Table of Contents
Controlling and reacting to the environment
Typical control system
Analog to digital conversion
Digital to analog conversion
Anti-lock brake system
Rear wheel controller/anti-lock brake system
Basic I/O ports (brakes)
Polling vs. interrupts
Detect if pedal moves
More interrupts
Pulse-width modulation
Pulse-width modulation for brakes
Brake pump setup
Shaft encoders
Shaft encoders
IR reflective patterns
Interfacing shaft encoders
Shaft encoder with input capture
IR proximity detector
IR frequency modulation
Proximity code
Another proximity detector
Motor basics
Use loop to create torque
Alternating current creates motion
Interfacing motors
Going forward
Going backward
Motor driver chip
PWM to control velocity
Control algorithms
P-I controller
P-I controller example
A different Kpro
Sensitivity to Kpro
Integral controller
Stuck right wheel
Sensitivity to time
Analog to Digital Conversion
A/D - Sample
A/D - Hold
A/D - Approximation
A/D Example - MSB
A/D Example - (MSB-1)
A/D Example - (MSB - 2)
A/D Example - LSB
A/D Option Control Register
A/D Control/Status Register (ADCTL)
A/D Channel Assignments
A/D Issues
I/O Ports
Port Sharing
Forced Sharing
Decoders and Multiplexors
Memory-mapped I/O
Memory-mapped I/O
Port Expansion Units
Automatically Connecting Peripherals
Electronic Phonebook - Human Design
Electronic Phonebook - Automated Connections
Addressing large address spaces
64-bit I/O Port
64-bit I/O Port Software
Design considerations for adding parallel units
External PWM Unit
External PWM FSM Controller
External PWM Software
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