Figure 5.

Block diagram generated from existing spikes processing blocks. The Spike Hold & Fire block performed the subtraction between the present position and the target position; both signals are spike streams. The GO block allows speed control of the movement and it will be explained in the next section. The Spikes Integrate & Generate (I & G) block allows us to integrate the DV (Difference Vector) signal (again a spike stream). This block is composed by a spike counter and a spike generator. The latter uses a parameter called Integrate & Generate Frequency Divider (IG_FD) to divide the clock signal and generate the output stream according to this division.