Programming instructions
Glossary • 124
APPENDIX B - GLOSSARY
Inventor’s Guide
276-2178-E-0610
Driving Mode (Transmitter) – Control Subsystem
The driving mode selected on the Transmitter
through the DRIVE menu, either “23 mode” or “12
mode.” This setting (together with Jumper 14 on
the Microcontroller) determines which combination
of joystick axes on the Transmitter will control the
robot’s movement.
E
Electromagnetic Waves – Control Subsystem
Technically, a time-varying electric eld that
propagates through space at the speed of light,
caused by the acceleration of a charged particle.
More simply, an electronically controllable wave
that travels at the speed of light and can carry
information between two points through a variety of
encoding techniques.
End Points (Joystick) – Control Subsystem
End points control the percentage of the full power
command that will be sent by the Transmitter when
the joystick is pushed to the edge of its movement
area.
Exponential Scaling – Control Subsystem
A control scaling method that allows for “stiffening”
or “softening” of the feel of the joystick controls by
causing the output command value to increase faster
or slower than it normally would as the joystick is
moved away from the center of its movement area.
F
Fastener – Structure Subsystem
A general term for pieces (such as screws) whose
primary purpose is to hold two or more other
components together.
Floating – Structure Subsystem
As opposed to “locked.” Moving freely, not held in
one specic place. A collar oats freely on a square
bar when the screw is not tightened (it slides easily
up or down the bar).
Flush – Structure Subsystem
As in “ush against another part.” Pushed up
against something, leaving no space between them. A
collar is ush against a bearing when it is pushed up
against the bearing as far as it can go.
D
Deep Cycling – Power Subsystem
Draining a battery down to very low power (below
the normal cutoff levels) before recharging it. This
will wear a rechargeable battery out very quickly,
and should be avoided if possible.
Diameter
The distance from one point on a circle to the point
directly across from it. This quantity is equal to two
times the radius, or it can be multiplied by pi to nd
the circumference of the circle.
Digital Sensor – Sensor Subsystem
Digital sensors communicate with the
Microcontroller by setting an electrical voltage in
the system to one of two values: either a digital
LOW equal to 0V, or a digital HIGH equal to the
maximum voltage on that port.
Discharge Cycle – Power Subsystem
Technically, any period during which power is drawn
from the battery and then recharged. Usually used
in one of two contexts: either when referring to the
usage pattern of a battery (using a battery for a
short time, then recharging it constitutes a pattern
of short discharge cycles), or when battery chargers
automatically drain the battery before recharging
it (the charger performs a “discharge cycle” on the
battery).
Drive Train – Motion Subsystem
All the parts involved in the primary locomotion
system of a robot, including the motors, gears,
axles, and wheels.
Driven Gear – Motion Subsystem
In a gear train, the last gear being turned. Usually,
this gear shares an axle with a wheel.
Driving Gear – Motion Subsystem
In a gear train, the gear that provides the energy
to turn all the other gears and their connected
components. This gear usually shares an axle with
a motor.
Glossary
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