to another task.
void	StopAllTasks ()
	Stop all tasks.
void	Stop (bool bvalue)
	Stop the running program.
void	ExitTo (task newTask)
	Exit to another task.
void	Precedes (task task1, task task2,..., task taskN)
	Declare tasks that this task precedes.
void	Follows (task task1, task task2,..., task taskN)
	Declare tasks that this task follows.
void	Acquire (mutex m)
	Acquire a mutex.
void	Release (mutex m)
	Acquire a mutex.
void	StartTask (task t)
	Start a task.
void	StopTask (task t)
	Stop a task.
void	BranchTest (const byte cmp, constant void lbl, variant value)
	Branch if test is true.
void	BranchComp (const byte cmp, constant void lbl, variant v1, variant v2)
	Branch if compare is true.
void	ArrayBuild (variant &aout[], variant src1, variant src2,..., variant srcN)
	Build an array.
unsigned int	ArrayLen (variant data[])
	Get array length.
void	ArrayInit (variant &aout[], variant value, unsigned int count)
	Initialize an array.
void	ArraySubset (variant &aout[], variant asrc[], unsigned int idx, unsigned int len)
	Copy an array subset.
void	ArrayIndex (variant &out, variant asrc[], unsigned int idx)
	Extract item from an array.
void	ArrayReplace (variant &asrc[], unsigned int idx, variant value)
	Replace items in an array.
variant	ArraySum (const variant &src[], unsigned int idx, unsigned int len)
	Calculate the sum of the elements in a numeric array.
variant	ArrayMean (const variant &src[], unsigned int idx, unsigned int len)
	Calculate the mean of the elements in a numeric array.
variant	ArraySumSqr (const variant &src[], unsigned int idx, unsigned int len)
	Calculate the sum of the squares of the elements in a numeric array.
variant	ArrayStd (const variant &src[], unsigned int idx, unsigned int len)
	Calculate the standard deviation of the elements in a numeric array.
variant	ArrayMin (const variant &src[], unsigned int idx, unsigned int len)
	Calculate the minimum of the elements in a numeric array.
variant	ArrayMax (const variant &src[], unsigned int idx, unsigned int len)
	Calculate the maximum of the elements in a numeric array.
void	ArraySort (variant &dest[], const variant &src[], unsigned int idx, unsigned int len)
	Sort the elements in a numeric array.
string	UpperCase (string src)
	Uppercase the characters in a string.
string	LowerCase (string src)
	Lowercase the characters in a string.
string	UpperCaseEx (string src, unsigned int idx, unsigned int len)
	Uppercase some of the characters in a string.
string	LowerCaseEx (string src, unsigned int idx, unsigned int len)
	Lowercase some of the characters in a string.
void	ArrayOp (const byte op, variant &dest, const variant &src[], unsigned int idx, unsigned int len)
	Operate on numeric arrays.
void	SetIOMapBytes (string moduleName, unsigned int offset, unsigned int count, byte data[])
	Set IOMap bytes by name.
void	SetIOMapValue (string moduleName, unsigned int offset, variant value)
	Set IOMap value by name.
void	GetIOMapBytes (string moduleName, unsigned int offset, unsigned int count, byte &data[])
	Get IOMap bytes by name.
void	GetIOMapValue (string moduleName, unsigned int offset, variant &value)
	Get IOMap value by name.
void	GetLowSpeedModuleBytes (unsigned int offset, unsigned int count, byte &data[])
	Get Lowspeed module IOMap bytes.
void	GetDisplayModuleBytes (unsigned int offset, unsigned int count, byte &data[])
	Get Display module IOMap bytes.
void	GetCommModuleBytes (unsigned int offset, unsigned int count, byte &data[])
	Get Comm module IOMap bytes.
void	GetCommandModuleBytes (unsigned int offset, unsigned int count, byte &data[])
	Get Command module IOMap bytes.
void	SetCommandModuleBytes (unsigned int offset, unsigned int count, byte data[])
	Set Command module IOMap bytes.
void	SetLowSpeedModuleBytes (unsigned int offset, unsigned int count, byte data[])
	Set Lowspeed module IOMap bytes.
void	SetDisplayModuleBytes (unsigned int offset, unsigned int count, byte data[])
	Set Display module IOMap bytes.
void	SetCommModuleBytes (unsigned int offset, unsigned int count, byte data[])
	Set Comm module IOMap bytes.
void	SetSoundModuleBytes (unsigned int offset, unsigned int count, byte data[])
	Set Sound module IOMap bytes.
void	SetIOMapBytesByID (unsigned long moduleId, unsigned int offset, unsigned int count, byte data[])
	Set IOMap bytes by ID.
void	SetIOMapValueByID (unsigned long moduleId, unsigned int offset, variant value)
	Set IOMap value by ID.
void	GetIOMapBytesByID (unsigned long moduleId, unsigned int offset, unsigned int count, byte &data[])
	Get IOMap bytes by ID.
void	GetIOMapValueByID (unsigned long moduleId, unsigned int offset, variant &value)
	Get IOMap value by ID.
void	SetCommandModuleValue (unsigned int offset, variant value)
	Set Command module IOMap value.
void	SetIOCtrlModuleValue (unsigned int offset, variant value)
	Set IOCtrl module IOMap value.
void	SetLoaderModuleValue (unsigned int offset, variant value)
	Set Loader module IOMap value.
void	SetUIModuleValue (unsigned int offset, variant value)
	Set Ui module IOMap value.
void	SetSoundModuleValue (unsigned int offset, variant value)
	Set Sound module IOMap value.
void	SetButtonModuleValue (unsigned int offset, variant value)
	Set Button module IOMap value.
void	SetInputModuleValue (unsigned int offset, variant value)
	Set Input module IOMap value.
void	SetOutputModuleValue (unsigned int offset, variant value)
	Set Output module IOMap value.
void	SetLowSpeedModuleValue (unsigned int offset, variant value)
	Set Lowspeed module IOMap value.
void	SetDisplayModuleValue (unsigned int offset, variant value)
	Set Display module IOMap value.
void	SetCommModuleValue (unsigned int offset, variant value)
	Set Comm module IOMap value.
void	GetCommandModuleValue (unsigned int offset, variant &value)
	Get Command module IOMap value.
void	GetLoaderModuleValue (unsigned int offset, variant &value)
	Get Loader module IOMap value.
void	GetSoundModuleValue (unsigned int offset, variant &value)
	Get Sound module IOMap value.
void	GetButtonModuleValue (unsigned int offset, variant &value)
	Get Button module IOMap value.
void	GetUIModuleValue (unsigned int offset, variant &value)
	Get Ui module IOMap value.
void	GetInputModuleValue (unsigned int offset, variant &value)
	Get Input module IOMap value.
void	GetOutputModuleValue (unsigned int offset, variant &value)
	Get Output module IOMap value.
void	GetLowSpeedModuleValue (unsigned int offset, variant &value)
	Get LowSpeed module IOMap value.
void	GetDisplayModuleValue (unsigned int offset, variant &value)
	Get Display module IOMap value.
void	GetCommModuleValue (unsigned int offset, variant &value)
	Get Comm module IOMap value.
void	PowerDown ()
	Power down the NXT.
void	SleepNow ()
	Put the brick to sleep immediately.
void	RebootInFirmwareMode ()
	Reboot the NXT in firmware download mode.
char	JoystickMessageRead (byte queue, JoystickMessageType &msg)
	Read a joystick message from a queue/mailbox.
char	JoystickExMessageRead (byte queue, JoystickExMessageType &msg)
	Read an extended joystick message from a queue/mailbox.
char	SendMessage (byte queue, string msg)
	Send a message to a queue/mailbox.
char	ReceiveMessage (byte queue, bool clear, string &msg)
	Read a message from a queue/mailbox.
char	BluetoothStatus (byte conn)
	Check bluetooth status.
char	BluetoothWrite (byte conn, byte buffer[])
	Write to a bluetooth connection.
char	RemoteConnectionWrite (byte conn, byte buffer[])
	Write to a remote connection.
bool	RemoteConnectionIdle (byte conn)
	Check if remote connection is idle.
char	SendRemoteBool (byte conn, byte queue, bool bval)
	Send a boolean value to a remote mailbox.
char	SendRemoteNumber (byte conn, byte queue, long val)
	Send a numeric value to a remote mailbox.
char	SendRemoteString (byte conn, byte queue, string str)
	Send a string value to a remote mailbox.
char	SendResponseBool (byte queue, bool bval)
	Write a boolean value to a local response mailbox.
char	SendResponseNumber (byte queue, long val)
	Write a numeric value to a local response mailbox.
char	SendResponseString (byte queue, string str)
	Write a string value to a local response mailbox.
char	ReceiveRemoteBool (byte queue, bool clear, bool &bval)
	Read a boolean value from a queue/mailbox.
char	ReceiveRemoteMessageEx (byte queue, bool clear, string &str, long &val, bool &bval)
	Read a value from a queue/mailbox.
char	ReceiveRemoteNumber (byte queue, bool clear, long &val)
	Read a numeric value from a queue/mailbox.
char	ReceiveRemoteString (byte queue, bool clear, string &str)
	Read a string value from a queue/mailbox.
char	RemoteKeepAlive (byte conn)
	Send a KeepAlive message.
char	RemoteMessageRead (byte conn, byte queue)
	Send a MessageRead message.
char	RemoteMessageWrite (byte conn, byte queue, string msg)
	Send a MessageWrite message.
char	RemotePlaySoundFile (byte conn, string filename, bool bloop)
	Send a PlaySoundFile message.
char	RemotePlayTone (byte conn, unsigned int frequency, unsigned int duration)
	Send a PlayTone message.
char	RemoteResetMotorPosition (byte conn, byte port, bool brelative)
	Send a ResetMotorPosition message.
char	RemoteResetScaledValue (byte conn, byte port)
	Send a ResetScaledValue message.
char	RemoteSetInputMode (byte conn, byte port, byte type, byte mode)
	Send a SetInputMode message.
char	RemoteSetOutputState (byte conn, byte port, char speed, byte mode, byte regmode, char turnpct, byte runstate, unsigned long tacholimit)
	Send a SetOutputMode message.
