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The other advantage of PCM radios is that they grant you the ability to customize the control interface Because the signals are being digitized and encoded, it is easy for the internal computer to perform custom mixing and scaling operations on the data before transmitting it Known as computer radios, these units have a liquid crystal display (LCD) screen and a miniature keypad that can be used to write custom programs for the controller interface Typical settings include custom gain, and center and end points on individual controls, as well as custom mixing of two channels to generate left and right motor drive signals from a single joystick for driving skid-steer robots When choosing a radio system, you may want to consider more than just the robot you are currently using While the rest of a robot may be scrapped, recycled, or even completely destroyed in combat, your R/C system can be reused on robot after robot If you intend to participate in robotic combat competition year after year, it makes sense to spend a little more on your R/C system at the start, rather than buying a low-end radio and then having to pay more on a better radio down the road If you buy a PCM radio with at least seven channels, you will probably never have to buy another radio for as long as you are competing Most veteran combat robot builders will recommend that if you use a traditional R/C system, you should use a PCM radio with your robot It will save you a lot of headaches when testing and competing with your robot, since you will know that erratic motion is not due to radio interference Tables 8-1 and 8-2 contain short lists of the available R/C systems The column under Band, MHz lists the frequency bands these systems can use If two different.

Figure 10-1: A typical Frame Relay connection When Frame Relay was first introduced in 1992, the speeds were limited from 56 Kbps up to 1544 Mbps However, as time wore on, a small upstart company named Cascade Communications (acquired later by Ascend, who was then acquired by Lucent) decided to set the world on fire by increasing the access speeds and information throughput to approximately 50 Mbps The industry quickly jumped on this speed and made Cascade the number one supplier in the industry at the time Figure 10-2 shows the connection at T3 speeds on one end and SONET OC-1 on the other end of the connection Note this was still used just for data transmission across the network A higher-end router is installed on each end of the connection to facilitate the data throughput of up to 50 Mbps

frequencies are listed, a system can be obtained to operate under either frequency, not both frequencies The Channels column shows the number of servo channels the R/C system can control at once, and the PCM Available column lists whether the system uses PCM error-correction controls

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Figure 10-2: A higher speed Frame Relay connection The next step was to use a different device to access the high-speed connection on a Frame Relay network Devices known as Frame Relay Access Devices (FRADs) were introduced to provide the access This was done through a high-speed CSU/DSU, through a multiplexer, or some form of a switching system The FRAD enabled the access to be simplified for the end user and the network provider alike In Figure 10-3 , the FRAD is shown Note the FRAD used here is through a CSU/DSU on one end and a high-speed T3 multiplexer on the far end The choices vary for the end user, so the flexibility of the access is one of the strong points for the Frame Relay network

Model aircraft radios are designed to control airplanes at ranges over thousands of feet; yet in the arena, robots less than 50 feet away from their controllers can go wildly out of control or fail to move at all The difference between the two environments is in the ambient radio interference and the antenna placement Installing a radio that was designed to be run inside a balsa wood or plastic airplane with only small servos and a single glow-plug engine, and making it run inside a metal-cased combat robot with large noisy electric or gasoline motors, is more difficult than you might think The first challenge to overcome is radio interference, most of which will come from inside the robot itself As a brush-type DC motor turns, the sliding contact of the brushes over the commutator segments is constantly making and breaking circuits and reversing the flow of current in the motor s armature winding segments This constant arcing creates high-frequency electrical noise whenever the motor is