stimuli sensorcontrol program response actuator stimuli sensorcontrol program response actuator 1....
TRANSCRIPT
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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
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symbol
symbol to signal signal to symbol
symbol
wired or wireless
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RCX Infrared Transmitter/Receiver, IR Tower
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symbol 0 or 1
symbol to signal signal to symbol
symbol 0 or 1
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symbol 0 or 1
symbol to signal signal to symbol
symbol 0 or 1
0
26 usec
1
0
1
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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
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symbol 0 or 1
symbol to signal signal to symbol
symbol 0 or 1
2400 bit/sec
0
1
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IR tower
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1. Sends out IR messages every 0.5 sec
2. Receives and counts IR messages
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1. Sends out IR messages every 0.5 sec
2. Receives and counts IR messages
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NXT communication
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NXT communication
Serial Port Profile
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USB 2.0
Point-to-point
Serial
Master/slave
12 M bit/sec
Four wires
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Bluetooth 2.0
Radio waves
Up to 10 m
3 M bit/sec
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Embedded Java
The leJOS API classes provide wired and wireless communication:
USB
Bluetooth
USBSend/USBReceive
BTSend/BTReceive
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PC NXT
USB cable
streams
outDat
inDat
dIn
dOut
USBSend USBReceive
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1. Establish connection
2. Set up data streams
3. Use data streams
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Can also use nxjpcc and nxjpc
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1. Establish connection
2. Set up data streams
3. Use data streams
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PC NXT
radiowaves
streams
dos
dis
dis
dos
BTSend BTReceive
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NXT to NXT wireless
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Situated communication
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Legway