char	RemoteStartProgram (byte conn, string filename)
	Send a StartProgram message.
char	RemoteStopProgram (byte conn)
	Send a StopProgram message.
char	RemoteStopSound (byte conn)
	Send a StopSound message.
char	RemoteGetOutputState (byte conn, OutputStateType &params)
	Send a GetOutputState message.
char	RemoteGetInputValues (byte conn, InputValuesType &params)
	Send a GetInputValues message.
char	RemoteGetBatteryLevel (byte conn, int &value)
	Send a GetBatteryLevel message.
char	RemoteLowspeedGetStatus (byte conn, byte &value)
	Send a LowspeedGetStatus message.
char	RemoteLowspeedRead (byte conn, byte port, byte &bread, byte &data[])
	Send a LowspeedRead message.
char	RemoteGetCurrentProgramName (byte conn, string &name)
	Send a GetCurrentProgramName message.
char	RemoteDatalogRead (byte conn, bool remove, byte &cnt, byte &log[])
	Send a DatalogRead message.
char	RemoteGetContactCount (byte conn, byte &cnt)
	Send a GetContactCount message.
char	RemoteGetContactName (byte conn, byte idx, string &name)
	Send a GetContactName message.
char	RemoteGetConnectionCount (byte conn, byte &cnt)
	Send a GetConnectionCount message.
char	RemoteGetConnectionName (byte conn, byte idx, string &name)
	Send a GetConnectionName message.
char	RemoteGetProperty (byte conn, byte property, variant &value)
	Send a GetProperty message.
char	RemoteResetTachoCount (byte conn, byte port)
	Send a ResetTachoCount message.
char	RemoteDatalogSetTimes (byte conn, long synctime)
	Send a DatalogSetTimes message.
char	RemoteSetProperty (byte conn, byte prop, variant value)
	Send a SetProperty message.
char	RemoteLowspeedWrite (byte conn, byte port, byte txlen, byte rxlen, byte data[])
	Send a LowspeedWrite message.
char	RemoteOpenRead (byte conn, string filename, byte &handle, long &size)
	Send an OpenRead message.
char	RemoteOpenAppendData (byte conn, string filename, byte &handle, long &size)
	Send an OpenAppendData message.
char	RemoteDeleteFile (byte conn, string filename)
	Send a DeleteFile message.
char	RemoteFindFirstFile (byte conn, string mask, byte &handle, string &name, long &size)
	Send a FindFirstFile message.
char	RemoteGetFirmwareVersion (byte conn, byte &pmin, byte &pmaj, byte &fmin, byte &fmaj)
	Send a GetFirmwareVersion message.
char	RemoteGetBluetoothAddress (byte conn, byte &btaddr[])
	Send a GetBluetoothAddress message.
char	RemoteGetDeviceInfo (byte conn, string &name, byte &btaddr[], byte &btsignal[], long &freemem)
	Send a GetDeviceInfo message.
char	RemoteDeleteUserFlash (byte conn)
	Send a DeleteUserFlash message.
char	RemoteOpenWrite (byte conn, string filename, long size, byte &handle)
	Send an OpenWrite message.
char	RemoteOpenWriteLinear (byte conn, string filename, long size, byte &handle)
	Send an OpenWriteLinear message.
char	RemoteOpenWriteData (byte conn, string filename, long size, byte &handle)
	Send an OpenWriteData message.
char	RemoteCloseFile (byte conn, byte handle)
	Send a CloseFile message.
char	RemoteFindNextFile (byte conn, byte &handle, string &name, long &size)
	Send a FindNextFile message.
char	RemotePollCommandLength (byte conn, byte bufnum, byte &length)
	Send a PollCommandLength message.
char	RemoteWrite (byte conn, byte &handle, int &numbytes, byte data[])
	Send a Write message.
char	RemoteRead (byte conn, byte &handle, int &numbytes, byte &data[])
	Send a Read message.
char	RemoteIOMapRead (byte conn, long id, int offset, int &numbytes, byte &data[])
	Send an IOMapRead message.
char	RemotePollCommand (byte conn, byte bufnum, byte &len, byte &data[])
	Send a PollCommand message.
char	RemoteRenameFile (byte conn, string oldname, string newname)
	Send a RenameFile message.
char	RemoteBluetoothFactoryReset (byte conn)
	Send a BluetoothFactoryReset message.
char	RemoteIOMapWriteValue (byte conn, long id, int offset, variant value)
	Send an IOMapWrite value message.
char	RemoteIOMapWriteBytes (byte conn, long id, int offset, byte data[])
	Send an IOMapWrite bytes message.
char	RemoteSetBrickName (byte conn, string name)
	Send a SetBrickName message.
void	UseRS485 (void)
	Use the RS485 port.
char	RS485Control (byte cmd, byte baud, unsigned int mode)
	Control the RS485 port.
byte	RS485DataAvailable (void)
	Check for RS485 available data.
char	RS485Initialize (void)
	Initialize RS485 port.
char	RS485Disable (void)
	Disable RS485.
char	RS485Enable (void)
	Enable RS485.
char	RS485Read (byte &buffer[])
	Read RS485 data.
char	RS485ReadEx (byte &buffer[], byte buflen)
	Read limited RS485 data.
byte	RS485SendingData (void)
	Is RS485 sending data.
void	RS485Status (byte &sendingData, byte &dataAvail)
	Check RS485 status.
char	RS485Uart (byte baud, unsigned int mode)
	Configure RS485 UART.
char	RS485Write (byte buffer[])
	Write RS485 data.
char	SendRS485Bool (bool bval)
	Write RS485 boolean.
char	SendRS485Number (long val)
	Write RS485 numeric.
char	SendRS485String (string str)
	Write RS485 string.
void	GetBTInputBuffer (const byte offset, byte cnt, byte &data[])
	Get bluetooth input buffer data.
void	GetBTOutputBuffer (const byte offset, byte cnt, byte &data[])
	Get bluetooth output buffer data.
void	GetHSInputBuffer (const byte offset, byte cnt, byte &data[])
	Get hi-speed port input buffer data.
void	GetHSOutputBuffer (const byte offset, byte cnt, byte &data[])
	Get hi-speed port output buffer data.
void	GetUSBInputBuffer (const byte offset, byte cnt, byte &data[])
	Get usb input buffer data.
void	GetUSBOutputBuffer (const byte offset, byte cnt, byte &data[])
	Get usb output buffer data.
void	GetUSBPollBuffer (const byte offset, byte cnt, byte &data[])
	Get usb poll buffer data.
string	BTDeviceName (const byte devidx)
	Get bluetooth device name.
string	BTConnectionName (const byte conn)
	Get bluetooth device name.
string	BTConnectionPinCode (const byte conn)
	Get bluetooth device pin code.
string	BrickDataName (void)
	Get NXT name.
void	GetBTDeviceAddress (const byte devidx, byte &data[])
	Get bluetooth device address.
void	GetBTConnectionAddress (const byte conn, byte &data[])
	Get bluetooth device address.
void	GetBrickDataAddress (byte &data[])
	Get NXT address.
long	BTDeviceClass (const byte devidx)
	Get bluetooth device class.
byte	BTDeviceStatus (const byte devidx)
	Get bluetooth device status.
long	BTConnectionClass (const byte conn)
	Get bluetooth device class.
byte	BTConnectionHandleNum (const byte conn)
	Get bluetooth device handle number.
byte	BTConnectionStreamStatus (const byte conn)
	Get bluetooth device stream status.
byte	BTConnectionLinkQuality (const byte conn)
	Get bluetooth device link quality.
int	BrickDataBluecoreVersion (void)
	Get NXT bluecore version.
byte	BrickDataBtStateStatus (void)
	Get NXT bluetooth state status.
byte	BrickDataBtHardwareStatus (void)
	Get NXT bluetooth hardware status.
byte	BrickDataTimeoutValue (void)
	Get NXT bluetooth timeout value.
byte	BTInputBufferInPtr (void)
	Get bluetooth input buffer in-pointer.
byte	BTInputBufferOutPtr (void)
	Get bluetooth input buffer out-pointer.
byte	BTOutputBufferInPtr (void)
	Get bluetooth output buffer in-pointer.
byte	BTOutputBufferOutPtr (void)
	Get bluetooth output buffer out-pointer.
byte	HSInputBufferInPtr (void)
	Get hi-speed port input buffer in-pointer.
byte	HSInputBufferOutPtr (void)
	Get hi-speed port input buffer out-pointer.
byte	HSOutputBufferInPtr (void)
	Get hi-speed port output buffer in-pointer.
byte	HSOutputBufferOutPtr (void)
	Get hi-speed port output buffer out-pointer.
byte	USBInputBufferInPtr (void)
	Get usb port input buffer in-pointer.
byte	USBInputBufferOutPtr (void)
	Get usb port input buffer out-pointer.
byte	USBOutputBufferInPtr (void)
	Get usb port output buffer in-pointer.
byte	USBOutputBufferOutPtr (void)
	Get usb port output buffer out-pointer.
byte	USBPollBufferInPtr (void)
	Get usb port poll buffer in-pointer.
byte	USBPollBufferOutPtr (void)
	Get usb port poll buffer out-pointer.
byte	BTDeviceCount (void)
	Get bluetooth device count.
byte	BTDeviceNameCount (void)
	Get bluetooth device name count.
byte	HSFlags (void)
	Get hi-speed port flags.
byte	HSSpeed (void)
	Get hi-speed port speed.
byte	HSState (void)
	Get hi-speed port state.
byte	HSAddress (void)
	Get hi-speed port address.
int	HSMode (void)
	Get hi-speed port mode.
int	BTDataMode (void)
	Get Bluetooth data mode.
int	HSDataMode (void)
	Get hi-speed port datamode.
byte	USBState (void)
	Get USB state.
void	SetBTInputBuffer (const byte offset, byte cnt, byte data[])
	Set bluetooth input buffer data.
void	SetBTInputBufferInPtr (byte n)
	Set bluetooth input buffer in-pointer.
void	SetBTInputBufferOutPtr (byte n)
	Set bluetooth input buffer out-pointer.
void	SetBTOutputBuffer (const byte offset, byte cnt, byte data[])
	Set bluetooth output buffer data.
