fischertechnik TXT 4.0 Controller: Internals and Programming

This book covers most aspects of the hardware and software internals of the fischertechnik TXT 4.0 controller, along with chapters about application development for that controller. Find out: * Why the counting inputs C1-C4 can only count 500 pulses per second instead of the 1000 per second that fischertechnik claims (sections 8.2 and 24.3.5) * How the resistance and NTC temperatures are calculated for inputs I1-I8 (sections 7.2.4 to 7.2.6) * How the ultrasonic distance sensor protocol works (section 7.4) * What the output signals on O1-O8 / M1-M4 look like under various loads (sections 9.4.1 to 9.4.6) * How to switch between boot partitions A and B (section 5.4.5) * How to obtain root access and add yourself to the sudoers list (sections 2.4 and 2.4.1) * How the various interface protocols work: CAN (chapter 11), I2C (chapter 12), USB (chapter 13) * How extension controllers are discovered and registered (section 11.3) * How to program each sensor and actuator, from micro switches and LEDs to encoder motors, each I2C sensor, and the USB colour camera (chapters 23 to 29) * How to program mecanum vehicle movements efficiently (section 26.4.6) * How the image processing steps by the ball detector (section 30.3.6), line detector (section 30.3.9), and motion detector (section 30.3.11) algorithms work. The book combines theoretical background with practical examples and a wealth of information and technical data about the TXT 4.0 controller and the fischertechnik sensors and actuators. It provides detailed information about the TXT 4.0 controller from three perspectives: 1. The hardware implementation: what is the controller made of? 2. The low-level software implementation: how does the hardware connect to the software? 3. The application software interface: how do you program the controller?