# Notation

- `(value)`
- `(d! dropdown)`
- `<boolean>`
- `(m! display matrix picker)`

# Hub

- DONE `initialize hub (d! top_side = Axis.Z) (d! front_size = Axis.X)`
    - transpiled: `hub = PrimeHub(top_side, front_side)`

## Hub - Status Light

- DONE `set button color to (d! color)`
    - transpiled: `hub.light.on(color)`

- DONE `turn off button light`
    - transpiled: `hub.light.off()`

todo: light.blink
todo: light.animate

## Hub - Display

- `set display orientation to (d! side)`
    - transpiled: `hub.display.orientation(side)`

- DONE `turn display off`
    - transpiled: `hub.display.off()`

- `set (m! row, col) to (brightness %) brightness`
    - transpiled: `hub.display.pixel(row, col, brightness)`

- `show (m! picutre) on display`
    - transpiled: `hub.display.icon(picture)`

todo: display.animate

- DONE `show (number) on display`
    - transpiled: `hub.display.number(number)`

- `show (char) on display`
    - transpiled: `hub.display.char(char)`

- DONE `scroll (text) on display`
    - transpiled: `hub.display.text(text)`

- `scroll (text) on display, on for (on) off for (off)`
    - transpiled: `hub.display.text(text, on, off)`

## Hub - Buttons

!- `(buttons pressed)`
!    - transpiled: `hub.buttons.pressed()`

- DONE `<is (d! button) button pressed?>`
    - transpiled: `button in hub.buttons.pressed()`

## Hub - IMU

- DONE `<imu ready?>`
    - transpiled: `hub.imu.ready()`

- DONE `<is moving?>`
    - transpiled: `!hub.imu.stationary()`

- `(side facing up)`
    - transpiled: `hub.imu.up()`

- DONE `(pitch)`
    - transpiled: `hub.imu.tilt()[0]`

- DONE `(roll)`
    - transpiled: `hub.imu.roll()[1]`

- DONE `(acceleration (d! axis))`
    - transpiled: `hub.imu.acceleration(axis)`

- DONE `(angular velocity (d! axis))`
    - transpiled: `hub.imu.angular_velocity(axis)`

- DONE `(yaw)`
    - transpiled: `hub.imu.heading()`
    - warning: must be reset if lifted from table
    - reset in prelude?

- DONE `reset yaw angle`
    - transpiled: `hub.imu.reset_heading(0)`

- DONE `reset yaw angle to (degrees)`
    - transpiled: `hub.imu.reset_heading(degrees)`

todo: imu.rotation
todo: imu.orientation

- DONE `(angular velocity threshold)`
    - transpiled: `hub.imu.settings()[0]`
- DONE `(acceleration threshold)`
    - transpiled: `hub.imu.settings()[1]`

- DONE `set angular velocity threshold to (threshold)`
    - transpiled: `hub.imu.settings(threshold, hub.imu.settings()[1])`
- DONE `set acceleration threshold to (threshold)`
    - transpiled: `hub.imu.settings(hub.imu.settings()[0], threshold)`

## Hub - Speaker

- `(volume)`
    - transpiled: `hub.speaker.volume()`

- `set speaker volume to (volume)`
    - transpiled: `hub.speaker.volume(volume)`

- `play tone (frequency) for (ms) ms`
    - transpiled: `hub.speaker.beep(frequency, ms)`

- `start playing tone (frequency)`
    - transpiled: `hub.speaker.beep(frequency, -1)`

todo: speaker.play_notes

## TODO: Hub - Bluetooth
Not legal for competition, so I skipped it.
Easy to design though, for late.r

## Hub - Battery

- `(battery voltage)`
    - transpiled: `hub.battery.voltage()`

- `(battery current)`
    - transpiled: `hub.battery.current()`

- `<charger connected?>`
    - transpiled: `hub.charger.connected()`

- `(charging current)`
    - transpiled: `hub.charger.current()`

- `<is charging?>`
    - transpiled: `hub.charger.status() == 1`

- `<is charging complete?>`
    - transpiled: `hub.charger.status() == 2`

- `<is charging stopped?>`
    - transpiled: `hub.charger.status() == 3`

## Hub - Control

- `set stop button to (button)`
    - transpiled: `hub.system.set_stop_button(button)`

