sequence(id, variables?)

Executes a subsequence with optional variables.

-- 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()

Wraps a CeleryScript node into an rpc_request and executes it.

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

rpc(command)

Using CeleryScript from the sequence editor

You can use the VIEW CELERYSCRIPT option in the sequence editor to view the shape of raw CeleryScript nodes for the basic commands. However, you cannot perform a straight copy/paste into a Lua command - you will need to remove quotes from keys (eg: "kind" must be written as kind) and change colons to equal signs (: to =).

cs_eval(celeryscript_ast)

Executes arbitrary CeleryScript nodes.

In most cases, you should use the rpc() function instead of cs_eval(). Using cs_eval() without properly wrapping the command into an rpc-request is not recommended and will likely not work.

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(command, params)

Sends raw G code to the Farmduino. No validations will be applied. The function will block the calling process until a response is received from the firmware.

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

A Q param will implicitly be added by FarmBot OS. Do not explicitly set the Q value; it will cause FBOS to crash.