Plumbing the Arduino Adam Sampson University of Kent (and a cast - - PowerPoint PPT Presentation

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Plumbing the Arduino Adam Sampson University of Kent (and a cast - - PowerPoint PPT Presentation

Jun 02, 2023 558 likes •879 views

Plumbing the Arduino Adam Sampson University of Kent (and a cast of thousands, including Matt Jadud, Christian Jacobsen, Omer Kilic, Carl Ritson...) A brief history lesson In the 1980s, INMOS created the Transputer and an unusual

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Plumbing the Arduino

Adam Sampson

University of Kent (and a cast of thousands, including Matt Jadud, Christian Jacobsen, Omer Kilic, Carl Ritson...)

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A brief history lesson

  • In the 1980s, INMOS created the Transputer
  • … and an unusual programming language, called
  • ccam
  • Further developed at Kent in the 1990s and

2000s: occam-pi

  • Here's what it looks like...
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C++: doThing(); doOtherThing();

  • ccam:

SEQ doThing() doOtherThing()

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PROC main () WHILE TRUE SEQ digitalWrite (13, HIGH) delay (200) digitalWrite (13, LOW) delay (200) :

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PROC blink (VAL INT pin, period) WHILE TRUE SEQ digitalWrite (pin, HIGH) delay (period) digitalWrite (pin, LOW) delay (period) : PROC main () blink (13, 200) :

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PROC main () blink (13, 200) :

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  • ccam:

PAR x y C++: ??!?!!!?

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PROC main () PAR blink (13, 300) blink (14, 500) :

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This is a channel.

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sender receiver

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inputPin

  • utputPin
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inputPin

  • utputPin

invert

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Concurrency in action

  • We call this “process-oriented programming”
  • Build your program out of little, isolated

components, and connect them together

  • Plumbing is a library of ready-made components

(like inputPin, invert and blink) for the Arduino

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64 LEDs (well, 128, actually...)

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One

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How does that work?

buffer buffer buffer buffer ...

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How does that work?

buffer buffer buffer buffer ... column column column column ...

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How does that work?

buffer buffer buffer buffer ... column column column column ... source black. hole

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Distributed embedded system

buffer buffer buffer buffer ... column column column column ... source black. hole

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First node

buffer buffer buffer buffer ... column column column column ... source serial.tx serial.tx

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Other nodes

buffer buffer buffer buffer ... column column column column ... serial.rx serial.tx serial.tx

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The RepRap

  • X, Y and Z axes with steppers and endstops
  • Print head with heater, temperature sensor and

extruder motor

  • Serial interface to accept commands from a host

computer

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Plumbing the RepRap

serial.port temp. sensor heater thermostat command.parser motor. control motor endstop motor. control motor endstop motor. control motor endstop motor. control motor endstop motor. control motor endstop axis. control motor endstop x y z extruder

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How do I learn more?

  • Read the book!
  • Available from our web site

along with the software (all

  • pen source):

http://concurrency.cc/

  • For more about occam-pi:

http://occam-pi.org/

  • Thanks – any questions?