Programming instructions

Glossary • 130
APPENDIX B - GLOSSARY
Inventor’s Guide
276-2178-E-0610
Structure Subsystem
The subsystem responsible for holding the rest of the
subsystems together and in place, and for protecting
them from physical harm.
Subsystem
A subdivision of a system that helps to organize
the system into convenient compartmentalized
functions. The lines between subsystems are not
always perfectly clear (for example, a wheel’s axle
is both a motion-transferring device and a physical
support), but they work to give a general idea of
purpose for the components in a system.
Support – Structure Subsystem
The degree of physical stability a piece has, owing
to the strength of the foundation provided by the
other pieces which are holding it in place. A piece
which provides a physical brace or foundation for
another piece is also called a support.
Support Polygon – Structure Subsystem
The imaginary polygon formed by connecting all
the points at which the robot touches the ground.
In cases where the arrangement of ground contact
points is complex, the support polygon is the largest
convex polygon that can be formed by those points.
If the center of mass of the robot is not directly over
the support polygon (i.e. projecting a line straight
down from the center of gravity would not intersect
the support polygon) at all times, the robot will fall
over.
T
Tank-style Controls – Control Subsystem
A Transmitter driving mode in which the robot
is controlled with only the vertical axes of the
joysticks. Each joystick controls the motion of one
side of the robot, like an old tank. Also called 23
mode because axes 2 and 3 are being used to drive
the robot.
Glossary
Tether – Control Subsystem
A cable used to connect the Transmitter directly
to the Microcontroller. Using a tether allows you
to control the robot by sending signals through the
cable rather than through the air, eliminating the
possibility of radio interference. You can use any
telephone handset cable (the one that goes from the
base to the handset of a corded phone) as a tether.
Threaded – Structure Subsystem
A threaded piece has threading on or in it, which
allows a screw to be fastened into it. Threading is
the tiny spiraling texture on the outside of a screw
or the inside of a nut (for example) that allows a
screw to be locked into place.
Torque – Motion Subsystem
Angular (“spinning”) force. Torque can be
converted into linear (“pushing”) force where a
wheel comes in contact with the ground.
Traction – Motion Subsystem
An overall measure of how well a tire is able to grip
the ground. Many factors (texture, size, material,
etc.) must be taken into account when evaluating a
tire’s traction on different surfaces.
Transmitter – Control Subsystem
The primary user interface device for the human
operator of the robot. The Transmitter gathers
input from its two joysticks and four buttons,
and transmits them via FM radio wave to the RF
Receiver mounted on the robot.
Transmitter Battery Holder – Power Subsystem
The battery container for the Transmitter. The
battery holder contains the 8 NiCd AA batteries in
place required to operate the Transmitter. If you
wish to use the 9.6V battery pack, the Battery Box
can be easily removed to make room for the 9.6V
pack.
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