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Devices
Devices are the representation of actuators and sensors attached to the TXT and the TXT itself.
For the C interface, the header ftalloc.h defines functions
to allocate and deallocate the devices while the header ftop.h
implements their functionalities.
The C++ interface implements the devices as classes.
| Devices |
|---|
| Inputs |
| Switch |
| Digital |
| Resistor |
| Voltmeter |
| Ultrasonic |
| NTC-Thermistor |
| TrailFollower |
| ColorSensor |
| Counter |
| Output |
| Motors |
| Motor |
| Encoder |
| Servo |
Implementation of the TXT 4.0 controller itself.
The universal input connectors allow a large variety of different sensors to be attached. Each input can be configured by specifying a measurement mode and the resolution.
Measurement modes:
| Mode | Description |
|---|---|
| active | TXT measures an externally applied voltage. |
| passive | TXT measures the resistance. |
| ultrasonic | fischertechnik's ultrasonic sensor uses a special protocol to transmit the distance to the TXT. |
Resolutions:
| Mode | Values |
|---|---|
| analog | 0-4096 (12-bit ADC) |
| digital | 0 or 1 |
A switch measures whether the circuit is open or closed. It returns true if the circuit is closed (the switch is pressed) and false if the circuit is open (the switch is not pressed).
| Connectors: | I1 - I8, C1 - C4 | |
|---|---|---|
| Configuration: | passive | digital |
Example: switch, light barrier, reed contact
Detects whether a voltage is applied or not. Returns true if a voltage is applied and false if no voltage is applied.
| Connectors: | I1 - I8 | |
|---|---|---|
| Configuration: | active | digital |
Example: trail sensor
Measures the component's resistance in Ω.
| Connectors: | I1 - I8 | |
|---|---|---|
| Configuration: | passive | analog |
Example: resistor, photoresistor, potentiometer
Measures the externally applied voltage in mV.
| Connectors: | I1 - I8 | |
|---|---|---|
| Configuration: | active | analog |
Example: power supplies like batteries etc.
Besides the generic devices that can be used to implement various custom sensors, the interface offers specialized devices for the standard fischertechnik sensors.
Measures the distance of a fischertechnik ultrasonic sensor.
| Connectors: | I1 - I8 | |
|---|---|---|
| Configuration: | ultrasonic | analog |
Implementation of fischertechnik's 1,5 kΩ NTC on top of Resistor.
| Connectors: | I1 - I8 | |
|---|---|---|
| Configuration: | passive | analog |
Implementation of the trail sensor based on Digital.
Note: The fischertechnik trail sensor has two diodes for trail detection. Both of them need to be initialized.
| Connectors: | I1 - I8 | |
|---|---|---|
| Configuration: | active | digital |
Implementation of the color sensor.
| Connectors: | I1 - I8 | |
|---|---|---|
| Configuration: | active | analog |
Counters are digital input devices that count the number of changes between the two states 1 and 0. The detection rate is 1 kHz. The counter value is incremented on the falling edge, when the state changes from 1 to 0. Both the counter value and the current state can be returned. The counter value can also be resetted.
| Connectors: | C1 - C4 |
|---|
Example: switch, encoder motor
Outputs (called Lamp by the interface) are actuators that are powerd by the TXT. The power can be adjusted by PWM in the interval [0, 512]. The direction of the current is fixed and cannot be changed.
| Connectors: | O1 - O8 |
|---|
Example: LED, lamp, unidirectional motor, electromagnet, magnet valve
Motors are actuators where the direction of the current can be changed. Like outputs, the power supply is controlled by PWM using the interval [-512, 512].
| Connectors: | M1 - M4 |
|---|
The standard motor offers an interface to start and stop the motor and change speed and direction.
The encoder motor combines a regular motor and a fast counter. This counter must be connected to C1 - C4. This opens a large range of finer control options. It allows the motor to move for a certain distance and further allows up to four encoders to be synchronized.
Servos can be connected to the S1 - S3 pins. The PWM control features the same 9 bit resolution [0, 512], where PWM = 256 is the central position).
| Connectors: | S1 - S3 |
|---|