Motion Basic User Interface

User Interface Description
The Motion Basic User Interface is used for developing Motion Basic programs. Users can create and edit Motion Basic programs, download and upload programs to the SSA-485 Board, debug programs using breakpoints and single step commands, and save the programs to a file.

Menu Bar
The menu bar at the top of the User Interface consists of the File, Edit, Debugger and Help Menus.

File Menu
New	Create a new Motion Basic program
Open	Open an existing Motion Basic program
Save	Save a Motion Basic program
Save As	Save the Motion Basic program with a different name
Exit	Exit Motion Basic
Print	Print the currently displayed Motion Basic program

Edit Menu
Cut	Cut text (Ctrl+X)
Copy	Copy text (Ctrl+C)
Paste	Paste text (Ctrl+V)
Find	Find text (Ctrl+F)

Debugger Menu
Select Com Port	Select communications port (COM1 - COM8)
Download	Download Motion Basic program to Motion Basic controller
Run	Run Motion Basic program
Single Step	Single Step Motion Basic program
Stop	Stop Motion Basic program
Reset	Reset Motion Basic program
Set/Clear Breakpoint	Set or clear a breakpoint
Set Variable	Set the value of variable A-Z
Send Character	Send an asynchronous character to Motion Basic
Clear Window	Clear Motion Basic program from listing window
Upload	Upload Motion Basic program from Motion Basic controller
Startup Time	Set the Motion Basic start-up delay time (1 - 7 seconds)
Erase Memory	Erase the Motion Basic program from the Motion Basic controller

Help Menu
Quick Start Guide	Motion Basic Quick Start Guide
Language Reference	Motion Basic Language Reference
Command Reference	Motion Basic Subroutine and Function Reference
User Interface	User Interface Guide (this document)
ACI Command Reference	ACI Command Reference
About	About Motion Basic (Version Number)

Buttons
Buttons provide quick access to the most common User Interface functions. The buttons are context sensitive, and are highlighted only when they are activated for use. For example, at start up the debugging buttons (run, stop, single...) are not activated until serial communications is established with the SSA-485 board. Active buttons contain a help message which is displayed by placing the mouse prompt over the button.

User Interface Buttons
Run	Run the Motion Basic program
Single	Single Step teh Motion Basic program
Stop	Stop the Motion Basic program
Reset	Reset the Motion Basic program
Break	Set or clear a breakpoint
Send	Send an asynchronous character to the *Motion Basic* controller
Erase	Erase the Motion Basic program in the Motion Basic controller
Select Port	Select communications port (COM1 - COM8)
Clear Input-Output	Clear the Input-Ouput screen
Send ACI	Send an ACI command

Program Running Light
The Program Running Light is green when the program is running, and grey when the program is stopped. The Program Running Light will turn green when the user presses the Run Button, and remains green until the program is either stopped by the Stop Button, a breakpoint, or a program error. The Program Running light will also briefly turn green while it runs a single program line after the user presses the Single Step Button.

Serial Communications
The Motion Basic User Interface communicates with the Motion Basic controller using the RS232 or USB serial port. Communications ports COM1-COM8 are supported and may be selected using either the Select Port Button or the Select Port item in the Debugger Menu. The default Motion Basic communications port is COM1. When users select a different communications port, the new port is saved and becomes the new default port.

Listing Window
The Listing Window is used to display and edit Motion Basic programs. Users may cut, copy, and paste program text to this window. The window is 80 characters wide, which is the maximum number of characters allowed on a line in Motion Basic.

The Listing Window uses colors to highlight information. Breakpoint lines are hightlighted in red, and the current line being executed is highlighted in blue (or purple if the current line is also a breakpoint line).

Variables Window
The Variables Window is used to display and edit the value of the 26 Motion Basic variables A-Z. The Variables Window is updated with the current value of the variables whenever a Motion Basic program stops - for example after a single step, a breakpoint is hit, or the user stops the program. Note that the Variables Window is not updated with the latest variable values while Motion Basic is running.

Users may set the value of variables A-Z by double clicking on the variable in the Variables Window. A dialog box will appear prompting the user to enter the new value of the variable. Note that variables are initialized to 0 whenever a Motion Basic program starts or is reset.

Input-Output Window
The Input-Output Window displays Motion Basic output from print messages, and debugging information such as program errors. The window displays the last 100 lines of output information. The Input-Output Window is be cleared by pressing the Clear Input-Output button.

There are two types of Motion Basic program inputs: inputs initiated by a Motion Basic "input" command (for example, "input "Enter the value of A", A), and asynchronous user inputs. When a Motion Basic program is running and comes to an "input" statement, the User Interface will display a Dialog Box promping for user input. The Dialog Box will display the input text from the "input" command (for example, "Enter the value of A"). After the input is complete, the Input-Output window diplays the input prompt and input value entered by the user.

Users may also asynchronously send a character to a Motion Basic program at any time while the program is running by pressing the "Send" Button, or by selecting "Send Character" from the Debugger Menu. A Dialog Box will appear prompting the user to enter the character to send. This type of user input is used when the Motion Basic program contains the "getchar" function which returns the last character read by Motion Basic. This function is used to make a Motion Basic program branch based on user input, for example, using the 'q' key to quit a Motion Basic program.

ACI Command Window
Users can send ACI commands to PIC-SERVO, PIC-STEP, and PIC-I/O modules using the ACI Command Window. ACI commands are entered into the window and sent either by hitting the return key or pressing the Send ACI Button. ACI commands can be helpful in debugging systems because they allow the user to send and retreive information directly to the servo, stepper, and I/O modules. See the ACI Command documentation for more information.

