Function Details
    Sound functions and sets of commands for creating sound to drive out speakers.
 void beep (); Create bubbling
 void sound (int freq, int t); Generate sound with frequency, sound, freq, and time in milliseconds.
 void keylow (char k, int t); Make low notes and t seconds.
 void keymid (char k, int t); Mute the midpoint of different notes and time t milliseconds.
 void keyheigh (char k, int t); Create high notes, tones and t seconds.
Application Form
   keylow ('d', 500); // Low sound for 500 milliseconds

'd' = 's' = salute
'r' = 'l' = goodbye
'm' = 't' = t
'f' = ph

   System functions and command sets for delaying and stopping the robot system.
 void sleep (int t); Delay t milliseconds
 void system_stop (); Stop the whole robot.
   Servo functions and command sets for servo motors
 void servo (int i, int j); * not active
   motor functions and command sets for driving a DC motor or controlling a wheel of a simulated robot.
 void motor (int i, int power); Drive the i-channel motor with power power
   i = 1 motor left 2 right motor
   power has a value - retreat, there is a value + forward
 void ao (); Stop driving all channels.
 void motor_stop (int a); Stop the motor drive at a
   Like motor_stop (1); Stop motor left
            motor_stop (2); Stop the motor on the right
            motor_stop (0); Stop the motor on both sides
            motor_stop (ALL); Stop the motor on both sides
 void robot_go (byte p, int t); Driven simulation robot with p power and time t millis.
 void fd (int p); Drive motor or robot forward with power p
 void bk (int p); Motor drive or robot reverse with power p
 void tl (int p); Motor drive or left-handed left-handed robot with power p
 void tr (int p); Drive the motor or the right turn right wheel with the power p.
 void sl (int p); Drive a motor or rotate left-handed robot with p power.
 void sr (int p); Drive the motor or rotate the right robot with the power p
 void fd2 (int a, int b); Drive a motor with a power, b (a is left, b is the right)
 void bk2 (int a, int b); Drive a motor backward with a power, b (a is left, b is the right)
   Input analog function and instruction set for read from analog inputs connected to the detector device and switch.
 int analog (int ch); Read values ​​from the analog input connected to the channel detector device.
   Ch value from 0 to 7 is a sensor for reading the ground.
   Ch value of 8 is a sensor to read the color of the object was dumped in the front.
 int sw1 (); Read the value of pressing the sw1 key.
    Restore 1 when the switch is pressed, restore 0 when no switch is pressed.
 int sw2 (); Read the value of pressing sw2.
    Restore 1 when the switch is pressed, restore 0 when no switch is pressed.
 int sw3 (); Read the value of pressing the sw3 key.
     Restore 1 when the switch is pressed, restore 0 when no switch is pressed.
 void sw1_press (); It is a loop function until a button is pressed or wait until the sw1 button is pressed.
 void sw2_press (); It is a loop function until a button is pressed or wait until the sw2 button is pressed.
 void sw3_press (); It is a loop function until a button is pressed or wait until the sw3 button is pressed.
   lcd function and instruction set to generate numeric text on the LCD screen
 void lcd (string str, arg [] list); Application Form

   lcd ("Hello robot");
  // Hello robot appears on the LCD screen.

   lcd ("Value =% d", i);
  // Display Value = (value of variable i) on the LCD screen

   lcd ("Value1 =% d Value2 =% d", i, j);
   // Display message
       Value1 = (value of variable i) Value2 = (value of variable j)

  % d or% D shows integer numbers.

  % f or% F indicates the number of decimal places.

  % .2f or% .2F shows numeric values ​​with two decimal places.