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Here s just one example of how this bitwise stuff is handy in robotics: bitwise And and bitwise Or are commonly used to control the output state of a robot s computer or microcontroller data port. The port typically has eight output pins, each of which can be connected to something, like a motor. Suppose the following four bits control the activation of four motors. When 0 the motor is off; when 1 the motor is on.

Suppose your program has already turned on motors 1 and 4 at some earlier time, and you want them to stay on. You also want to turn motor 3 on (motor 2 stays off). All you have to do is get the current value of the motor port:

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Pulse Width Modulation (PWM) technique can be used easily to create a DAC, especially since many of the members of the AVR processor family are equipped with on-chip PWM. In PWM, a digital signal of fixed frequency is generated. The pulse width of the signal is changed according to the requirement. Ideally, it should be possible to vary the width to any arbitrary value. However, with a counter-based PWM, the change can be only as much as the resolution of the counter. A PWM implemented using an 8-bit counter can only change the pulse width by 0.4% approximately (1 bit in 255). By employing a low-pass filter at the output of a PWM wave, the average value of the signal is extracted. The average value of a digital signal is equal to the duty cycle of the waveform. Figure 6.22 illustrates a 2-bit PWM signal. Figure 6.23 illustrates a DAC using the built-in PWM generator on output PORTB3 pin and an external RC filter. The RC filter has a bandwidth of about 16 Hz for the values illustrated. The Timer1 can be clocked at the system clock frequency of 4 MHz as illustrated, and for an 8-bit PWM, the PWM frequency will be about 7800 Hz. The RC filter will cleanly filter out the high-frequency components, and a clean DC value will be produced.

1001 motors 1 and 4 on (decimal value equivalent is 9)

By setting Row Selection, as shown in Figure 12-2, you are specifying a visual indicator of the currently selected row in the table. This means that the selected row in the table is synchronized with the current row in the business service. NOTe Selecting Row Selection, as shown in Figure 12-2, sets three properties. RowSelection defines the selection policy for the table; for example, single indicates a single row is selected at a time. The properties SelectedRowKeys and SelectionListener are also set to elements of the binding layer that will ensure the synchronization of the table with the underlying data. If you want to enable row selection on a table that was not previously set up for row selection, you can relaunch the Edit Table Columns dialog by selecting the Edit Component Definition button, shown with a pencil icon, on the Property Inspector for the table.

0100 motor 3 on (decimal value equivalent is 4)

Using only two different values of resistors, it is possible to build a simple R-2R ladder DAC of reasonable linearity. Figure 6.24 illustrates a R-2R ladder DAC connected to the PORTB of the AT90S1200. To use the DAC, the following code can be used.

Here s how the bitwise Or expression turns out: 1001 0100 ____ 1101 9 4 13

In this example, Or ing 9 and 4 happens to be the same as adding the decimal values of the numbers together. This is not always the case. For example, Or ing 1 and 1 results in 1, not 2.

12:

For your reference, the following table shows the binary equivalents of the first 16 binary digits (counting zero as the first digit and ending with 15). You can count higher by adding an extra 1 or 0 digit on the left. The extra digit increases the count by a power of two 31, 63, 127, 255, 511, 1023, and so on.

ADC conversion over BUSY*

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

Column header text. Columns can be dragged and dropped to different positions by clicking and dragging the column header.

0000 0001 0010 0011 0100 0101 0110 0111 1000 1001 1010 1011 1100 1101 1110 1111

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