IDE BEEPTOOLKIT - a boxed software product allows you to translate into a fairly impressive range of robotic ideas, where the hardware consists of inexpensive modules from the world's online sales shelves (device drivers, sensors, communicators, etc. There is no need to create hardware from scratch, write, compile code and load it into controllers based on RISC MCU with a design based on distributed communications with the accompanying bunch of problems familiar to all classic developers of embedded software embedders for Arduino, STM, ESP, Raspberry Pi, etc. DSP platforms and controllers based on them. As for the hardware of any projects, we will give here an example of a modular design of a hardware block diagram in the form of one of our projects, which, practically without the slightest changes, was included from the prototype into the final version of the robotic vending machine (these inexpensive modules are widely available from mega- online trading platforms around the world:

Before entering to programing 1. The command to open and close the output port, after a specified period of time, produces a logical “1” = 5V with a transition to the trigger state or "0" = <1V at the output, : - Call the programming console by pressing the button in the main menu “Programming Console”; - in the programming panel that opens, 16 customizable finite state machines (FSM) are located sequentially from top to bottom; - In the “Cycle” field, specify the value “1”, which will put the FSM into an active status in the general flow of access to each FSM in the order of its location; - in the “Time” field, indicate the start time of the FSM from the moment you accessed it; - in the “CH Out” field, indicate 1 of 16 output channels from USB output module; - if you set the value “2” in the “Cycle” field, then the output port will be closed for a specified period of time, which is similar to the operation of the ON button when it is pressed again OFF. 2. Instructions for working with input channels for collecting measured data: - in the “Sensors” item, set the flag from 1 to 10. Using these channels of the USB input module, in a specified period of time from the moment of access to the FSM, voltage will be measured in the range from 0 to 3.300 V. Measurements can be made simultaneously on 10 channels or selectively . These values can be recorded and changes can be logged over a period of time. - to open a data collection (measurement) FSM, you must enter the number “1” or any other number of repeated measurements in the “Cycle” field of the corresponding FSM until the FSM enters the exit state from the specified state in the general course of the entire scenario. 3. Instructions for working with trigger values of measured data of input channels: - to trigger a set of values measured on the input channels, it is necessary to activate the state of the FSM, as indicated in paragraph 2. In this case, in the “CH OUT” field, it is necessary to indicate the number of output channels regarding what feedback will occur when starting the FSM, when measuring the input channel The value in the TRIGGER field is reached, then the FSM follows the instructions in step 1. 4. Instructions for working in the “OR” mode: - all settings of the FSM are similar to points 1,2,3; in this case, in the “CH D-Trig” field, you must enter the number of the output channel, which takes the value “1” when measurements on the input channels do not reach the specified values in a given period of time. in the "TRIGGER" field. 5. State instruction “EU”: - the FSM is configured in steps 3, 4 with the specified output channel in the “CH” and CH DTRIG field; in this case, the event of item 3 occurs in the form of feedback when the measured values of the input channels “TRIGGER” reach the field value in a specified period of time “TRIGGER”, if in the specified period of time the measured values are not reached. does not reach the value of the “TRIGGER” field, feedback occurs on the output channel of the “CH D-TRIGGER” field. 6. Instructions for working the entire scenario: - The entire script can go through the number of cycles specified on the main panel in the “CYCLE” field with pauses (standby mode) in time in the “TIME PRESET” field. Launch occurs automatically after loading the IDE, provided that the "STANDBY" button is not activated. After cyclically repeating the entire scenario specified in the “CYCLE” field, the system is automatically unloaded; - If the “STANDBY” button was previously activated, then after completing all the specified cycles, the script goes into standby mode until the next launch by pressing the “START” button. The instructions listed above are a guide to writing automated scripting instructions in the Beeptoolkit environment (IDE).

Block diagram of reverse logical control of linear movement actuators on stepper motors and ready-made modules, without feedback with the launch of the algorithm signal of the through one logical output, bypassing the control buttons of the popular MKS PWM generator. After logical “1” is applied at the output to the trigger state, the motor rotates clockwise, the clutch - the carriage moves forward, the TTL induction extreme position sensor, upon reaching the carriage, sends a signal to the trigger switch, at the same time the direction of rotation of the motor changes and the carriage begins to move in the opposite direction to the 2nd similar position sensor and stop, the logical level at the output goes to “0”, the entire circuit returns to its original state. I needed this logic in a vending machine to transport a product. Ready-made modules are used as automata, which remain in certain states until the next event: