ROBOTC Natural Language - VEX PIC Quick Reference:

Set Servo setServo(); setServo(port7, 95);

Set a servo to a desired position.
Default servo and position: port6, 0.

Start Motor startMotor(); startMotor(port8, -32);

Set a specific motor to a speed. wait(); wait(0.5);
Default motor and speed: port6, 95. stopMotor(); stopMotor(port8);

Stop Motor startMotor(); startMotor(port8, -32);

Stop a specific motor. wait(); wait(0.5);
Default motor: port6. stopMotor(); stopMotor(port8);

Wait startMotor(); startMotor(port8, 63);

Wait an amount of time measured in seconds. wait(); wait(2.7);
Only use whole numbers on the VEX PIC. stopMotor(); stopMotor(port8);
Default time: 1.

Wait in Milliseconds startMotor(); startMotor(port8, 63);

Wait an amount of time measured in waitInMilliseconds(); waitInMilliseconds(2700);
milliseconds. stopMotor(); stopMotor(port8);
Default time: 1000.

Until Touch startMotor(); startMotor(port8, 63);

The robot waits for the Touch Sensor to be untilTouch(in10); untilTouch(in10);
pressed. stopMotor(); stopMotor(port8);
Default sensor port: NONE.

Until Release startMotor(); startMotor(port8, 63);

The robot waits for the Touch Sensor to be untilRelease(in10); untilRelease(in10);
released. stopMotor(); stopMotor(port8);
Default sensor port: NONE.

Until Bump startMotor(); startMotor(port8, 63);

The robot waits for the Touch Sensor to be untilBump(in10); untilBump(in10);
pressed in and then released out. stopMotor(); stopMotor(port8);
Default sensor port: NONE.

Until Button Press startMotor(); startMotor(port8, 63);

The robot waits for a button on the VEX LCD to untilButtonPress(); untilButtonPress(rightBtnVEX);
be pressed. stopMotor(); stopMotor(port8);
Default button: centerBtnVEX.

Until Sonar - Less Than startMotor(); startMotor(port8, 63);

The robot waits for the Sonar Sensor to read a untilSonarLessThan(45, untilSonarLessThan(45, in2);
value in cm less than the threshold. in2); stopMotor(port8);
Default threshold and sensor port: NONE. stopMotor();

Until Sonar - Greater Than startMotor(); startMotor(port8, 63);

The robot waits for the Sonar Sensor to read a untilSonarGreaterThan(45, untilSonarGreaterThan(45, in2);
value in cm greater than the threshold. in2); stopMotor(port8);
Default threshold and sensor port: NONE. stopMotor();

© 2010 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems ROBOTC Natural Language - VEX PIC Quick Guide • 1
ROBOTC Natural Language - VEX PIC Quick Reference:

Until Potentiometer - Greater Than startMotor(); startMotor(port8, 63);

The robot waits for the Potentiometer Sensor untilPotentiometerGreaterThan( untilSonarGreaterThan(900, in4);
to read a value greater than a set position. 900, in4); stopMotor(port8);
Default threshold and sensor port: NONE. stopMotor();

Until Potentiometer - Less Than startMotor(); startMotor(port8, 63);

The robot waits for the Potentiometer Sensor untilPotentiometerLessThan( untilSonarLessThan(40, in4);
to read a value less than a set position. 500, in4); stopMotor(port8);
Default threshold and sensor port: NONE. stopMotor();

Until Dark startMotor(); startMotor(port8, 63);

The robot waits for the Light Sensor to read a untilDark(400, in4); untilDark(400, in4);
value greater than the threshold. stopMotor(); stopMotor(port8);
Default threshold and sensor port: NONE.

Until Light startMotor(); startMotor(port8, 63);

The robot waits for the Light Sensor to read a untilLight(400 in4); untilLight(400, in4);
value less than the threshold. stopMotor(); stopMotor(port8);
Default threshold and sensor port: NONE.

