4.2. Tutorial: Signals

These notes are meant to accompany an in-class tutorial presentation, and may not necessarily stand alone.

(Images courtesy of wikimedia.)

Contents

• Tutorial: Signals
  • Motors
  • Signal Processing
  • Real-Time Computation

4.2.1. Motors

• PWM
• H Bridge
• DC motor
• stepper motor
• current limits
• microstepping
• trajectory
• feedback control

H-Bridge

Stepper Motor

4.2.2. Signal Processing

• ADC
• resolution
• sample
• sampling rate
• Nyquist rater
• Fast Fourier Transform
• filter
• non-linear filters
• debouncing
• threshold
• hysteresis
• linear filters
• smoothing
• estimator
• differentiator
• phase-locked loop

Hysteresis

Filtering

Sampling

4.2.3. Real-Time Computation

• blocking vs non-blocking processes
• event loop
• timers
• state machines