Pololu Maestro - Manual (Page 54)

Stack commands
command
stack
effect
description
DEPTH +1 gets the number of numbers on the stack
DROP -1 removes the top number from the stack
DUP +1 duplicates the top number
OVER +1 duplicates the number directly below the top, copying it onto the top
PICK -1,+1
takes a number n between 0 and 63, then puts the nth number below the top onto the stack
(0 PICK is equivalent to DUP)
SWAP
a,b →
b,a
swaps the top two numbers
ROT
a,b,c
→
b,c,a
permutes the top three numbers so that the 3rd becomes the top and the others move down
one position
ROLL -1,*
takes a number n, then permutes the top n+1 numbers so that the n+1th becomes the top and
all of the others move down one
PEEK -1,+1
(Mini Maestro 12, 18, and 24 only) takes a number n, then copies the nth value on the stack
(measured from the bottom) to the top of the stack
POKE -2,+1
(Mini Maestro 12, 18, and 24 only) takes a number n, then removes the next value from the
stack and puts it at the nth location on the stack (measured from the bottom)
Mathematical commands (unary)
These commands take a single argument from the top of the stack, then return a single value as a result. Some of these
have equivalents in C (and most other languages), listed in the “C equivalent” column below. We use “false” to mean
0 and “true” to mean any non-zero value. A command returning “true” always returns a 1.
command C equivalent description
BITWISE_NOT ~ inverts all of the bits in its argument
LOGICAL_NOT ! replaces true by false, false by true
NEGATE – replaces x by -x
POSITIVE none true if and only if the argument is greater than zero
NEGATIVE none true if and only if the argument is less than zero
NONZERO none true (1) if and only if the argument is true (non-zero)
Mathematical commands (binary)
These commands take two arguments from the top of the stack, then return a single value as a result. The order of
the arguments, when important, is the standard one in mathematics; for example, to compute 1 – 2, you write “1 2
MINUS”. These commands all have equivalents in C (and most other languages), listed in the “C equivalent” column
below.
Pololu Maestro Servo Controller User's Guide © 2001–2014 Pololu Corporation
6. The Maestro Scripting Language Page 54 of 73