Until Rotations startMotor(); startMotor(port8, 63);

The robot waits for an encoder to reach a untilRotations(2, in3); untilRotations(2, in3);
specified whole number of rotations. stopMotor(); stopMotor(port8);
Default rotations, encoder: NONE

Until Encoder Counts startMotor(); startMotor(port8, 63);

The robot waits for an encoder to reach a untilEncoderCounts(990, untilEncoderCounts(990, in3);
specified number of encoder counts. in3); stopMotor(port8);
Default counts, encoder: NONE. stopMotor();

LED ON turnLEDOn(); turnLEDOn(dgtl7);

Turn an LED in a specified digital port ON. wait(); wait(0.5);
Default sensor port: in12. turnLEDOff(); turnLEDOff(dgtl7);

LED OFF turnLEDOn(); turnLEDOn(dgtl7);

Turn an LED in a specified digital port OFF. wait(); wait(0.5);
Default sensor port: in12. turnLEDOff(); turnLEDOff(dgtl7);

Flashlight ON turnFlashlightOn(); turnFlashlightOn(port10, 127);

Turn a VEX Flashlight in a specified motor port wait(); wait(0.5);
ON at a specified brightness. turnFlashlightOff(); turnFlashlightOff(port10);
Default motor port and brightness: port4, 63.

Flashlight OFF turnFlashlightOn(); turnFlashlightOn(port10, 127);

Turn a VEX Flashlight in a specified motor port wait(); wait(0.5);
OFF. turnFlashlightOff(); turnFlashlightOff(port10);
Default motor port: port4.

Robot Type robotType(); robotType(squarebot);

Choose which robot you are using (Recbot or
Swervebot).
Default bot: none.

© 2010 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems ROBOTC Natural Language - VEX PIC Quick Guide • 2
ROBOTC Natural Language - VEX PIC Quick Reference:

Forward forward(); forward(63);

The robot drives straight forward. wait(); wait(2.0);
Default speed: 95. stop(); stop();

Backward backward(); backward(63);

The robot drives straight backward. wait(); wait(2.0);
Default speed: -95. stop(); stop();

Point Turn pointTurn(); pointTurn(left, 63);

The robot makes a sharp turn in place. wait(); wait(0.4);
Default direction and speed: right, 95. stop(); stop();

Swing Turn swingTurn(); swingTurn(left, 63);

The robot makes a wide turn, activating only wait(); wait(0.75);
one drive motor. stop(); stop();
Default direction and speed: right, 95.

Stop forward(); forward(63);

The robot halts both driving motors, coming to wait(); wait(2.0);
a stop. stop(); stop();

Move Straight - for Time moveStraightForTime(7, moveStraightForTime(7, in5, in3);

The robot will use encoders to maintain a in5, in3); stop();
straight path for a specified time in seconds. stop();
Default rotations, rightEncoder, leftEncoder: 5, in2, in3 + interrupts.

Move Straight - for Rotations moveStraightForRotations( moveStraightForRotations(4, in5, in3);

The robot will use encoders to maintain a straight 4, in5, in3); stop();
path for a specified distance in encoder rotations. stop();
Default rotations, rightEncoder, leftEncoder: 1, in2, in3 + interrupts.

Tank Control while(true) while(true)

The robot is remote controlled with the right motor mapped to { {
the right joystick and the left motor mapped to the left joystick. tankControl(); tankControl(Ch1, Ch4);
Default right and left and joystick: Ch2, Ch3. } }

Arcade Control while(true) while(true)

The robot is remote controlled with both { {
motors mapped to a single joystick. arcadeControl(); arcadeControl(Ch1, Ch4);
Default vertical and horizontal joysticks: Ch2, Ch1. } }

© 2010 Carnegie Mellon Robotics Academy / For use with VEX Robotics Systems ROBOTC Natural Language - VEX PIC Quick Guide • 3