farmbot开发入门教程-lua Advanced

说明：

• 介绍FarmBot OS 中的高级 Lua 函数列表

介绍：

序列（id，变量？）

• 使用可选变量执行子序列。

-- Execute a subsequence without variables
subsequence = variable("Subsequence")
sequence(subsequence.id)


-- Execute a subsequence that has a number variable named "time"
subsequence = variable("Subsequence")
sequence(subsequence.id, {
 time = {
   kind = "numeric",
   args = { number = 1500 } }
})

-- Execute a subsequence that has a text variable named "time in ms"
subsequence = variable("Subsequence")
variable = {}
variable["time in ms"] = {
  kind = "numeric",
  args = { number = 1500 }
}
sequence(subsequence.id, variable)

rpc()

• 将 CeleryScript 节点包装到 中rpc_request并执行它。

command = {
 kind = "wait",
 args = {
   milliseconds = 500
 }
}

rpc(command)

cs_eval（celeryscript_ast）

• 执行任意 CeleryScript 节点。

• 在大多数情况下，你应该使用rpc()函数而不是cs_eval()。不建议使用cs_eval()未正确将命令包装到的函数rpc-request，并且可能不会起作用。

cs_eval({
  kind = "rpc_request",
  args = {
    label = "example",
    priority = 500
  },
  body = {
    {
      kind = "move_absolute",
      args = {
        location = {kind = "coordinate", args = {x = 2, y = 2, z = 2}},
        offset = {kind = "coordinate", args = {x = 0, y = 0, z = 0}},
        speed = 100
      }
    }
  }
})

-- Execute a subsequence
subsequence = variable("Subsequence")
cs_eval(subsequence)

gcode（命令，参数）

• 将原始 G 代码发送到 Farmduino。不会应用任何验证。该函数将阻止调用过程，直到收到固件的响应。

-- Send "G00 X1.23 Y4.56 Z7.89" to the Farmduino
gcode("G00", { X = 1.23, Y = 4.56, Z = 7.89 })