File Status Bar
The File Status Bar at the bottom of the User Interface displays the name of the Motion Basic file that is currently open.
back to top

The Function Assistant lets users add Motion Basic functions and subroutines to their program by simply selecting from a list of functions/subroutines and then filling in the parameter values in a pop-up form. Existing functions/subroutines can also be edited using the same forms. Each function/subroutine and its parameters are fully described in the edit form for quick reference.

Add Function/Subroutine
To add a new function or subroutine, first position the cursor in your program at the location you would like to add the function or subroutine. Then right-click with the mouse anywhere in the program Listing window. Function Assistant Menu will display:

Click on the desired function/subroutine from the Function Assistant Menu. Edit the function parameters in the Function Assistant Edit Window, then press the OK Button. The new function will be written to the Motion Basic Listing Window. Note that the parameters entered can be numeric values, variables, or complex expressions.

Some functions and subroutines have a "mode" parameter which is actually a collection of individual bits packed into a single 1-byte parameter. For these types of parameters, the Function Assistant provides 8 individual bit-field check boxes (with descriptions) and automatically calculates the proper 8-bit value.

Edit Function/Subroutine
To edit an existing function or subroutine, highlight the complete function/subroutine beginning with the first letter of the function name and including the final closing parentheses. Then right-click the mouse anywhere in the Listing window. The parameters from the selected function/subroutine will be displayed in the Function Assistant Edit Window. Edit the functions parameters, then select OK. The new function parameters will overwrite the old parameters.
back to top

Running a Program
To run the Motion Basic program displayed in the Listing Window, click on the Run Button or select Run from the Debugger Menu. The Motion Basic program will start running from the current program line (indicated in blue), and the Program Running Light will change from grey to green. The program will continue running until the Stop Button is pressed, a break point is hit, or if there is a program error. Note that if the Motion Basic program is new or has been changed, the program will be automatically downloaded to the Motion Basic controller before it starts to run.

Stopping a Program
To stop a Motion Basic program, click on the Stop Button or select Stop from the Debugger Menu. The Motion Basic program will stop and the Program Running Light will change from green to grey. After the program is stopped, the cursor will be at the current Motion Basic execution line and the line will be highlighted in blue.

Single Step a Program
Click on the Single Button or select Single Step from the Debugger Menu to single step a Motion Basic program. Single Step will run the current line of Motion Basic code (indicated with a blue font) then stop. Single stepping is useful when debugging a Motion Basic program.
back to top

Setting/Clearing a Breakpoint
To set a program breakpoint, place the mouse cursor on a line then click on the Break Button or select Set/Clear Breakpoint from the Debugger Menu. The line will turn red indicating that it is a breakpoint line. When debugging a Motion Basic program, set a breakpoint when you want Motion Basic to stop on a particular line. To clear a breakpoint, place the mouse cursor on the line and click the Break button. Motion Basic allows up to 3 breakpoints to be set at at time.

Setting a Variable
Double click on a variable in the Varibles Window or select Set Variable from the Debugger Menu to set one of the 26 Motion Basic variables (A-Z). A dialog box will prompt you to enter the new value of the variable.

Resetting a Motion Basic Program
To reset a Motion Basic program, click on the Reset Button or select Reset from the Debugger Menu. Resetting a Motion Basic program clears the 26 Motion Basic variables (A-Z) to 0, and resets the program so that it starts executing from the first line the next time it is run.

Sending a Character to Motion Basic
Click on the Send Button or select Send Character from the Debugger Menu to send a character to a Motion Basic program. A Dialog Box will appear prompting the user to enter the character to send. This type of user input is used when the Motion Basic program contains the "getchar" function which returns the last character read by Motion Basic. This function is used to make a Motion Basic program branch based on user input, for example, using the 'q' key to quit a Motion Basic program.

Erase a Motion Basic Program
Click on the Erase Button or select Erase Memory from the Debugger to erase the Motion Basic program. This will erase the Motion Basic program and data from EEPROM.
back to top

Upload a Motion Basic Program
Select Upload from the Debugger Menu to read the Motion Basic program stored in EEPROM and display it on the Program Listing Screen. This function is useful when you want to view the program that is stored in Motion Basic EEPROM.

Select Com Port
The Motion Basic User Interface communicates with the Motion Basic controller using the RS232 or USB serial port. The default Motion Basic communications port is COM1. Click on the Select Port Button or the Select Com Port from the Debugger Menu to change the serial port to COM1-COM8. When users select a new communications port, the port is saved and becomes the new default port.

Clear Input-Output
Click on the Clear Input-Output Button or select Clear Window from the Debugger Menu to clear the Input-Output Window.

Set the Motion Basic Startup Time
Select Startup Time from the Debugger Menu to set the Motion Basic startup time. The startup time is the time Motion Basic will delay after power-on before beginning to run the Motion Basic program stored in EEPROM. When operating in stand-alone mode (no Motion Basic User Interface), the startup time should normally be set to the minimum time so that the Motion Basic program starts right away. When using the Motion Basic User Interface (particularly when using USB), a startup time of about 7 seconds should be used to allow Windows and the User Interface program enough time to connect to Motion Basic.

Download Program
Select Download from the Debugger Menu to download the Motion Basic program from the Program Listing Screen to EEPROM. Note that manual downloading in this manner is not normally required because Motion Basic programs are automatically downloaded when Run Button or Run Menu item is selected.

Send an ACI Command
Users can send ACI commands to PIC-SERVO, PIC-STEP, and PIC-I/O modules using the ACI Command Window. ACI commands are entered into the window and sent either by hitting the return key or pressing the Send ACI Button. ACI commands can be helpful in debugging systems because they allow the user to send and retreive information directly to the PIC-SERVO, PIC-STEP, and PIC-IO modules ouside of the operation of the Motion Basic program. See the ACI command documentation for more information.
back to top