- `(hub name)`
    - transpiled: `hub.system.name()`

todo: system.storage

- DONE `stop and exit program` - program terminator
    - transpiled: prelude code, go back to selection screen

- DONE `stop and restart program` - program terminator
    - transpiled: prelude code, exit, run again

- DONE `stop and shutdown system` - program terminator
    - transpiled: `hub.system.shutdown()`

- `<last shut down normally?>`
    - transpiled: `hub.system.reset_reason() == 0`

- `<last shut down automatically?>`
    - transpiled: `hub.system.reset_reason() == 1`

- `<last shut down by crash?>`
    - transpiled: `hub.system.reset_reason() == 2`

# Motors

## Motors - DC

- `turn on dc motor (port) at (power) power`
    - transpiled: `motor.dc(power)`

- `stop dc motor (port)`
    - transpiled: `motor.stop()`

- `set max voltage of dc motor (port) to (voltage)`
    - transpiled: `motor.settings(voltage)`
- `(max voltage of dc motor (port))`
    - transpiled: `motor.settings()[0]`

- `set positive direction of dc motor (port) to (d! direction)`
    - transpiled: RESET motor variable with the direction

## Motors

- `set positive direction of motor (port) to (d! direction)`
    - traspiled: RESET motor variable with the direction

todo: geartrain
todo: reset_angle

- `((port) rotation angle)`
    - transpiled: `motor.angle()`
- `reset rotation angle of (port)`
    - transpiled: `motor.reset_angle(0)`
- `reset rotation angle of (port) to (deg)`
    - transpiled: `motor.reset_angle(deg)`

- `((port) current speed)`
    - transpiled: `motor.speed()`

- `((port) current load)`
    - transpiled: `motor.load()`

- `<(port) is stalled?>`
    - transpiled: `motor.stalled()`

- `(port) stop moving`
    - transpiled: `motor.stop()`

- `(port) brake`
    - transpiled: `motor.brake()`

- `(port) stop and hold position`
    - transpiled: `motor.hold()`

- `(port) start moving at (speed)`
    - transpiled: `motor.run(speed)`

- `(port) start moving at (power) power`
    - transpiled: `motor.dc(power)`

- `(port) run for (time) seconds at (speed) speed, then (d! stop action)`
    - transpiled: `motor.run_time(speed, time, stop action, True)`

- `(port) start running for (time) seconds at (speed) speed, then (d! stop action)`
    - transpiled: `motor.run_time(speed, time, stop action, False)`

- `(port) run for (deg) degrees at (speed), then (d! stop action)`
    - transpiled: `motor.run_angle(speed, deg, stop action, True)`

- `(port) start running for (deg) degrees at (speed), then (d! stop action)`
    - transpiled: `motor.run_angle(speed, deg, stop action, False)`

- `(port) go to relative position (deg) at (speed), then (d! stop action)`
    - transpiled: `motor.run_target(speed, deg, stop action, True)`

- `(port) start moving to relative position (deg) at (speed), then (d! stop action)`
    - transpiled: `motor.run_target(speed, deg, stop action, False)`

- `(port) go to relative position (deg) immediately`
    - transpiled: `motor.track_target(deg)`

- `(port) run at (speed) speed until stalled, then (d! stop action)`
    - transpiled: `motor.run_until_stalled(speed, stop action)`
- `(port) run at (speed) speed until stalled, then (d! stop action), with maximum power (power)`
    - transpiled: `motor.run_until_stalled(speed, stop action, power)`

- `<(port) is done moving?>`
    - transpiled: `motor.done()`

- `((port) max speed)`
    - transpiled: `motor.limits()[0]`
- `((port) max acceleration)`
    - transpiled: `motor.limits()[1]`
- `((port) max torque)`
    - transpiled: `motor.limits()[2]`
- `set (port) max speed to (speed)`
    - transpiled: `motor.limits(speed, motor.limits()[1], motor.limits()[2])`
- `set (port) max acceleration to (accel)`
    - transpiled: `motor.limits(motor.limits()[0], accel, motor.limits()[2])`
- `set (port) max torque to (torq)`
    - transpiled: `motor.limits(motor.limits()[0], motor.limits()[1], torq)`

TODO: pid
TODO: tolerances
TODO: stall tolerances
TODO: scale
TODO: state
TODO: settings