void	SetBTOutputBufferInPtr (byte n)
	Set bluetooth output buffer in-pointer.
void	SetBTOutputBufferOutPtr (byte n)
	Set bluetooth output buffer out-pointer.
void	SetHSInputBuffer (const byte offset, byte cnt, byte data[])
	Set hi-speed port input buffer data.
void	SetHSInputBufferInPtr (byte n)
	Set hi-speed port input buffer in-pointer.
void	SetHSInputBufferOutPtr (byte n)
	Set hi-speed port input buffer out-pointer.
void	SetHSOutputBuffer (const byte offset, byte cnt, byte data[])
	Set hi-speed port output buffer data.
void	SetHSOutputBufferInPtr (byte n)
	Set hi-speed port output buffer in-pointer.
void	SetHSOutputBufferOutPtr (byte n)
	Set hi-speed port output buffer out-pointer.
void	SetUSBInputBuffer (const byte offset, byte cnt, byte data[])
	Set USB input buffer data.
void	SetUSBInputBufferInPtr (byte n)
	Set USB input buffer in-pointer.
void	SetUSBInputBufferOutPtr (byte n)
	Set USB input buffer out-pointer.
void	SetUSBOutputBuffer (const byte offset, byte cnt, byte data[])
	Set USB output buffer data.
void	SetUSBOutputBufferInPtr (byte n)
	Set USB output buffer in-pointer.
void	SetUSBOutputBufferOutPtr (byte n)
	Set USB output buffer out-pointer.
void	SetUSBPollBuffer (const byte offset, byte cnt, byte data[])
	Set USB poll buffer data.
void	SetUSBPollBufferInPtr (byte n)
	Set USB poll buffer in-pointer.
void	SetUSBPollBufferOutPtr (byte n)
	Set USB poll buffer out-pointer.
void	SetHSFlags (byte hsFlags)
	Set hi-speed port flags.
void	SetHSSpeed (byte hsSpeed)
	Set hi-speed port speed.
void	SetHSState (byte hsState)
	Set hi-speed port state.
void	SetHSAddress (byte hsAddress)
	Set hi-speed port address.
void	SetHSMode (unsigned int hsMode)
	Set hi-speed port mode.
void	SetBTDataMode (const byte dataMode)
	Set Bluetooth data mode.
void	SetHSDataMode (const byte dataMode)
	Set hi-speed port data mode.
void	SetUSBState (byte usbState)
	Set USB state.
void	SysMessageWrite (MessageWriteType &args)
	Write message.
void	SysMessageRead (MessageReadType &args)
	Read message.
void	SysCommBTWrite (CommBTWriteType &args)
	Write data to a Bluetooth connection.
void	SysCommBTCheckStatus (CommBTCheckStatusType &args)
	Check Bluetooth connection status.
void	SysCommExecuteFunction (CommExecuteFunctionType &args)
	Execute any Comm module command.
void	SysCommHSControl (CommHSControlType &args)
	Control the hi-speed port.
void	SysCommHSCheckStatus (CommHSCheckStatusType &args)
	Check the hi-speed port status.
void	SysCommHSRead (CommHSReadWriteType &args)
	Read from the hi-speed port.
void	SysCommHSWrite (CommHSReadWriteType &args)
	Write to the hi-speed port.
void	SysCommBTOnOff (CommBTOnOffType &args)
	Turn on or off the bluetooth subsystem.
void	SysCommBTConnection (CommBTConnectionType &args)
	Connect or disconnect a bluetooth device.
bool	ButtonPressed (const byte btn, bool resetCount=false)
	Check for button press.
byte	ButtonCount (const byte btn, bool resetCount=false)
	Get button press count.
char	ReadButtonEx (const byte btn, bool reset, bool &pressed, unsigned int &count)
	Read button information.
byte	ButtonPressCount (const byte btn)
	Get button press count.
byte	ButtonLongPressCount (const byte btn)
	Get button long press count.
byte	ButtonShortReleaseCount (const byte btn)
	Get button short release count.
byte	ButtonLongReleaseCount (const byte btn)
	Get button long release count.
byte	ButtonReleaseCount (const byte btn)
	Get button release count.
byte	ButtonState (const byte btn)
	Get button state.
void	SetButtonLongPressCount (const byte btn, const byte n)
	Set button long press count.
void	SetButtonLongReleaseCount (const byte btn, const byte n)
	Set button long release count.
void	SetButtonPressCount (const byte btn, const byte n)
	Set button press count.
void	SetButtonReleaseCount (const byte btn, const byte n)
	Set button release count.
void	SetButtonShortReleaseCount (const byte btn, const byte n)
	Set button short release count.
void	SetButtonState (const byte btn, const byte state)
	Set button state.
void	SysReadButton (ReadButtonType &args)
	Read button.
byte	CommandFlags (void)
	Get command flags.
byte	UIState (void)
	Get UI module state.
byte	UIButton (void)
	Read UI button.
byte	VMRunState (void)
	Read VM run state.
byte	BatteryState (void)
	Get battery state.
byte	BluetoothState (void)
	Get bluetooth state.
byte	UsbState (void)
	Get UI module USB state.
byte	SleepTimeout (void)
	Read sleep timeout.
byte	SleepTime (void)
	Read sleep time.
byte	SleepTimer (void)
	Read sleep timer.
bool	RechargeableBattery (void)
	Read battery type.
byte	Volume (void)
	Read volume.
byte	OnBrickProgramPointer (void)
	Read the on brick program pointer value.
byte	AbortFlag (void)
	Read abort flag.
byte	LongAbort (void)
	Read long abort setting.
unsigned int	BatteryLevel (void)
	Get battery Level.
void	SetCommandFlags (const byte cmdFlags)
	Set command flags.
void	SetUIButton (byte btn)
	Set UI button.
void	SetUIState (byte state)
	Set UI state.
void	SetVMRunState (const byte vmRunState)
	Set VM run state.
void	SetBatteryState (byte state)
	Set battery state.
void	SetBluetoothState (byte state)
	Set bluetooth state.
void	SetSleepTimeout (const byte n)
	Set sleep timeout.
void	SetSleepTime (const byte n)
	Set sleep time.
void	SetSleepTimer (const byte n)
	Set the sleep timer.
void	SetVolume (byte volume)
	Set volume.
void	SetOnBrickProgramPointer (byte obpStep)
	Set on-brick program pointer.
void	ForceOff (byte num)
	Turn off NXT.
void	SetAbortFlag (byte abortFlag)
	Set abort flag.
void	SetLongAbort (bool longAbort)
	Set long abort.
void	SysSetSleepTimeout (SetSleepTimeoutType &args)
	Set system sleep timeout.
unsigned int	FreeMemory (void)
	Get free flash memory.
unsigned int	CreateFile (string fname, unsigned int fsize, byte &handle)
	Create a file.
unsigned int	OpenFileAppend (string fname, unsigned int &fsize, byte &handle)
	Open a file for appending.
unsigned int	OpenFileRead (string fname, unsigned int &fsize, byte &handle)
	Open a file for reading.
unsigned int	CloseFile (byte handle)
	Close a file.
unsigned int	ResolveHandle (string filename, byte &handle, bool &writable)
	Resolve a handle.
unsigned int	RenameFile (string oldname, string newname)
	Rename a file.
unsigned int	DeleteFile (string fname)
	Delete a file.
unsigned int	ResizeFile (string fname, const unsigned int newsize)
	Resize a file.
unsigned int	CreateFileLinear (string fname, unsigned int fsize, byte &handle)
	Create a linear file.
unsigned int	CreateFileNonLinear (string fname, unsigned int fsize, byte &handle)
	Create a non-linear file.
unsigned int	OpenFileReadLinear (string fname, unsigned int &fsize, byte &handle)
	Open a linear file for reading.
unsigned int	FindFirstFile (string &fname, byte &handle)
	Start searching for files.
unsigned int	FindNextFile (string &fname, byte &handle)
	Continue searching for files.
unsigned int	SizeOf (variant &value)
	Calculate the size of a variable.
unsigned int	TypeOf (variant &value)
	Return the type of a variable.
unsigned int	Read (byte handle, variant &value)
	Read a value from a file.
unsigned int	ReadLn (byte handle, variant &value)
	Read a value from a file plus line ending.
unsigned int	ReadBytes (byte handle, unsigned int &length, byte &buf[])
	Read bytes from a file.
unsigned int	ReadLnString (byte handle, string &output)
	Read a string from a file plus line ending.
unsigned int	Write (byte handle, const variant &value)
	Write value to file.
unsigned int	WriteBytes (byte handle, const byte &buf[], unsigned int &cnt)
	Write bytes to file.
unsigned int	WriteBytesEx (byte handle, unsigned int &len, const byte &buf[])
	Write bytes to a file with limit.
unsigned int	WriteLn (byte handle, const variant &value)
	Write a value and new line to a file.
unsigned int	WriteLnString (byte handle, const string &str, unsigned int &cnt)
	Write string and new line to a file.
unsigned int	WriteString (byte handle, const string &str, unsigned int &cnt)
	Write string to a file.
void	SysFileOpenRead (FileOpenType &args)
	Open file for reading.
void	SysFileOpenWrite (FileOpenType &args)
	Open and create file for writing.
void	SysFileOpenAppend (FileOpenType &args)
	Open file for writing at end of file.
void	SysFileRead (FileReadWriteType &args)
	Read from file.
void	SysFileWrite (FileReadWriteType &args)
	File write.
void	SysFileClose (FileCloseType &args)
	Close file handle.
void	SysFileResolveHandle (FileResolveHandleType &args)
	File resolve handle.
void	SysFileRename (FileRenameType &args)
	Rename file.
void	SysFileDelete (FileDeleteType &args)
	Delete file.
void	SysLoaderExecuteFunction (LoaderExecuteFunctionType &args)
	Execute any Loader module command.
void	SysFileFindFirst (FileFindType &args)
	Start finding files.
void	SysFileFindNext (FileFindType &args)
	Continue finding files.
void	SysFileOpenWriteLinear (FileOpenType &args)
	Open and create linear file for writing.
