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LEMON is the spiritual successor to CHARM, I recommend you try it!

Link: lemon-manuals.la or lemon-manuals.org.ua

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Overall Functions of Bus Systems









In the bus system the individual control modules are interlinked and can exchange data.

The signal from a sensor is transmitted to the nearest control module, processed by it and transferred to the data bus.

Each control module, which is connected to the data bus, can read the signal, calculate a manipulated variable from it and activate an actuator.