Electrical signaldigital signal Actuators and acting.

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Presentation transcript:

electrical signaldigital signal Actuators and acting

response actuatorcontrol program analog quantity, e.g. pulse train digital quantity, e.g. power % interface goForward(50)car drives forward Open loop control Program controlled power supply

RCX Actuators NXT Actuator 2 wire cable 2x2 plate connector RJ12 connector 6 wire cable

LED For Dummies LED on all the time

Manually operated switch

ground V+ GIO general input/output Programmed on/off

ground V+ Programmed on/off

A relay is an electrical switch that opens and closes under the control of another electrical circuit

H-bridge

voltage = duty cycle * 9 volt

response actuatorcontrol program analog quantity, e.g. pulse train digital quantity, e.g. power % interface stimuli sensorcontrol program analog quantity, e.g. light digital quantity, e.g. light % interface

response actuatorcontrol program analog quantity, e.g. pulse train digital quantity, e.g. power % interface stimuli sensorcontrol program analog quantity, e.g. light digital quantity, e.g. light % interface sensor spaceactuator space

Embedded Java The leJOS API classes provide access to the hardware. Especially the output ports and actuators: MotorPort Motor DifferentialPilot

Differential Drive

Forward Backward

Instantaneous Center of Curvature