void	SysFileOpenWriteNonLinear (FileOpenType &args)
	Open and create non-linear file for writing.
void	SysFileOpenReadLinear (FileOpenType &args)
	Open linear file for reading.
void	SysFileSeek (FileSeekType &args)
	Seek to file position.
void	SysFileResize (FileResizeType &args)
	Resize a file.
void	SysFileTell (FileTellType &args)
	Return the file position.
void	SysListFiles (ListFilesType &args)
	List files.
void	SetSensorHTGyro (const byte &port)
	Set sensor as HiTechnic Gyro.
void	SetSensorHTMagnet (const byte &port)
	Set sensor as HiTechnic Magnet.
void	SetSensorHTEOPD (const byte &port, bool bStandard=true)
	Set sensor as HiTechnic EOPD.
void	SetSensorHTForce (const byte &port)
	Set sensor as HiTechnic Force.
int	SensorHTGyro (const byte &port, int offset=0)
	Read HiTechnic Gyro sensor.
int	SensorHTMagnet (const byte &port, int offset=0)
	Read HiTechnic Magnet sensor.
int	SensorHTEOPD (const byte &port)
	Read HiTechnic EOPD sensor.
int	SensorHTForce (const byte &port)
	Read HiTechnic Force sensor.
int	SensorHTColorNum (const byte &port)
	Read HiTechnic color sensor color number.
int	SensorHTCompass (const byte &port)
	Read HiTechnic compass.
int	SensorHTIRSeekerDir (const byte &port)
	Read HiTechnic IRSeeker direction.
int	SensorHTIRSeeker2Addr (const byte &port, const byte reg)
	Read HiTechnic IRSeeker2 register.
int	SensorHTIRSeeker2DCDir (const byte &port)
	Read HiTechnic IRSeeker2 DC direction.
int	SensorHTIRSeeker2ACDir (const byte &port)
	Read HiTechnic IRSeeker2 AC direction.
char	SetHTColor2Mode (const byte &port, byte mode)
	Set HiTechnic Color2 mode.
char	SetHTIRSeeker2Mode (const byte &port, const byte mode)
	Set HiTechnic IRSeeker2 mode.
bool	ReadSensorHTAccel (const byte port, int &x, int &y, int &z)
	Read HiTechnic acceleration values.
bool	ReadSensorHTColor (const byte port, byte &ColorNum, byte &Red, byte &Green, byte &Blue)
	Read HiTechnic Color values.
bool	ReadSensorHTIRSeeker (const byte port, byte &dir, byte &s1, byte &s3, byte &s5, byte &s7, byte &s9)
	Read HiTechnic IRSeeker values.
bool	ReadSensorHTNormalizedColor (const byte port, byte &ColorIdx, byte &Red, byte &Green, byte &Blue)
	Read HiTechnic Color normalized values.
bool	ReadSensorHTRawColor (const byte port, unsigned int &Red, unsigned int &Green, unsigned int &Blue)
	Read HiTechnic Color raw values.
bool	ReadSensorHTColor2Active (byte port, byte &ColorNum, byte &Red, byte &Green, byte &Blue, byte &White)
	Read HiTechnic Color2 active values.
bool	ReadSensorHTNormalizedColor2Active (const byte port, byte &ColorIdx, byte &Red, byte &Green, byte &Blue)
	Read HiTechnic Color2 normalized active values.
bool	ReadSensorHTRawColor2 (const byte port, unsigned int &Red, unsigned int &Green, unsigned int &Blue, unsigned int &White)
	Read HiTechnic Color2 raw values.
bool	ReadSensorHTIRReceiver (const byte port, char &pfdata[])
	Read HiTechnic IRReceiver Power Function bytes.
bool	ReadSensorHTIRReceiverEx (const byte port, const byte offset, char &pfchar)
	Read HiTechnic IRReceiver Power Function value.
bool	ReadSensorHTIRSeeker2AC (const byte port, byte &dir, byte &s1, byte &s3, byte &s5, byte &s7, byte &s9)
	Read HiTechnic IRSeeker2 AC values.
bool	ReadSensorHTIRSeeker2DC (const byte port, byte &dir, byte &s1, byte &s3, byte &s5, byte &s7, byte &s9, byte &avg)
	Read HiTechnic IRSeeker2 DC values.
char	ResetSensorHTAngle (const byte port, const byte mode)
	Reset HiTechnic Angle sensor.
bool	ReadSensorHTAngle (const byte port, int &Angle, long &AccAngle, int &RPM)
	Read HiTechnic Angle sensor values.
bool	ResetHTBarometricCalibration (byte port)
	Reset HiTechnic Barometric sensor calibration.
bool	SetHTBarometricCalibration (byte port, unsigned int cal)
	Set HiTechnic Barometric sensor calibration.
bool	ReadSensorHTBarometric (const byte port, int &temp, unsigned int &press)
	Read HiTechnic Barometric sensor values.
int	SensorHTProtoAnalog (const byte port, const byte input)
	Read HiTechnic Prototype board analog input value.
bool	ReadSensorHTProtoAllAnalog (const byte port, int &a0, int &a1, int &a2, int &a3, int &a4)
	Read all HiTechnic Prototype board analog input values.
bool	SetSensorHTProtoDigitalControl (const byte port, byte value)
	Control HiTechnic Prototype board digital pin direction.
byte	SensorHTProtoDigitalControl (const byte port)
	Read HiTechnic Prototype board digital control values.
bool	SetSensorHTProtoDigital (const byte port, byte value)
	Set HiTechnic Prototype board digital output values.
byte	SensorHTProtoDigital (const byte port)
	Read HiTechnic Prototype board digital input values.
int	SensorHTSuperProAnalog (const byte port, const byte input)
	Read HiTechnic SuperPro board analog input value.
bool	ReadSensorHTSuperProAllAnalog (const byte port, int &a0, int &a1, int &a2, int &a3)
	Read all HiTechnic SuperPro board analog input values.
bool	SetSensorHTSuperProDigitalControl (const byte port, byte value)
	Control HiTechnic SuperPro board digital pin direction.
byte	SensorHTSuperProDigitalControl (const byte port)
	Read HiTechnic SuperPro board digital control values.
bool	SetSensorHTSuperProDigital (const byte port, byte value)
	Set HiTechnic SuperPro board digital output values.
byte	SensorHTSuperProDigital (const byte port)
	Read HiTechnic SuperPro board digital input values.
bool	SetSensorHTSuperProLED (const byte port, byte value)
	Set HiTechnic SuperPro LED value.
byte	SensorHTSuperProLED (const byte port)
	Read HiTechnic SuperPro LED value.
bool	SetSensorHTSuperProStrobe (const byte port, byte value)
	Set HiTechnic SuperPro strobe value.
byte	SensorHTSuperProStrobe (const byte port)
	Read HiTechnic SuperPro strobe value.
bool	SetSensorHTSuperProProgramControl (const byte port, byte value)
	Set HiTechnic SuperPro program control value.
byte	SensorHTSuperProProgramControl (const byte port)
	Read HiTechnic SuperPro program control value.
bool	SetSensorHTSuperProAnalogOut (const byte port, const byte dac, byte mode, int freq, int volt)
	Set HiTechnic SuperPro board analog output parameters.
bool	ReadSensorHTSuperProAnalogOut (const byte port, const byte dac, byte &mode, int &freq, int &volt)
	Read HiTechnic SuperPro board analog output parameters.
bool	SetSensorHTPIRDeadband (const byte port, byte value)
	Set HiTechnic PIR deadband value.
char	SensorHTPIR (const byte port)
	Read HiTechnic PIR measurement value.
void	ReadSensorHTTouchMultiplexer (const byte port, byte &t1, byte &t2, byte &t3, byte &t4)
	Read HiTechnic touch multiplexer.
char	HTIRTrain (const byte port, const byte channel, const byte func)
	HTIRTrain function.
char	HTPFComboDirect (const byte port, const byte channel, const byte outa, const byte outb)
	HTPFComboDirect function.
char	HTPFComboPWM (const byte port, const byte channel, const byte outa, const byte outb)
	HTPFComboPWM function.
char	HTPFRawOutput (const byte port, const byte nibble0, const byte nibble1, const byte nibble2)
	HTPFRawOutput function.
char	HTPFRepeat (const byte port, const byte count, const unsigned int delay)
	HTPFRepeat function.
char	HTPFSingleOutputCST (const byte port, const byte channel, const byte out, const byte func)
	HTPFSingleOutputCST function.
char	HTPFSingleOutputPWM (const byte port, const byte channel, const byte out, const byte func)
	HTPFSingleOutputPWM function.
char	HTPFSinglePin (const byte port, const byte channel, const byte out, const byte pin, const byte func, bool cont)
	HTPFSinglePin function.
char	HTPFTrain (const byte port, const byte channel, const byte func)
	HTPFTrain function.
void	HTRCXSetIRLinkPort (const byte port)
	HTRCXSetIRLinkPort function.
int	HTRCXBatteryLevel (void)
	HTRCXBatteryLevel function.
int	HTRCXPoll (const byte src, const byte value)
	HTRCXPoll function Send the Poll command to an RCX to read a signed 2-byte value at the specified source and value combination.
int	HTRCXPollMemory (const unsigned int address)
	HTRCXPollMemory function.
void	HTRCXAddToDatalog (const byte src, const unsigned int value)
	HTRCXAddToDatalog function.
void	HTRCXClearAllEvents (void)
	HTRCXClearAllEvents function.
void	HTRCXClearCounter (const byte counter)
	HTRCXClearCounter function.
void	HTRCXClearMsg (void)
	HTRCXClearMsg function.
void	HTRCXClearSensor (const byte port)
	HTRCXClearSensor function.
void	HTRCXClearSound (void)
	HTRCXClearSound function.
void	HTRCXClearTimer (const byte timer)
	HTRCXClearTimer function.
void	HTRCXCreateDatalog (const unsigned int size)
	HTRCXCreateDatalog function.
void	HTRCXDecCounter (const byte counter)
	HTRCXDecCounter function.
void	HTRCXDeleteSub (const byte s)
	HTRCXDeleteSub function.
void	HTRCXDeleteSubs (void)
	HTRCXDeleteSubs function.
