Throbol

Throbol is a programming language and visual environment designed for robot programming. The language is purely functional, meaning every tick's actions and states are expressed as functions of the previous state and sensor inputs. You can iterate within the graphical environment, viewing graphs of each value in the system. It can control both real and simulated robots. The language features a familiar infix syntax. Key characteristics: - **Cells** contain time series of values. Just as a cell can reference the current value of another cell, it can also reference past values, such as `bar[-dt]` or `bar[-0.5]`. - Each tick, robot sensor values flow into specially named cells, the worksheet is recalculated, and actuator cells feed into the hardware. It can run sizable spreadsheets in real time—for example, processing 10,000 cells at 100 Hz. - When controlling simulated hardware, it can run hundreds of simulations in parallel to explore parameter variations or different random events. - It includes built-in types and functions for robotics, such as matrix arithmetic, control theory modules like low-pass filters, and 3D graphics functions for visualizing robot movements.

Throbol is a programming language and visual environment for robot programming, using a pure functional approach for real-time iteration in graphical environments and controlling real or simulated robots.