Controller
The Sensor part of Controller Hardware
Topics
- communications
- hardware
- controller
- lobes
- architecture
Sensor control
Similarly to the situation with actuators, there is a plethora of sensors and ways to conrtrol them. The OctoMY™ sensor interface is quite ambitious in it's attempt at supporting them.
This comes at the cost of some complexity, but at the same time it is essential in reaching the important value to not get in the way of the expert user. If we can make setting up non-trivial actuator configuration a smooth experience we have reached this goal.
Sensor classification
From a usability perspective, sensors are classified in the following ways:
Signal Quantization
| Description | Example | |
|---|---|---|
| Analogue Value | A voltage corresponding to the sensor's value | Thermistor |
| Analogue PWM | Analogue timing of digital pulses | RC Servo |
| Digital | Discrete values are sent as digital bits | GPS |
Sample Rate
How often is the sensor sampled? For encoders and atchometers, this could be very high. For a thermometer or GPS, it could be on the order of once per 5 second interval.
Sample Aquisition
| Description | Example | |
|---|---|---|
| Pull | The controller asks for a new value when it is needed | GPS |
| Event | The controller receives a value when it is availble | Encoder or Tachometer |
| Push | The controller receives a steady stream of values | Thermometer |