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

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Presentation transcript:

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 Sequential and Reactive Strategies sensor spaceactuator space

Sequential Strategy

Reactive Strategy

sensors actuators Real time operating system Processes/threads

actuators Real time operating system Arbitration Touch Turn Wander

Embedded Java The leJOS API classes provide real time events, sensor events and threads: TimerListener SensorListener Thread Timer

a simple round robin 2ms time slice for threads of equal priority...

RunnableNon-Runnable suspend() resume() yield() Running dispatch suspend() start() stop(), or run() returns sleep() Alive

Line following

A PID Controller For Lego Mindstorms Robots