void	HTRCXDeleteTask (const byte t)
	HTRCXDeleteTask function.
void	HTRCXDeleteTasks (void)
	HTRCXDeleteTasks function.
void	HTRCXDisableOutput (const byte outputs)
	HTRCXDisableOutput function.
void	HTRCXEnableOutput (const byte outputs)
	HTRCXEnableOutput function.
void	HTRCXEvent (const byte src, const unsigned int value)
	HTRCXEvent function.
void	HTRCXFloat (const byte outputs)
	HTRCXFloat function.
void	HTRCXFwd (const byte outputs)
	HTRCXFwd function.
void	HTRCXIncCounter (const byte counter)
	HTRCXIncCounter function.
void	HTRCXInvertOutput (const byte outputs)
	HTRCXInvertOutput function.
void	HTRCXMuteSound (void)
	HTRCXMuteSound function.
void	HTRCXObvertOutput (const byte outputs)
	HTRCXObvertOutput function.
void	HTRCXOff (const byte outputs)
	HTRCXOff function.
void	HTRCXOn (const byte outputs)
	HTRCXOn function.
void	HTRCXOnFor (const byte outputs, const unsigned int ms)
	HTRCXOnFor function.
void	HTRCXOnFwd (const byte outputs)
	HTRCXOnFwd function.
void	HTRCXOnRev (const byte outputs)
	HTRCXOnRev function.
void	HTRCXPBTurnOff (void)
	HTRCXPBTurnOff function.
void	HTRCXPing (void)
	HTRCXPing function.
void	HTRCXPlaySound (const byte snd)
	HTRCXPlaySound function.
void	HTRCXPlayTone (const unsigned int freq, const byte duration)
	HTRCXPlayTone function.
void	HTRCXPlayToneVar (const byte varnum, const byte duration)
	HTRCXPlayToneVar function.
void	HTRCXRemote (unsigned int cmd)
	HTRCXRemote function.
void	HTRCXRev (const byte outputs)
	HTRCXRev function.
void	HTRCXSelectDisplay (const byte src, const unsigned int value)
	HTRCXSelectDisplay function.
void	HTRCXSelectProgram (const byte prog)
	HTRCXSelectProgram function.
void	HTRCXSendSerial (const byte first, const byte count)
	HTRCXSendSerial function.
void	HTRCXSetDirection (const byte outputs, const byte dir)
	HTRCXSetDirection function.
void	HTRCXSetEvent (const byte evt, const byte src, const byte type)
	HTRCXSetEvent function.
void	HTRCXSetGlobalDirection (const byte outputs, const byte dir)
	HTRCXSetGlobalDirection function.
void	HTRCXSetGlobalOutput (const byte outputs, const byte mode)
	HTRCXSetGlobalOutput function.
void	HTRCXSetMaxPower (const byte outputs, const byte pwrsrc, const byte pwrval)
	HTRCXSetMaxPower function.
void	HTRCXSetMessage (const byte msg)
	HTRCXSetMessage function.
void	HTRCXSetOutput (const byte outputs, const byte mode)
	HTRCXSetOutput function.
void	HTRCXSetPower (const byte outputs, const byte pwrsrc, const byte pwrval)
	HTRCXSetPower function.
void	HTRCXSetPriority (const byte p)
	HTRCXSetPriority function.
void	HTRCXSetSensorMode (const byte port, const byte mode)
	HTRCXSetSensorMode function.
void	HTRCXSetSensorType (const byte port, const byte type)
	HTRCXSetSensorType function.
void	HTRCXSetSleepTime (const byte t)
	HTRCXSetSleepTime function.
void	HTRCXSetTxPower (const byte pwr)
	HTRCXSetTxPower function.
void	HTRCXSetWatch (const byte hours, const byte minutes)
	HTRCXSetWatch function.
void	HTRCXStartTask (const byte t)
	HTRCXStartTask function.
void	HTRCXStopAllTasks (void)
	HTRCXStopAllTasks function.
void	HTRCXStopTask (const byte t)
	HTRCXStopTask function.
void	HTRCXToggle (const byte outputs)
	HTRCXToggle function.
void	HTRCXUnmuteSound (void)
	HTRCXUnmuteSound function.
void	HTScoutCalibrateSensor (void)
	HTScoutCalibrateSensor function.
void	HTScoutMuteSound (void)
	HTScoutMuteSound function.
void	HTScoutSelectSounds (const byte grp)
	HTScoutSelectSounds function.
void	HTScoutSendVLL (const byte src, const unsigned int value)
	HTScoutSendVLL function.
void	HTScoutSetEventFeedback (const byte src, const unsigned int value)
	HTScoutSetEventFeedback function.
void	HTScoutSetLight (const byte x)
	HTScoutSetLight function.
void	HTScoutSetScoutMode (const byte mode)
	HTScoutSetScoutMode function.
void	HTScoutSetSensorClickTime (const byte src, const unsigned int value)
	HTScoutSetSensorClickTime function.
void	HTScoutSetSensorHysteresis (const byte src, const unsigned int value)
	HTScoutSetSensorHysteresis function.
void	HTScoutSetSensorLowerLimit (const byte src, const unsigned int value)
	HTScoutSetSensorLowerLimit function.
void	HTScoutSetSensorUpperLimit (const byte src, const unsigned int value)
	HTScoutSetSensorUpperLimit function.
void	HTScoutUnmuteSound (void)
	HTScoutUnmuteSound function.
void	SetSensorMSPressure (const byte &port)
	Configure a mindsensors pressure sensor.
void	SetSensorMSDROD (const byte &port, bool bActive)
	Configure a mindsensors DROD sensor.
void	SetSensorNXTSumoEyes (const byte &port, bool bLong)
	Configure a mindsensors SumoEyes sensor.
int	SensorMSPressure (const byte &port)
	Read mindsensors pressure sensor.
char	SensorNXTSumoEyes (const byte &port)
	Read mindsensors NXTSumoEyes obstacle zone.
int	SensorMSCompass (const byte &port, const byte i2caddr)
	Read mindsensors compass value.
int	SensorMSDROD (const byte &port)
	Read mindsensors DROD value.
int	SensorNXTSumoEyesRaw (const byte &port)
	Read mindsensors NXTSumoEyes raw value.
int	SensorMSPressureRaw (const byte &port)
	Read mindsensors raw pressure value.
bool	ReadSensorMSAccel (const byte port, const byte i2caddr, int &x, int &y, int &z)
	Read mindsensors acceleration values.
bool	ReadSensorMSPlayStation (const byte port, const byte i2caddr, byte &btnset1, byte &btnset2, byte &xleft, byte &yleft, byte &xright, byte &yright)
	Read mindsensors playstation controller values.
bool	ReadSensorMSRTClock (const byte port, byte &sec, byte &min, byte &hrs, byte &dow, byte &date, byte &month, byte &year)
	Read mindsensors RTClock values.
bool	ReadSensorMSTilt (const byte &port, const byte &i2caddr, byte &x, byte &y, byte &z)
	Read mindsensors tilt values.
bool	PFMateSend (const byte &port, const byte &i2caddr, const byte &channel, const byte &motors, const byte &cmdA, const byte &spdA, const byte &cmdB, const byte &spdB)
	Send PFMate command.
bool	PFMateSendRaw (const byte &port, const byte &i2caddr, const byte &channel, const byte &b1, const byte &b2)
	Send raw PFMate command.
int	MSReadValue (const byte port, const byte i2caddr, const byte reg, const byte numbytes)
	Read a mindsensors device value.
char	MSEnergize (const byte port, const byte i2caddr)
	Turn on power to device.
char	MSDeenergize (const byte port, const byte i2caddr)
	Turn off power to device.
char	MSADPAOn (const byte port, const byte i2caddr)
	Turn on mindsensors ADPA mode.
char	MSADPAOff (const byte port, const byte i2caddr)
	Turn off mindsensors ADPA mode.
char	DISTNxGP2D12 (const byte port, const byte i2caddr)
	Configure DISTNx as GP2D12.
char	DISTNxGP2D120 (const byte port, const byte i2caddr)
	Configure DISTNx as GP2D120.
char	DISTNxGP2YA02 (const byte port, const byte i2caddr)
	Configure DISTNx as GP2YA02.
char	DISTNxGP2YA21 (const byte port, const byte i2caddr)
	Configure DISTNx as GP2YA21.
int	DISTNxDistance (const byte port, const byte i2caddr)
	Read DISTNx distance value.
int	DISTNxMaxDistance (const byte port, const byte i2caddr)
	Read DISTNx maximum distance value.
int	DISTNxMinDistance (const byte port, const byte i2caddr)
	Read DISTNx minimum distance value.
byte	DISTNxModuleType (const byte port, const byte i2caddr)
	Read DISTNx module type value.
byte	DISTNxNumPoints (const byte port, const byte i2caddr)
	Read DISTNx num points value.
int	DISTNxVoltage (const byte port, const byte i2caddr)
	Read DISTNx voltage value.
char	ACCLNxCalibrateX (const byte port, const byte i2caddr)
	Calibrate ACCL-Nx X-axis.
char	ACCLNxCalibrateXEnd (const byte port, const byte i2caddr)
	Stop calibrating ACCL-Nx X-axis.
char	ACCLNxCalibrateY (const byte port, const byte i2caddr)
	Calibrate ACCL-Nx Y-axis.
char	ACCLNxCalibrateYEnd (const byte port, const byte i2caddr)
	Stop calibrating ACCL-Nx Y-axis.
char	ACCLNxCalibrateZ (const byte port, const byte i2caddr)
	Calibrate ACCL-Nx Z-axis.
char	ACCLNxCalibrateZEnd (const byte port, const byte i2caddr)
	Stop calibrating ACCL-Nx Z-axis.
char	ACCLNxResetCalibration (const byte port, const byte i2caddr)
	Reset ACCL-Nx calibration.
char	SetACCLNxSensitivity (const byte port, const byte i2caddr, byte slevel)
	Set ACCL-Nx sensitivity.
byte	ACCLNxSensitivity (const byte port, const byte i2caddr)
	Read ACCL-Nx sensitivity value.
