1. concurrency.cc
Hardware Projects
Omer Kilic
University of Kent
(Ack to: Matt Jadud, Christian Jacobsen, Adam Sampson)

2. Arduino is great!
Open Source
Cross Platform
Cheap, flexible, easily available
Abundant projects/articles/howtos
Standard tools across a range of boards

3. A great tool for...
Education Hacking/Prototyping

4. We discussed...
and discussed...

5. The Concurrency Board
Developed by Omer Kilic, based on the Arduino
Duemilanove Reference Design and inspired by many of
the Freeduino clones.

7. A family shot

8. The Cardboarduino
Developed by Matt Jadud, based on the
PAPERduino by Guilherme Martins.

9. Photo by Matt Jadud

10. Photo by Matt Jadud

11. Interested?
Design files will be on the web site real soon!
http://concurrency.cc/hardware/
Join our mailing list:
http://concurrency.cc/docs/mailinglists

12. Plumbing the Arduino
Adam Sampson
University of Kent
(and a cast of thousands, including Matt Jadud,
Christian Jacobsen, Omer Kilic, Carl Ritson...)

13. A brief history lesson
● In the 1980s, INMOS created the Transputer
● … and an unusual programming language, called
occam
● Further developed at Kent in the 1990s and
2000s: occam-pi
● Here's what it looks like...

14. C++:
doThing();
doOtherThing();
occam:
SEQ
doThing()
doOtherThing()

15. PROC main ()
WHILE TRUE
SEQ
digitalWrite (13, HIGH)
delay (200)
digitalWrite (13, LOW)
delay (200)
:

16. PROC blink (VAL INT pin, period)
WHILE TRUE
SEQ
digitalWrite (pin, HIGH)
delay (period)
digitalWrite (pin, LOW)
delay (period)
:
PROC main ()
blink (13, 200)
:

17. PROC main ()
blink (13, 200)
:

19. occam:
PAR
x
y
C++:
??!?!!!?

20. PROC main ()
PAR
blink (13, 300)
blink (14, 500)
:

22. This is a channel.

23. sender receiver

24. inputPin outputPin

25. inputPin invert outputPin

26. Concurrency in action
● We call this “process-oriented programming”
● Build your program out of little, isolated
components, and connect them together
● Plumbing is a library of ready-made components
(like inputPin, invert and blink) for the Arduino

27. 64 LEDs (well, 128, actually...)

28. One

29. How does that work?
buffer buffer buffer ... buffer

30. How does that work?
buffer buffer buffer ... buffer
column column column ... column

31. How does that work?
black.
source buffer buffer buffer ... buffer
hole
column column column ... column

33. Distributed embedded system
black.
source buffer buffer buffer ... buffer
hole
column column column ... column

34. First node
source buffer buffer buffer ... buffer serial.tx
column column column ... column

35. Other nodes
serial.rx buffer buffer buffer ... buffer serial.tx
column column column ... column

40. The RepRap
● X, Y and Z axes with steppers and endstops
● Print head with heater, temperature sensor and
extruder motor
● Serial interface to accept commands from a host
computer

41. Plumbing the RepRap
heater
thermostat
temp.
sensor
motor
x motor. motor
motor. motor
serial.port command.parser control
motor.
axis.
y control
control endstop
endstop
z endstop
extruder

42. How do I learn more?
● Read the book!
● Available from our web site
along with the software (all
open source):
http://concurrency.cc/
● For more about occam-pi:
http://occam-pi.org/
● Thanks – any questions?