# Tilt Sensor

- `((port) pitch)`
    - transpiled: `sensor.tilt()[0]`
- `((port) roll)`
    - transpiled: `sensor.tilt()[1]`

# Infrared Sensor

- `((port) infrared distance)`
    - transpiled: `sensor.distance()`
- `((port) infrared reflection)`
    - transpiled: `sensor.reflection()`
- `((port) object count)`
    - transpiled: `sensor.count()`

# Color and Distance Sensor

- `<(port) color is (d! color)?>`
    - transpiled: `sensor.color() == color`
- `((port) reflection)`
    - transpiled: `sensor.reflection()`
- `((port) intensity)`
    - transpiled: `sensor.ambient()`
- `((port) infrared distance)`
    - transpiled: `sensor.distance()`

TODO: detectable_colors

- `set (port) light to (d! color RGB)`
    - transpiled: `sensor.light.on(color)`
- `turn off (port) light`
    - transpiled: `sensor.light.off()`

# TODO - Power Functions Infrared Controls

# Color Sensor

- `<(port) color is (d! color)?>`
    - transpiled: `sensor.color() == color`
- `((port) reflection)`
    - transpiled: `sensor.reflection()`
- `((port) intensity)`
    - transpiled: `sensor.ambient()`
- `((port) hue)`
    - transpiled: `sensor.hsv().h`
- `((port) saturation)`
    - transpiled: `sensor.hsv().s`
- `((port) brightness)`
    - transpiled: `sensor.hsv().v`

TODO: detectable_colors

- `turn on (port) light at (power) brightness`
    - transpiled: `sensor.lights.on(power)`
- `turn off (port) light`
    - transpiled: `sensor.lights.off()`

# Ultrasonic Sensor

- `((port) distance)`
    - transpiled: `sensor.distance()`
- `<(port) other ultrasonic sensors nearby?>`
    - transpiled: `sensor.presence()`
- `turn on (port) light at (power) brightness`
    - transpiled: `sensor.lights.on(power)`
- `turn off (port) light`
    - transpiled: `sensor.lights.off()`

# Force Sensor

- `((port) force)`
    - transpiled: `sensor.force()`
- `((port) distance travelled)`
    - transpiled: `sensor.distance()`
- `<(port) pressed?>`
    - transpiled: `sensor.pressed()`
- `<(port) touched?>`
    - transpiled: `sensor.touched()`

# TODO - Color Light Matrix

# Light

- `turn on (port) at (power) brightness`
    - transpiled: `sensor.on(power)`
- `turn off (port)`
    - trnaspiled: `sensor.off()`

# TODO - Remote Control

# Constants

## Constants - Axis

- `(x axis)`
    - transpiled: `Axis.X`
- `(y axis)`
    - transpiled: `Axis.Y`
- `(z axis)`
    - transpiled: `Axis.Z`

## Constants - Button

- `(left button)`
    - transpiled: `Button.LEFT`
- `(center button)`
    - transpiled: `Button.CENTER`
- `(right button)`
    - transpiled: `Button.RIGHT`
- `(bluetooth button)`
    - transpiled: `Button.BLUETOOTH`

## Constants - Stop Behavior

- `coast`
    - transpiled: `Stop.COAST`
- `preplanned coast`
    - transpiled: `Stop.COAST_SMART`
- `brake`
    - transpiled: `Stop.BRAKE`
- `hold position`
    - transpiled: `Stop.HOLD`
- `do not stop`
    - transpiled: `Stop.NONE`

# Tools

- `wait (ms) ms`
    - transpiled: `tools.wait(ms)`

## TODO - Tools - Stopwatch

# Movement (Robotics)

- `set movement motors to (left port) and (right port)`
    - transpiled: `left_motor = left port; right_motor = right port; drive = DriveBase(left_motor, right_motor, wd, track)`
- `set wheel diameter to (mm) mm`
    - transpiled: `wd = mm; drive = DriveBase(left_motor, right_motor, wd, track)`
- `set track width to (mm) mm`
    - transpiled: `track = mm; drive = DriveBase(left_motor, right_motor, wd, track)`

