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Terminal Block Manager

* Single asterisk symbol starts a comment. * TBML script represents just a list of conditions and * action lists, like this script for piston block: WHEN currentPosition = upperLimit DO * Anything below this line is an action list, SET velocity TO -5 * except the next 'WHEN' block. when currentPosition = lowerLimit do * All keywords and names are case-insensitive onoff_off * To execute a terminal action just type its name * in a new line.

WHEN radius = 50000 DO onoff_on

WHEN (angle >= upperLimit AND velocity > 0) OR, * Comma symbol allows to complete (angle <= lowerLimit AND velocity < 0) DO * a long expression in a new line. SET rotorLock TO TRUE SET shareInertiaTensor TO TRUE WHEN (angle < upperLimit AND velocity > 0) OR, (angle > lowerLimit AND velocity < 0) DO SET rotorLock TO FALSE SET shareInertiaTensor TO FALSE

* Comparison floating-point properties: WHEN angle = 90 DO SET torque TO 1234.56 * <-- Setting floating-point value * To check and set boolean properties use 'TRUE' and 'FALSE' keywords: WHEN handBrake = TRUE DO SET handBrake TO FALSE * <-- Setting boolean value WHEN backgroundColor = 0 0 0 DO SET fontColor TO 255 140 105 * <-- Setting rgb color value * ^ ^ ^ * | | | * R G B * Each color value must be in range from 0 to 255. * Some blocks have an additional status property, * like the laser antenna block: WHEN status = idle DO * Available statuses for this block: 'connected', 'connecting', connectgps * 'idle', 'outofrange', 'rotatingtotarget', * 'searchingtargetforantenna'. * Status property is not available for changing.

* If the block/block group name has spaces, type '_' symbol instead. WHEN DISABLED rotor_1 DO * <-- Checks if block is disabled. There is also similar keyword 'ENABLED'. ENABLE rotor_1 * <-- Turning on terminal block. DISABLE spotlights * <-- Turning off block group. SWITCH interior_lights * <-- Turns on when is disabled and * turns off when is enabled. WHEN angle OF rotor_1 >= upperLimit OF rotor_1 DO * 'OF' keyword allows to get * property from another block. DISABLE rotorLock reverse FOR rotor_1 DO SET rotorLock TO TRUE * 'FOR' keyword executes action FOR rotor_1 DO resetVelocity * for another block or block group. FOR interior_lights DO onoff_on * You can execute action or set FOR interior_lights DO SET intensity TO 5 * property for block group if at * least one block of this group has * the specified action/property.

WHEN currentStoredPower = maxStoredPower DO ONCE ENABLE interior_light_1 * 'status' is an additional enumerable property for door block. WHEN status = opening DO * Its value can be 'closed', 'closing', 'opening', 'open'. ENABLE interior_light_2 WAIT 2.5 * Action list after 'WAIT' command will be * executed after the specified time. open_off * <-- closes the door DISABLE interior_light_2

WHEN status = extended DO ONCE FOR rotor_2 DO reverse

WHEN <logical expression> DO [[ ONCE ]] <action list> <property name> OF <block name> ENABLED <block name> DISABLED <block name> <condition_1> AND <condition_2> <condition_1> OR <condition_2> ENABLE <block/block group name> DISABLE <block/block group name> SWITCH <block/block group name> SET <property name> TO <value> FOR <block/block group name> DO <action> WAIT <time in seconds> <action name> [[ `parameter 1` `parameter 2` `parameter 3` `...` ]]