Stimuli sensorcontrol program response actuator stimuli sensorcontrol program response actuator 1....
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Transcript of Stimuli sensorcontrol program response actuator stimuli sensorcontrol program response actuator 1....
stimuli
sensor control program
response
actuator
stimuli
sensor control program
response
actuator
1. Other systems are part of the environment
2. Communicate with other systemsa. Mobile robotsb. Stationary computers
symbol
symbol to signal signal to symbol
symbol
wired or wireless
RCX Infrared Transmitter/Receiver, IR Tower
symbol 0 or 1
symbol to signal signal to symbol
symbol 0 or 1
symbol 0 or 1
symbol to signal signal to symbol
symbol 0 or 1
0
26 usec
1
0
1
symbol 0 or 1
symbol to signal signal to symbol
symbol 0 or 1
0
417 usec
1
0
1
2400 bit/sec
…
16 IR bursts
symbol 0 or 1
symbol to signal signal to symbol
symbol 0 or 1
2400 bit/sec
0
1
IR tower
1. Sends out IR messages every 0.5 sec
2. Receives and counts IR messages
1. Sends out IR messages every 0.5 sec
2. Receives and counts IR messages
NXT communication
NXT communication
Serial Port Profile
USB 2.0
Point-to-point
Serial
Master/slave
12 M bit/sec
Four wires
Bluetooth 2.0
Radio waves
Up to 10 m
3 M bit/sec
Embedded Java
The leJOS API classes provide wired and wireless communication:
USB
Bluetooth
USBSend/USBReceive
BTSend/BTReceive
PC NXT
USB cable
streams
outDat
inDat
dIn
dOut
USBSend USBReceive
1. Establish connection
2. Set up data streams
3. Use data streams
Can also use nxjpcc and nxjpc
1. Establish connection
2. Set up data streams
3. Use data streams
PC NXT
radiowaves
streams
dos
dis
dis
dos
BTSend BTReceive
NXT to NXT wireless
Situated communication
Legway