Contenido

1. Introduction
2. A little history
3. Lesson 1. A servo: an angle by number
   1. 1.1. Idea: the angle is the pulse length
   2. 1.2. Idea: cut time into windows
   3. 1.3. Idea: “number + 4”
   4. 1.4. Build
   5. 1.5. Check
   6. Lesson 1 paste (Cmd+I)
4. Lesson 2. The arm: two servos and a base
   1. 2.1. Idea: the second servo almost for free
   2. 2.2. Idea: an arm of two links
   3. 2.3. Idea: the scene comes by paste
   4. 2.4. Build
   5. 2.5. Find the poses
   6. 2.6. Check
   7. Lesson 2 paste (Cmd+I)
5. Lesson 3. The pose memory
   1. 3.1. Idea: a pose is a byte
   2. 3.2. Idea: memory as a table
   3. 3.3. Build
   4. 3.4. Check
   5. Lesson 3 paste (Cmd+I)
6. Lesson 4. The conveyor
   1. 4.1. Idea: how the arm takes an item
   2. 4.2. Idea: one sensor — two answers
   3. 4.3. Idea: where to put it
   4. 4.4. Build
   5. 4.5. Check
   6. Lesson 4 paste (Cmd+I)
7. Lesson 5. The brain on chips
   1. 5.1. Idea: the work is steps
   2. 5.2. Idea: wait at step 0 — INH
   3. 5.3. Idea: remember the colour — CD4013
   4. 5.4. Idea: counting cells and the pose address
   5. 5.5. Idea: the next item — at step 2
   6. 5.6. Build
   7. 5.7. Check
   8. Lesson 5 paste (Cmd+I)
8. Lesson 6. The brain in one GAL22V10
   1. 6.1. Idea: a GAL is “AND-OR” plus flip-flops
   2. 6.2. Idea: the outputs are the steps
   3. 6.3. Idea: each output is one rule
   4. 6.4. Idea: a tick of their own for the counters
   5. 6.5. Build
   6. 6.6. Check
   7. Lesson 6 paste (Cmd+I)
9. Summary
10. All the parts
11. Instructions in pictures