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Sensors, HalNode, Motor,
Cables and Power
HalNodes and cables are the hardware for
HalNode algebra. For every Hal algebra function there is a HalNode.
Here are two ONodes connected to a CNode with open cables
attached. The nodes are .97 inches square. Cables are .2 inches wide.
HalNode data stream variables are carried
on 4 wire ribbon cable. Together they express algebraic functions.
With Hal algebra you design an animachine or robot just like you
design a computer program. The HalNodes and cables implement the
program. HalNodes are operators and cables are variables. HalNodes are
now generation 3, getting smaller. Here is a list of HalNodes:
Every HalNode has the internal variables I, R and O. I use both infix and functional notation. Variables link nodes together. Here is a list of the current HalNodes:
Name Notation Function
TNodes : Function Nodes-------------------------------
ABS O = ABS(I)
Not O = Not(I) If I = 0 then O = 3 else O = 0
I O = i(I) Integrator
D O = d(I) Differentiator
N O = n(I) Negates I
B O = b(I) Converts offset <=> integer
SNodes : Arithmetic, Tree Nodes ----------------------
C O = L – R Comparison
P O = L + R Addition
O O = L o R Select max
A O = L a R Select Min
Detection Nodes -------------------------------------
GT IF L > R, O = L-R, O = 0
LT IF L < R, O = L-R, O = 0
IS IF L = R, O = L, O = 0
Switches --------------------------------------------
G IF I > 0, O = R, O = 0
L IF I < 0, O = R, O = 0
Z IF I = 0, O = R, O = 0
Memory Nodes
Detected : looked at I and R ------------------------
Was IF L = R, O = M = L, O = M
WGT IF L > R, O = M = L, O = M
WLT IF L < R, O = M = L, O = M
Switched : looked at I -------------------------------
WZ IF I = 0, O = M = R, O = M
WG IF I > 0, O = M = R, O = M
WL IF I < 0, O = M = R, O = M
These are combined nodes or agents.
Combo nodes -------------------------------------------
DZ IF d(I) = 0, O = R, O = 0
DG IF d(I) > 0, O = R, O = 0
DL IF d(I) < 0, O = R, O = 0
Switched : Looked at d(I) ----------------------------
WDZ IF d(I) = 0, O = M = R, O = M
WDG IF d(I) > 0, O = M = R, O = M
WDL IF d(I) < 0, O = M = R, O = M
These are sensors, motors and power nodes.
Sensors: O = Nature ; Reads nature, writes O
ADC: O = ADC(sensor) ; Converts volts to number
RCNode: O = Servo(sensor); Convert time to number
Motors: Nature = I Reads I , Writes, moves nature
MoNode: Motor = I, Converts number to pulsed volts
SMNode: Servo = I, Converts number to time
Power
Provides power and ground for cables. All nodes pass these through so
every motor tree is powered from one source, meaning you can have a
separate power supply for each motor tree.
Trade note: All these HalNode names and the name
are trademarks of Hal Brain Design and Harold L. Reed.
For specifications of Hal HalNode
interface, go to Specifications
Other parts, prototypes only.:
Power node 5v power node (hand made)
Number pad Number pad sensors $20
Eyevh3 3 level length,
height, color eye agent (code)$95
Ear1 Loudness
and dLoud (code) $10
Hand5 Motors to clasp
hand (code only) $25
BigAl Human
sized animachine (code) $150
Pricing
| Description | SKU # | Price |
|---|---|---|
| SNodes | SNodes | $20 |
| TNodes | TNodes | $15 |
| BattNodes | BattAA, | $16 |
| ADCNode | ADC | $15 |
| RCNode | RC | $15 |
| NbrNode | Number | $20 |
| EyeSpot | EyeSpot | $10 |
| MoNode | H-Bridge | $33 |
| SMNode | Servo | $15 |
| DispNode | Display | $20 |
| WormDrive | Wormdrive | $48 |
| Servo | Servo | $44 |
These are the lowest prices I can make now, since these are handmade. For really large quantities, please ask.
To obtain more information click for the Information
Request Form
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08/06/08