Exploring controllers and I/O

At the center of the robot block diagram, as in Figure 2.3, are controllers. Robots usually have a primary controller, a computer of some kind. They may also have some secondary controllers, and some more unusual robots have many controllers. This book keeps things simple, with your code running on a conventional central controller. The controller connects all the other parts together and forms the basis of their interactions.

Before we look at controllers, we need to get a better understanding of an important component that connects controllers to other components, I/O pins.

I/O pins

I/O pins are used for input and output from the controller. They give the controller its ability to connect to real-world sensors and motors.

The number of I/O pins on the controller is a limiting factor in what you can connect to a robot without using secondary controllers. You may also see the term General Purpose Input Output (GPIO). Controller I/O pins have...