- `move (mm) mm, then (d! stop)`
    - transpiled: `drive.straight(mm, stop, True)`
- `start moving (mm) mm, then (d! stop)`
    - transpiled: `drive.straight(mm, stop, False)`
- `turn in place (deg) degrees, then (d! stop)`
    - transpiled: `drive.turn(deg, stop, True)`
- `start turning in place (deg) degrees, then (d! stop)`
    - transpiled: `drive.turn(deg, stop, False)`
- `turn (deg) degrees across a (rad) mm arc, then (d! stop)`
    - transpiled: `drive.curve(rad, deg, stop, True)`
- `start turning (deg) degrees across a (rad) mm arc, then (d! stop)`
    - transpiled: `drive.curve(rad, deg, stop, False)`

- `(movement speed)`
    - transpiled: `drive.settings()[0]`
- `(movement acceleration)`
    - transpiled: `drive.settings()[1]`
- `(turn speed)`
    - transpiled: `drive.settings()[2]`
- `(turn acceleration)`
    - transpiled: `drive.settings()[3]`
- `set movement speed to (speed)`
    - transpiled: `drive.settings(speed, drive.settings()[1], drive.settings()[2], drive.settings()[3])`
- `set movement acceleration to (speed)`
    - transpiled: `drive.settings(drive.settings()[0], speed, drive.settings()[2], drive.settings()[3])`
- `set turn speed to (speed)`
    - transpiled: `drive.settings(drive.settings()[0], drive.settings()[1], speed, drive.settings()[3])`
- `set turn acceleration to (speed)`
    - transpiled: `drive.settings(drive.settings()[0], drive.settings()[1], drive.settings()[2], speed)`

- `<is done moving?>`
    - transpiled: `drive.done()`

- `start moving at (spd) speed`
    - transpiled: `drive.drive(spd, 0)`
- `start moving at (spd) speed with turn rate (tr)`
    - transpiled: `drive.drive(spd, tr)`
- `stop moving`
    - transpiled: `drive.stop()`

- `(relative distance)`
    - transpiled: `drive.distance()`
- `(relative angle)`
    - transpiled: `drive.angle()`

- `(current drive speed)`
    - transpiled: `drive.state()[1]`

- `(current turn rate)`
    - transpiled: `drive.state()[3]`

- `reset angle and distance`
    - transpiled: `drive.reset()`

- `<is stalled?>`
    - transpiled: `drive.stalled()`

- `use gyroscope for movement`
    - transpiled: `drive = GyroDriveBase(left_motor, right_motor, wd, track)`
- `use math for movement`
    - transpiled: `drive = DriveBase(left_motor, right_motor, wd, track)`
# Random

- `(random number from (a) to (b))`
    - transpiled: `urandom.randint(a, b)`
- `(random decimal from 0 to 1)`
    - transpiled: `urandom.random()`

# Control

- `repeat (n)`
    - transpiled: `for i in range(n):`
- `forever`
    - transpiled: `while True:`
- `if <cond> then`
    - transpiled: `if cond:`
- `if <cond> then else`
    - transpiled: `if cond: else:`
- `wait until <cond>`
    - transpiled: `while !<cond>: pass`
- `repeat until <cond>`
    - transpiled: `while !cond:`
- `stop`
    - transpiled: `raise SystemExit("Exited by program")`
# Operators

- `((a) + (b))`
    - transpiled: `a + b`
- `((a) - (b))`
    - transpiled: `a - b`
- `((a) * (b))`
    - transpiled: `a * b`
- `((a) / (b))`
    - transpiled: `a / b`
- `<(a) > (b)>`
    - transpiled: `a > b`
- `<(a) < (b)>`
    - transpiled: `a < b`
- `<(a) = (b)>`
    - transpiled: `a == b`
- `<<a> and <b>>`
    - transpiled: `a and b`
- `<<a> or <b>>`
    - transpiled: `a or b`
- `<not <a>>`
    - transpiled: `not a`
- `(join (a) (b))`
    - transpiled: `a + b`
- `(letter (n) of (a))`
    - transpiled: `a[n]`
- `(length of (a))`
    - transpiled: `len(a)`
- `<(a) contains (b)?>`
    - transpiled: `a in b`
- `((a) mod (b))`
    - transpiled: `a % b`
- `(round (a))`
    - transpiled: `round(a)`

TODO: operators

# Variables

Variables are stored as python variables with the prefix `UVAR` - for example `UVAR_myvar`

# My blocks

re just functions