of its output producing loop and goes back to its original testing
loop.
(defmodule watchdog
: inputs (trigger)
:
outputs (reset)
:
states
((nil (event-dispatch trigger stretch))
(stretch
(event-dispatch
trigger stretch
(sleep
MONOSTABLE-TIME)
switch))
(switch
(output reset $true$)
nil)))
2.3
The
multiprocessor implementation
On
an
earlier robot [Brooks
and
Connell
86] we
tried using
telemetry and off-board computation,
but
found this to be highly
unreliable.
For
this reason we decided
to go
wit ...
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