GoGo board user guide

GoGo board library for Microworlds Logo
DLL version

Command Reference

by Arnan (Roger) Sipitakiat
arnans@media.mit.edu

Please visit http://learning.media.mit.edu/projects/gogo for the latest version of this document.

[ I - Sensor Commands | II - Output (Motor) Commands ]

sensor1 sensor2 sensor3 sensor4 sensor5 sensor6 sensor7 sensor8	Read the sensor value. Value ranges between 0-1023. 1023 is returned when there's no sensor attached to the port (highest resistance). 0 is returned when the sensor is short circuited (no resistance).
switch1 switch2 switch3 switch4 switch5 switch6 switch7 switch8	Returns the ON/OFF status of the sensor. This command is simply a macro that returns ON (1) if the sensor value is less than 512 OFF (0) if the value is more than or equal to 512.
Examples	show sensor1 will show sensor1's value if switch1 [ fd 100] will move the current turtle 100 steps if switch1 is ON. waituntil [not switch3] will pause the program until switch3 is OFF.

sensorMax1 sensorMax2 sensorMax3 sensorMax4 sensorMax5 sensorMax6 sensorMax7 sensorMax8	Returns the maximum sensor reading the board has detected since the last sensorMax operation. The GoGo board automatically stores the highest sensor value it detects on each sensor port. It will send and reset this value of sensor port N every time a sensorMaxN command is used, where N ranges between 1 to 8. This function is very useful especially when the sensor is activated for a very short time (such as a push button used in a game). In this case, detecting the change by polling the sensor from Microworlds is often not quick enough. This is where sensorMax becomes very handy.
sensorMin1 sensorMin2 sensorMin3 sensorMin4 sensorMin5 sensorMin6 sensorMin7 sensorMin8	Same idea as sensorMax but returns the minimum sensor value the board has detected since the previous sensorMin operation.

Examples	show sensor1 251 show senosr2 806 doLinear show sensor1 166 show sensor2 1892 This example shows how sensor readings are mapped differently when switched to the linear mode.

II - Output (motor) Commands

tta ttb ttc ttd	Talk to an output port. This command will set the corresponding port at the active port. It will be the port effected by the action commands below.

TalkToPort [Port-list]	Talk to multiple output ports. Use this command when you want to control multiple devices simultaneously. Port-list consists of a list of port names ranging from 'a' to 'd'
Examples	TalkToPort [a b c] will set port a, b, and c as the active ports. TalkToPort [a d c b] will set port a, b, c, and d as the active ports (notice that port order has no effect)

On	Turns on the power of the active port(s).
Off	Turns off the power of the active port(s). Note: Off is actually a macro that calls Break (see below) and wait for a short time then calls Coast. It does this to save battery power.
Coast	Turns off the power of the active port(s). When attached to motors, no breaking is applied. Thus, the motor will gradually slow down before stopping completely.
Break	When used with motors, Break will immediately stop the motors (see Coast). Note: the break command draw a lot more energy from the battery than Coast and Break. It continues to consume power even though the motors have stopped. Thus, use it with care.
OnFor Duration	Turns on the active port for a Duration of time. Duration is in tenth of a second.
Examples	tta on wait 10 off will turn on port A for 1 second. This is the equivalent of: tta onfor 10

Thisway Thatway	When used with motors, these two commands controls the direction in which the motor turns. Thisway and Tahtway could mean clockwise or counter-colckwise depending on how the motors are plugged into the port.
Rd	Rd reverses the direction of the motor.

SetPower Power	Sets the power level of the active port. Power ranges between 0-7. The default power level is 7 (full power).
Examples	TalkToMotor [a b c d e f] setpower 4 will lower the power of all output ports by half of the full power.

Last updated: Feb 17, 2004