This circuit allows to activate three functions in a controlled way, determined by a diode array. For example, pressing S1 activates outputs 1 and 4. Pressing S2 activates outputs 2 and 3. The matrix can be expanded according to the control needs. Diodes are commonly used. The circuit is from my book Robotics, Mechatronics and Artificial Intelligence, published in the United States. The battery voltage depends on the desired control voltage at the matrix output.
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