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Try This: You should always feel free to be creative when you build your machines. Sometimes you can use things in unexpected ways. For example, a spring can be used as a multidirectional joint that has the added bene t of always snapping back to center (Fig. 8-12). See what kinds of joints you can build from ordinary things around the house. Keep your eyes open for creative ways to use existing materials in new and interesting ways.

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Fibre Channel defines two types of login procedures: fabric and N_Port. With the exception of private NL_Ports, all other node ports must attempt to log in with the fabric. This is typically done right after the link or the loop has been initialized. It consists of the node port transmitting a fabric login (FLOGI) frame to the well-known fabric address hex FFFFFE . The normal response is an accept (ACC) frame from the fabric back to the node port. Fabric login accomplishes the following things:

Summary

Adjust timing (55 Hz)

This chapter has been about rotation and friction. This was obvious in the rst section since we talked speci cally about rotation. Then, with bearings and bushings, we talked about how to make the rotation more e cient by getting rid of as much friction as possible. Bending, we then discovered, has its roots in rotation. Sliding, at rst glance, appears to be completely di erent from rotation. And in many ways it is di erent. However, we can use rotating joints to create low-friction sliding.

It determines the presence or absence of a fabric. If a fabric is present, it provides a specific set of operating characteristics associated with the entire fabric, including which classes of service are supported. If a fabric is present, it optionally assigns or confirms the native N_Port identifier of the N_Port that initiated the login. If a fabric is not present, an ACC from an N_Port indicates that the requesting N_Port is attached in a point-to-point topology. If a fabric is present, it initializes the buffer-to-buffer credit.

Adjust timing (55 Hz)

Fig. 8-12.

The robot needs to function in a low-light environment, where it can clearly see a bright light source. The light level required of my robot was so low I needed to fabricate tiny sunglasses out of colored plastic to reduce the light intensity hitting the CdS photocells.

The ball and socket joint is more like a sliding joint than a rotating one, and provides several degrees of motion. The U-joint also provides several degrees of motion, but is made up from two rotating joints. We ended the chapter by using rotating joints to create an interesting robotic wrist.

Before an N_Port communicates with another N_Port, it must first perform N_Port login with that N_Port. Similar to fabric login, the process entails transmitting a PLOGI frame to the destination N_Port. Again, the normal response is an ACC frame. N_Port login accomplishes the following things:

The prototype robot exhibits the following behavior. In ambient light (no bright light source) the robot travels in a straight line (or circle depending upon the last light source target). If the ambient

1. What kind of joint is used by the wheel on your car How do you reduce the friction in this type of joint 2. How can friction be reduced in the track that guides the drawers in your kitchen How is this joint and its friction ghters the same as, or di erent from, the previous one 3. You want to power a wheel, but it is not in a line with your motor. What do you do

light is too bright, it jerks backward. With a mediocre light source, it will aim and travel toward the light. The program can be developed further to explore more interesting and exotic behaviors. Before doing so, let s first look at how the standard program functions. Program 1 for microcontroller 1 primarily checks the sensors and transmits the results to microcontroller 2. In this program you can modify the sensor sensitivity to compensate for different sensors, for instance, by using the lines