int	ACCLNxXOffset (const byte port, const byte i2caddr)
	Read ACCL-Nx X offset value.
int	ACCLNxXRange (const byte port, const byte i2caddr)
	Read ACCL-Nx X range value.
int	ACCLNxYOffset (const byte port, const byte i2caddr)
	Read ACCL-Nx Y offset value.
int	ACCLNxYRange (const byte port, const byte i2caddr)
	Read ACCL-Nx Y range value.
int	ACCLNxZOffset (const byte port, const byte i2caddr)
	Read ACCL-Nx Z offset value.
int	ACCLNxZRange (const byte port, const byte i2caddr)
	Read ACCL-Nx Z range value.
char	PSPNxDigital (const byte &port, const byte &i2caddr)
	Configure PSPNx in digital mode.
char	PSPNxAnalog (const byte &port, const byte &i2caddr)
	Configure PSPNx in analog mode.
unsigned int	NXTServoPosition (const byte &port, const byte &i2caddr, const byte servo)
	Read NXTServo servo position value.
byte	NXTServoSpeed (const byte &port, const byte &i2caddr, const byte servo)
	Read NXTServo servo speed value.
byte	NXTServoBatteryVoltage (const byte &port, const byte &i2caddr)
	Read NXTServo battery voltage value.
char	SetNXTServoSpeed (const byte &port, const byte &i2caddr, const byte servo, const byte &speed)
	Set NXTServo servo motor speed.
char	SetNXTServoQuickPosition (const byte &port, const byte &i2caddr, const byte servo, const byte &qpos)
	Set NXTServo servo motor quick position.
char	SetNXTServoPosition (const byte &port, const byte &i2caddr, const byte servo, const byte &pos)
	Set NXTServo servo motor position.
char	NXTServoReset (const byte &port, const byte &i2caddr)
	Reset NXTServo properties.
char	NXTServoHaltMacro (const byte &port, const byte &i2caddr)
	Halt NXTServo macro.
char	NXTServoResumeMacro (const byte &port, const byte &i2caddr)
	Resume NXTServo macro.
char	NXTServoPauseMacro (const byte &port, const byte &i2caddr)
	Pause NXTServo macro.
char	NXTServoInit (const byte &port, const byte &i2caddr, const byte servo)
	Initialize NXTServo servo properties.
char	NXTServoGotoMacroAddress (const byte &port, const byte &i2caddr, const byte &macro)
	Goto NXTServo macro address.
char	NXTServoEditMacro (const byte &port, const byte &i2caddr)
	Edit NXTServo macro.
char	NXTServoQuitEdit (const byte &port)
	Quit NXTServo macro edit mode.
char	NXTHIDAsciiMode (const byte &port, const byte &i2caddr)
	Set NXTHID into ASCII data mode.
char	NXTHIDDirectMode (const byte &port, const byte &i2caddr)
	Set NXTHID into direct data mode.
char	NXTHIDTransmit (const byte &port, const byte &i2caddr)
	Transmit NXTHID character.
char	NXTHIDLoadCharacter (const byte &port, const byte &i2caddr, const byte &modifier, const byte &character)
	Load NXTHID character.
char	NXTPowerMeterResetCounters (const byte &port, const byte &i2caddr)
	Reset NXTPowerMeter counters.
int	NXTPowerMeterPresentCurrent (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter present current.
int	NXTPowerMeterPresentVoltage (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter present voltage.
int	NXTPowerMeterCapacityUsed (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter capacity used.
int	NXTPowerMeterPresentPower (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter present power.
long	NXTPowerMeterTotalPowerConsumed (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter total power consumed.
int	NXTPowerMeterMaxCurrent (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter maximum current.
int	NXTPowerMeterMinCurrent (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter minimum current.
int	NXTPowerMeterMaxVoltage (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter maximum voltage.
int	NXTPowerMeterMinVoltage (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter minimum voltage.
long	NXTPowerMeterElapsedTime (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter elapsed time.
int	NXTPowerMeterErrorCount (const byte &port, const byte &i2caddr)
	Read NXTPowerMeter error count.
char	NXTLineLeaderPowerDown (const byte &port, const byte &i2caddr)
	Powerdown NXTLineLeader device.
char	NXTLineLeaderPowerUp (const byte &port, const byte &i2caddr)
	Powerup NXTLineLeader device.
char	NXTLineLeaderInvert (const byte &port, const byte &i2caddr)
	Invert NXTLineLeader colors.
char	NXTLineLeaderReset (const byte &port, const byte &i2caddr)
	Reset NXTLineLeader color inversion.
char	NXTLineLeaderSnapshot (const byte &port, const byte &i2caddr)
	Take NXTLineLeader line snapshot.
char	NXTLineLeaderCalibrateWhite (const byte &port, const byte &i2caddr)
	Calibrate NXTLineLeader white color.
char	NXTLineLeaderCalibrateBlack (const byte &port, const byte &i2caddr)
	Calibrate NXTLineLeader black color.
char	NXTLineLeaderSteering (const byte &port, const byte &i2caddr)
	Read NXTLineLeader steering.
char	NXTLineLeaderAverage (const byte &port, const byte &i2caddr)
	Read NXTLineLeader average.
byte	NXTLineLeaderResult (const byte &port, const byte &i2caddr)
	Read NXTLineLeader result.
char	SetNXTLineLeaderSetpoint (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader setpoint.
char	SetNXTLineLeaderKpValue (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Kp value.
char	SetNXTLineLeaderKiValue (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Ki value.
char	SetNXTLineLeaderKdValue (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Kd value.
char	SetNXTLineLeaderKpFactor (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Kp factor.
char	SetNXTLineLeaderKiFactor (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Ki factor.
char	SetNXTLineLeaderKdFactor (const byte &port, const byte &i2caddr, const byte &value)
	Write NXTLineLeader Kd factor.
char	NRLink2400 (const byte port, const byte i2caddr)
	Configure NRLink in 2400 baud mode.
char	NRLink4800 (const byte port, const byte i2caddr)
	Configure NRLink in 4800 baud mode.
char	NRLinkFlush (const byte port, const byte i2caddr)
	Flush NRLink buffers.
char	NRLinkIRLong (const byte port, const byte i2caddr)
	Configure NRLink in IR long mode.
char	NRLinkIRShort (const byte port, const byte i2caddr)
	Configure NRLink in IR short mode.
char	NRLinkSetPF (const byte port, const byte i2caddr)
	Configure NRLink in power function mode.
char	NRLinkSetRCX (const byte port, const byte i2caddr)
	Configure NRLink in RCX mode.
char	NRLinkSetTrain (const byte port, const byte i2caddr)
	Configure NRLink in IR train mode.
char	NRLinkTxRaw (const byte port, const byte i2caddr)
	Configure NRLink in raw IR transmit mode.
byte	NRLinkStatus (const byte port, const byte i2caddr)
	Read NRLink status.
char	RunNRLinkMacro (const byte port, const byte i2caddr, const byte macro)
	Run NRLink macro.
char	WriteNRLinkBytes (const byte port, const byte i2caddr, const byte data[])
	Write data to NRLink.
bool	ReadNRLinkBytes (const byte port, const byte i2caddr, byte &data[])
	Read data from NRLink.
char	MSIRTrain (const byte port, const byte i2caddr, const byte channel, const byte func)
	MSIRTrain function.
char	MSPFComboDirect (const byte port, const byte i2caddr, const byte channel, const byte outa, const byte outb)
	MSPFComboDirect function.
char	MSPFComboPWM (const byte port, const byte i2caddr, const byte channel, const byte outa, const byte outb)
	MSPFComboPWM function.
char	MSPFRawOutput (const byte port, const byte i2caddr, const byte nibble0, const byte nibble1, const byte nibble2)
	MSPFRawOutput function.
char	MSPFRepeat (const byte port, const byte i2caddr, const byte count, const unsigned int delay)
	MSPFRepeat function.
char	MSPFSingleOutputCST (const byte port, const byte i2caddr, const byte channel, const byte out, const byte func)
	MSPFSingleOutputCST function.
char	MSPFSingleOutputPWM (const byte port, const byte i2caddr, const byte channel, const byte out, const byte func)
	MSPFSingleOutputPWM function.
char	MSPFSinglePin (const byte port, const byte i2caddr, const byte channel, const byte out, const byte pin, const byte func, bool cont)
	MSPFSinglePin function.
char	MSPFTrain (const byte port, const byte i2caddr, const byte channel, const byte func)
	MSPFTrain function.
void	MSRCXSetNRLinkPort (const byte port, const byte i2caddr)
	MSRCXSetIRLinkPort function.
int	MSRCXBatteryLevel (void)
	MSRCXBatteryLevel function.
int	MSRCXPoll (const byte src, const byte value)
	MSRCXPoll function.
int	MSRCXPollMemory (const unsigned int address)
	MSRCXPollMemory function.
void	MSRCXAbsVar (const byte varnum, const byte byte src, const unsigned int value)
	MSRCXAbsVar function.
void	MSRCXAddToDatalog (const byte src, const unsigned int value)
	MSRCXAddToDatalog function.
void	MSRCXAndVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXAndVar function.
void	MSRCXBoot (void)
	MSRCXBoot function.
void	MSRCXCalibrateEvent (const byte evt, const byte low, const byte hi, const byte hyst)
	MSRCXCalibrateEvent function.
void	MSRCXClearAllEvents (void)
	MSRCXClearAllEvents function.
void	MSRCXClearCounter (const byte counter)
	MSRCXClearCounter function.
void	MSRCXClearMsg (void)
	MSRCXClearMsg function.
void	MSRCXClearSensor (const byte port)
	MSRCXClearSensor function.
void	MSRCXClearSound (void)
	MSRCXClearSound function.
void	MSRCXClearTimer (const byte timer)
	MSRCXClearTimer function.
void	MSRCXCreateDatalog (const unsigned int size)
	MSRCXCreateDatalog function.
void	MSRCXDecCounter (const byte counter)
	MSRCXDecCounter function.
void	MSRCXDeleteSub (const byte s)
	MSRCXDeleteSub function.
void	MSRCXDeleteSubs (void)
	MSRCXDeleteSubs function.
