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components, but most RS-232 devices also regard a signal close to 0 V as a logic 1. So if our 5-V logic s 0 is close to 0 V it will suffice as an RS-232 logic 1. , The STAMP 2 will support this type of fooling ; you simply program the STAMP 2 s serial output instruction to send inverted serial data. So now when the STAMP 2 receives data from conventional RS-232 sources, it is receiving a 15-V signal. In order to protect the STAMP 2 from destruction, a 22-k resistor is placed in series with the STAMP 2 I/O line for incoming RS-232 data. Many projects presented in this book use the alternative STAMP 2, which utilizes MAX232 serial line drivers to get serial data to and from the STAMP 2. The baudmode command is a 16-bit number that specifies all the important characteristics of the serial transmission, i.e., bit time, data and parity bits, polarity, etc. Table 2-1 illustrates more detail on decimal baud rate number information and direct versus line driver interfacing. Also check App. 2 and the STAMP 2 programming manual included on the enclosed CD-ROM. The Serin and Serout STAMP 2 serial command lines are typically quite similar in their appearance. The Serin command to send/receive asynchronous data is represented as Serin rpin{\fpin},baudmode,{plabel,}{timeout,label,}[inputData], and often the command can be as simple as Serin rpin,baudmode,[inputData]. The Serout command structure for transmitting asynchronous data is represented as Serout tpin,baudmode,{pace,}[outputData] or Serout tpin\fpin,baudmode,{timeout,tlabel,}[outputData]. Often the Serout command can be as simple as Serout tpin,baudmode,[outputData]. Some typical STAMP 2 SERIN commands are shown below.

A typical approach to dynamic analysis of a rigid cam system can be illustrated by an example of a mechanism with a reciprocating roller follower. A schematic drawing of such a mechanism is depicted in Fig. 4.19a. For the upward motion of the follower,

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Sockets are created with the function socket() taking the address family, the socket type, and the specific protocol as parameters. Here is how you d create a datagram socket using the Internet Protocol address family: socket_bsd = socket(AF_INET, SOCK_DGRAM, 0);

FIGURE 4.18 Acceleration diagrams obtained in the static way. Curve 1 is from Eq. (4.28), curve 2 from Eq. (4.29).

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we assume that the follower s stem 4 contacts its guideway at points B and C. As a result of its upward motion, the Coulomb friction at B and C is fully developed and tan = . The free-body diagram of links 3 and 4 is shown in Fig. 4.19b. The cam force F23 can be resolved into two components: Pcr in the critical-angle ( cr) direction to sustain motion against friction, and Py in the y direction to produce accelerated motion or to oppose other forces. It can be found from the geometry of the follower that cr = 2s 2a d tan 1 1 l l 2 (4.30)

Serin rpin,baudmode, [inputdata]

where a = lB R0 Rr. For > cr, the cam-follower system is self-locking, and motion is impossible. From the force triangle in Fig. 4.19b and the rule of sines,

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Resembling a network connection, a socket usually has two associated addresses The local address is the address sent data originates from, while the remote address is the address to which it is sent Conversely, a socket receives only that data sent from the remote address to its local address Each address family has an associated datatype used to represent addresses of this family For IP addresses, that datatype is struct sockaddr_in If you were using IPv6, the correct datatype would be struct sockaddr_in6 A generic socket address structure, called struct sockaddr, is used in declarations of functions meant to be used with different address families When calling such functions, you nevertheless have to pass a pointer to a specific kind of socket address structure In our case, that will be struct sockaddr_in.

(4.31)

In the above example the rpin is the STAMP 2 I/O pin that will be receiving serial data. Baudmode is the setting for the bit rate, data bits, parity, and polarity. The inputdata specifies what do to with the incoming data to compare it, ignore it, store it, or convert it from text to a numeric value, for example.

After finding the vertical component Py for constant 21 from the force-equilibrium equation, substituting into Eq. (4.31), and solving for F23, we have F23 = where sin cr(m 2 s + ks + P4 ) 21 sin ( cr ) (4.32)

m = mass of follower k = spring rate of retaining spring P4 = P4 + k = preset of spring k = P0; this force is called preload of spring

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