5. Overview
• Sensory systems
– Data input systems; Collect information of outside
world
• Data processing/motor control
– Systems to interpret input signals and decide what to do
• Drive systems
– Output systems for machine; Implement signals from
motor controller
7. Photoresistors
• Resistance is inversely
proportional to light levels
• Cheapest of the three types
of photoconductive devices
• Have the slowest reaction
rate of all photodetectors
8. Phototransistors
• Current is sourced in the
presence of light
• Moderately priced
• Respond about 1000 times
faster than photoresistors
9. Photodiodes
• Current is sourced in the
presence of light
• Most expensive class of
photoconductors
• Respond about 1000 times
faster than photoresistors
11. Line Following Algorithm
• Robot direction is determined by what the
robot “sees”
– If line is centered in front of robot, go forward
– If line is left of center, turn left
– If line is right of center, turn right
– If no line is detected, circle until line is found
13. Programmable Logic Device
(PLD)
• Relatively inexpensive
• Can easily implement finite state automata
• Has limited program capacity
• Has limited program capabilities