void	MSRCXDeleteTask (const byte t)
	MSRCXDeleteTask function.
void	MSRCXDeleteTasks (void)
	MSRCXDeleteTasks function.
void	MSRCXDisableOutput (const byte outputs)
	MSRCXDisableOutput function.
void	MSRCXDivVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXDivVar function.
void	MSRCXEnableOutput (const byte outputs)
	MSRCXEnableOutput function.
void	MSRCXEvent (const byte src, const unsigned int value)
	MSRCXEvent function.
void	MSRCXFloat (const byte outputs)
	MSRCXFloat function.
void	MSRCXFwd (const byte outputs)
	MSRCXFwd function.
void	MSRCXIncCounter (const byte counter)
	MSRCXIncCounter function.
void	MSRCXInvertOutput (const byte outputs)
	MSRCXInvertOutput function.
void	MSRCXMulVar (const byte varnum, const byte src, unsigned int value)
	MSRCXMulVar function.
void	MSRCXMuteSound (void)
	MSRCXMuteSound function.
void	MSRCXObvertOutput (const byte outputs)
	MSRCXObvertOutput function.
void	MSRCXOff (const byte outputs)
	MSRCXOff function.
void	MSRCXOn (const byte outputs)
	MSRCXOn function.
void	MSRCXOnFor (const byte outputs, const unsigned int ms)
	MSRCXOnFor function.
void	MSRCXOnFwd (const byte outputs)
	MSRCXOnFwd function.
void	MSRCXOnRev (const byte outputs)
	MSRCXOnRev function.
void	MSRCXOrVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXOrVar function.
void	MSRCXPBTurnOff (void)
	MSRCXPBTurnOff function.
void	MSRCXPing (void)
	MSRCXPing function.
void	MSRCXPlaySound (const byte snd)
	MSRCXPlaySound function.
void	MSRCXPlayTone (const unsigned int freq, const byte duration)
	MSRCXPlayTone function.
void	MSRCXPlayToneVar (const byte varnum, const byte duration)
	MSRCXPlayToneVar function.
void	MSRCXRemote (unsigned int cmd)
	MSRCXRemote function.
void	MSRCXReset (void)
	MSRCXReset function.
void	MSRCXRev (const byte outputs)
	MSRCXRev function.
void	MSRCXSelectDisplay (const byte src, const unsigned int value)
	MSRCXSelectDisplay function.
void	MSRCXSelectProgram (const byte prog)
	MSRCXSelectProgram function.
void	MSRCXSendSerial (const byte first, const byte count)
	MSRCXSendSerial function.
void	MSRCXSet (const byte dstsrc, const byte dstval, const byte src, unsigned int value)
	MSRCXSet function.
void	MSRCXSetDirection (const byte outputs, const byte dir)
	MSRCXSetDirection function.
void	MSRCXSetEvent (const byte evt, const byte src, const byte type)
	MSRCXSetEvent function.
void	MSRCXSetGlobalDirection (const byte outputs, const byte dir)
	MSRCXSetGlobalDirection function.
void	MSRCXSetGlobalOutput (const byte outputs, const byte mode)
	MSRCXSetGlobalOutput function.
void	MSRCXSetMaxPower (const byte outputs, const byte pwrsrc, const byte pwrval)
	MSRCXSetMaxPower function.
void	MSRCXSetMessage (const byte msg)
	MSRCXSetMessage function.
void	MSRCXSetOutput (const byte outputs, const byte mode)
	MSRCXSetOutput function.
void	MSRCXSetPower (const byte outputs, const byte pwrsrc, const byte pwrval)
	MSRCXSetPower function.
void	MSRCXSetPriority (const byte p)
	MSRCXSetPriority function.
void	MSRCXSetSensorMode (const byte port, const byte mode)
	MSRCXSetSensorMode function.
void	MSRCXSetSensorType (const byte port, const byte type)
	MSRCXSetSensorType function.
void	MSRCXSetSleepTime (const byte t)
	MSRCXSetSleepTime function.
void	MSRCXSetTxPower (const byte pwr)
	MSRCXSetTxPower function.
void	MSRCXSetUserDisplay (const byte src, const unsigned int value, const byte precision)
	MSRCXSetUserDisplay function.
void	MSRCXSetVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXSetVar function.
void	MSRCXSetWatch (const byte hours, const byte minutes)
	MSRCXSetWatch function.
void	MSRCXSgnVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXSgnVar function.
void	MSRCXStartTask (const byte t)
	MSRCXStartTask function.
void	MSRCXStopAllTasks (void)
	MSRCXStopAllTasks function.
void	MSRCXStopTask (const byte t)
	MSRCXStopTask function.
void	MSRCXSubVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXSubVar function.
void	MSRCXSumVar (const byte varnum, const byte src, const unsigned int value)
	MSRCXSumVar function.
void	MSRCXToggle (const byte outputs)
	MSRCXToggle function.
void	MSRCXUnlock (void)
	MSRCXUnlock function.
void	MSRCXUnmuteSound (void)
	MSRCXUnmuteSound function.
void	MSScoutCalibrateSensor (void)
	MSScoutCalibrateSensor function.
void	MSScoutMuteSound (void)
	MSScoutMuteSound function.
void	MSScoutSelectSounds (const byte grp)
	MSScoutSelectSounds function.
void	MSScoutSendVLL (const byte src, const unsigned int value)
	MSScoutSendVLL function.
void	MSScoutSetCounterLimit (const byte ctr, const byte src, const unsigned int value)
	MSScoutSetCounterLimit function.
void	MSScoutSetEventFeedback (const byte src, const unsigned int value)
	MSScoutSetEventFeedback function.
void	MSScoutSetLight (const byte x)
	MSScoutSetLight function.
void	MSScoutSetScoutMode (const byte mode)
	MSScoutSetScoutMode function.
void	MSScoutSetScoutRules (const byte m, const byte t, const byte l, const byte tm, const byte fx)
	MSScoutSetScoutRules function.
void	MSScoutSetSensorClickTime (const byte src, const unsigned int value)
	MSScoutSetSensorClickTime function.
void	MSScoutSetSensorHysteresis (const byte src, const unsigned int value)
	MSScoutSetSensorHysteresis function.
void	MSScoutSetSensorLowerLimit (const byte src, const unsigned int value)
	MSScoutSetSensorLowerLimit function.
void	MSScoutSetSensorUpperLimit (const byte src, const unsigned int value)
	MSScoutSetSensorUpperLimit function.
void	MSScoutSetTimerLimit (const byte tmr, const byte src, const unsigned int value)
	MSScoutSetTimerLimit function.
void	MSScoutUnmuteSound (void)
	MSScoutUnmuteSound function.
bool	RFIDInit (const byte &port)
	RFIDInit function.
bool	RFIDMode (const byte &port, const byte &mode)
	RFIDMode function.
byte	RFIDStatus (const byte &port)
	RFIDStatus function.
bool	RFIDRead (const byte &port, byte &output[])
	RFIDRead function.
bool	RFIDStop (const byte &port)
	RFIDStop function.
bool	RFIDReadSingle (const byte &port, byte &output[])
	RFIDReadSingle function.
bool	RFIDReadContinuous (const byte &port, byte &output[])
	RFIDReadContinuous function.
bool	SensorDIGPSStatus (byte port)
	SensorDIGPSStatus function.
long	SensorDIGPSTime (byte port)
	SensorDIGPSTime function.
long	SensorDIGPSLatitude (byte port)
	SensorDIGPSLatitude function.
long	SensorDIGPSLongitude (byte port)
	SensorDIGPSLongitude function.
long	SensorDIGPSVelocity (byte port)
	SensorDIGPSVelocity function.
int	SensorDIGPSHeading (byte port)
	SensorDIGPSHeading function.
long	SensorDIGPSDistanceToWaypoint (byte port)
	SensorDIGPSDistanceToWaypoint function.
int	SensorDIGPSHeadingToWaypoint (byte port)
	SensorDIGPSHeadingToWaypoint function.
int	SensorDIGPSRelativeHeading (byte port)
	SensorDIGPSRelativeHeading function.
bool	SetSensorDIGPSWaypoint (byte port, long latitude, long longitude)
	SetSensorDIGPSWaypoint function.
bool	SetSensorDIGyroEx (const byte port, byte scale, byte odr, byte bw)
	SetSensorDIGyroEx function.
bool	SetSensorDIGyro (const byte port)
	SetSensorDIGyro function.
bool	ReadSensorDIGyroRaw (const byte port, VectorType &vector)
	ReadSensorDIGyroRaw function.
bool	ReadSensorDIGyro (const byte port, VectorType &vector)
	ReadSensorDIGyro function.
int	SensorDIGyroTemperature (const byte port)
	SensorDIGyroTemperature function.
byte	SensorDIGyroStatus (const byte port)
	SensorDIGyroStatus function.
bool	SetSensorDIAcclEx (const byte port, byte mode)
	SetSensorDIAcclEx function.
bool	SetSensorDIAccl (const byte port)
	SetSensorDIAccl function.
bool	ReadSensorDIAcclRaw (const byte port, VectorType &vector)
	ReadSensorDIAcclRaw function.
bool	ReadSensorDIAccl (const byte port, VectorType &vector)
	ReadSensorDIAccl function.
bool	ReadSensorDIAccl8Raw (const byte port, VectorType &vector)
	ReadSensorDIAccl8Raw function.
bool	ReadSensorDIAccl8 (const byte port, VectorType &vector)
	ReadSensorDIAccl8 function.
byte	SensorDIAcclStatus (const byte port)
	SensorDIAcclStatus function.
bool	ReadSensorDIAcclDrift (const byte port, int &x, int &y, int &z)
	ReadSensorDIAcclDrift function.
bool	SetSensorDIAcclDrift (const byte port, int x, int y, int z)
	SetSensorDIAcclDrift function.
bool	ResetMIXG1300L (byte port)
	ResetMIXG1300L function.
int	SensorMIXG1300LScale (byte port)
	SensorMIXG1300LScale function.
bool	SetSensorMIXG1300LScale (byte port, const byte scale)
	SetSensorMIXG1300LScale function.
bool	ReadSensorMIXG1300L (byte port, XGPacketType &packet)
	ReadSensorMIXG1300L function.
