response actuatorcontrol program analog quantity, e.g. pulse train digital quantity, e.g. power %...
TRANSCRIPT
response
actuator control program
analog quantity,e.g. pulse train
digital quantity,e.g. power %
interface
stimuli
sensor control program
analog quantity,e.g. light
digital quantity,e.g. light %
interface
Sequential and Reactive Strategies
sensor space actuator space
Sequential Strategy
Reactive Strategy
sensors actuators
Real time operating system
Processes/threads
actuators
Real time operating system
ArbitrationTouch 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...
Runnable Non-Runnablesuspend()
resume()
yield()
Running
dispatch
suspend()
start()
stop(), orrun() returns
sleep()
Alive
Line following
A PID Controller For Lego Mindstorms Robots