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
Pulse-width modulation
Pulse-width modulation for brakes
Brake pump setup
Shaft encoders
IR reflective patterns
Interfacing shaft encoders
Sonar range finder
Polaroid 6500 sonar range finder
Polaroid 6500 sonar range finder (cont’d)
Digital compass
Digital compass (cont’d)
IR proximity detector
IR frequency modulation
Proximity code
Another proximity detector
I/O ports
Port sharing
Forced sharing
Decoders and multiplexors
Memory-mapped I/O
Port expansion units
Automatically connecting peripherals
64-bit I/O port
64-bit I/O port software
External PWM Unit
External PWM FSM Controller
External PWM software
A/D - sample
A/D - hold
A/D - successive approximation
A/D example - MSB
A/D example - (MSB-1)
A/D example - (MSB-2)
A/D example - LSB
A/D example final result
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