float	sqrt (float x)
	Compute square root.
float	cos (float x)
	Compute cosine.
float	sin (float x)
	Compute sine.
float	tan (float x)
	Compute tangent.
float	acos (float x)
	Compute arc cosine.
float	asin (float x)
	Compute arc sine.
float	atan (float x)
	Compute arc tangent.
float	atan2 (float y, float x)
	Compute arc tangent with 2 parameters.
float	cosh (float x)
	Compute hyperbolic cosine.
float	sinh (float x)
	Compute hyperbolic sine.
float	tanh (float x)
	Compute hyperbolic tangent.
float	exp (float x)
	Compute exponential function.
float	log (float x)
	Compute natural logarithm.
float	log10 (float x)
	Compute common logarithm.
long	trunc (float x)
	Compute integral part.
float	frac (float x)
	Compute fractional part.
float	pow (float base, float exponent)
	Raise to power.
float	ceil (float x)
	Round up value.
float	floor (float x)
	Round down value.
long	muldiv32 (long a, long b, long c)
	Multiply and divide.
float	cosd (float x)
	Compute cosine (degrees).
float	sind (float x)
	Compute sine (degrees).
float	tand (float x)
	Compute tangent (degrees).
float	acosd (float x)
	Compute arc cosine (degrees).
float	asind (float x)
	Compute arc sine (degrees).
float	atand (float x)
	Compute arc tangent (degrees).
float	atan2d (float y, float x)
	Compute arc tangent with 2 parameters (degrees).
float	coshd (float x)
	Compute hyperbolic cosine (degrees).
float	sinhd (float x)
	Compute hyperbolic sine (degrees).
float	tanhd (float x)
	Compute hyperbolic tangent (degrees).
byte	bcd2dec (byte bcd)
	Convert from BCD to decimal Return the decimal equivalent of the binary coded decimal value provided.
bool	isNAN (float value)
	Is the value NaN.
char	sign (variant num)
	Sign value.
void	VectorCross (VectorType a, VectorType b, VectorType &out)
	VectorCross function.
float	VectorDot (VectorType a, VectorType b)
	VectorDot function.
void	VectorNormalize (VectorType &a)
	VectorNormalize function.
int	fclose (byte handle)
	Close file.
int	remove (string filename)
	Remove file.
int	rename (string old, string new)
	Rename file.
char	fgetc (byte handle)
	Get character from file.
string	fgets (string &str, int num, byte handle)
	Get string from file.
int	feof (byte handle)
	Check End-of-file indicator.
void	set_fopen_size (unsigned long fsize)
	Set the default fopen file size.
byte	fopen (string filename, const string mode)
	Open file.
int	fflush (byte handle)
	Flush file.
unsigned long	ftell (byte handle)
	Get current position in file.
char	fputc (char ch, byte handle)
	Write character to file.
int	fputs (string str, byte handle)
	Write string to file.
int	getchar ()
	Get character from stdin.
void	printf (string format, variant value)
	Print formatted data to stdout.
void	fprintf (byte handle, string format, variant value)
	Write formatted data to file.
void	sprintf (string &str, string format, variant value)
	Write formatted data to string.
int	fseek (byte handle, long offset, int origin)
	Reposition file position indicator.
void	rewind (byte handle)
	Set position indicator to the beginning.
void	abort ()
	Abort current process.
variant	abs (variant num)
	Absolute value.
long	srand (long seed)
	Seed the random number generator.
unsigned long	rand ()
	Generate random number.
int	Random (unsigned int n=0)
	Generate random number.
void	SysRandomNumber (RandomNumberType &args)
	Draw a random number.
void	SysRandomEx (RandomExType &args)
	Call the enhanced random number function.
int	atoi (const string &str)
	Convert string to integer.
long	atol (const string &str)
	Convert string to long integer.
long	labs (long n)
	Absolute value.
float	atof (const string &str)
	Convert string to float.
float	strtod (const string &str, string &endptr)
	Convert string to float.
long	strtol (const string &str, string &endptr, int base=10)
	Convert string to long integer.
long	strtoul (const string &str, string &endptr, int base=10)
	Convert string to unsigned long integer.
div_t	div (int numer, int denom)
	Integral division.
ldiv_t	ldiv (long numer, long denom)
	Integral division.
variant	StrToNum (string str)
	Convert string to number.
unsigned int	StrLen (string str)
	Get string length.
byte	StrIndex (string str, unsigned int idx)
	Extract a character from a string.
string	NumToStr (variant num)
	Convert number to string.
string	StrCat (string str1, string str2, string strN)
	Concatenate strings.
string	SubStr (string str, unsigned int idx, unsigned int len)
	Extract a portion of a string.
string	Flatten (variant num)
	Flatten a number to a string.
string	StrReplace (string str, unsigned int idx, string strnew)
	Replace a portion of a string.
string	FormatNum (string fmt, variant num)
	Format a number.
string	FormatVal (string fmt, variant val)
	Format a value.
string	FlattenVar (variant x)
	Flatten any data to a string.
int	UnflattenVar (string str, variant &x)
	Unflatten a string into a data type.
int	Pos (string Substr, string S)
	Find substring position.
string	ByteArrayToStr (byte data[])
	Convert a byte array to a string.
void	ByteArrayToStrEx (byte data[], string &str)
	Convert a byte array to a string.
void	StrToByteArray (string str, byte &data[])
	Convert a string to a byte array.
string	Copy (string str, unsigned int idx, unsigned int len)
	Copy a portion of a string.
string	MidStr (string str, unsigned int idx, unsigned int len)
	Copy a portion from the middle of a string.
string	RightStr (string str, unsigned int size)
	Copy a portion from the end of a string.
string	LeftStr (string str, unsigned int size)
	Copy a portion from the start of a string.
int	strlen (const string &str)
	Get string length.
string	strcat (string &dest, const string &src)
	Concatenate strings.
string	strncat (string &dest, const string &src, unsigned int num)
	Append characters from string.
string	strcpy (string &dest, const string &src)
	Copy string.
string	strncpy (string &dest, const string &src, unsigned int num)
	Copy characters from string.
int	strcmp (const string &str1, const string &str2)
	Compare two strings.
int	strncmp (const string &str1, const string &str2, unsigned int num)
	Compare characters of two strings.
void	memcpy (variant dest, variant src, byte num)
	Copy memory.
void	memmove (variant dest, variant src, byte num)
	Move memory.
char	memcmp (variant ptr1, variant ptr2, byte num)
	Compare two blocks of memory.
unsigned long	addressOf (variant data)
	Get the absolute address of a variable.
unsigned long	reladdressOf (variant data)
	Get the relative address of a variable.
unsigned long	addressOfEx (variant data, bool relative)
	Get the absolute or relative address of a variable.
int	isupper (int c)
	Check if character is uppercase letter.
int	islower (int c)
	Check if character is lowercase letter.
int	isalpha (int c)
	Check if character is alphabetic.
int	isdigit (int c)
	Check if character is decimal digit.
int	isalnum (int c)
	Check if character is alphanumeric.
int	isspace (int c)
	Check if character is a white-space.
int	iscntrl (int c)
	Check if character is a control character.
int	isprint (int c)
	Check if character is printable.
int	isgraph (int c)
	Check if character has graphical representation.
int	ispunct (int c)
	Check if character is a punctuation.
int	isxdigit (int c)
	Check if character is hexadecimal digit.
int	toupper (int c)
	Convert lowercase letter to uppercase.
int	tolower (int c)
	Convert uppercase letter to lowercase.
void	glInit ()
	Initialize graphics library.
void	glSet (int glType, int glValue)
	Set graphics library options.
int	glBeginObject ()
	Begin defining an object.
void	glEndObject ()
	Stop defining an object.
void	glObjectAction (int glObjectId, int glAction, int glValue)
	Perform an object action.
void	glAddVertex (int glX, int glY, int glZ)
	Add a vertex to an object.
void	glBegin (int glBeginMode)
	Begin a new polygon for the current object.
void	glEnd ()
	Finish a polygon for the current object.
void	glBeginRender ()
	Begin a new render.
void	glCallObject (int glObjectId)
	Call a graphic object.
void	glFinishRender ()
	Finish the current render.
void	glSetAngleX (int glValue)
	Set the X axis angle.
void	glAddToAngleX (int glValue)
	Add to the X axis angle.
void	glSetAngleY (int glValue)
	Set the Y axis angle.
void	glAddToAngleY (int glValue)
	Add to the Y axis angle.
void	glSetAngleZ (int glValue)
	Set the Z axis angle.
void	glAddToAngleZ (int glValue)
	Add to the Z axis angle.
int	glSin32768 (int glAngle)
	Table-based sine scaled by 32768.
int	glCos32768 (int glAngle)
	Table-based cosine scaled by 32768.
int	glBox (int glMode, int glSizeX, int glSizeY, int glSizeZ)
	Create a 3D box.
int	glCube (int glMode, int glSize)
	Create a 3D cube.
int	glPyramid (int glMode, int glSizeX, int glSizeY, int glSizeZ)
	Create a 3D pyramid.
void	PosRegEnable (byte output, byte p=PID_3, byte i=PID_1, byte d=PID_1)
	Enable absolute position regulation with PID factors.
void	PosRegSetAngle (byte output, long angle)
	Change the current value for set angle.
void	PosRegAddAngle (byte output, long angle_add)
	Add to the current value for set angle.
void	PosRegSetMax (byte output, byte max_speed, byte max_acceleration)
	Set maximum limits.

Variables
unsigned long	__fopen_default_size = 1024

Detailed Description

Constants, macros, and API functions for NXC.

NXCDefs.h contains declarations for the NXC NXT API resources

License:

The contents of this file are subject to the Mozilla Public License Version 1.1 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.mozilla.org/MPL/

Software distributed under the License is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License for the specific language governing rights and limitations under the License.

The Initial Developer of this code is John Hansen. Portions created by John Hansen are Copyright (C) 2009-2012 John Hansen. All Rights Reserved.

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Author

John Hansen (bricxcc_at_comcast.net)

Date

2012-12-31

Version

109