PATENT DOCUMENT

Publication Number: US-12073025-B2
Application Number: US-202318167762-A
Country: US
Kind Code: B2

Title: Electronic devices with touch input components and haptic output components

Abstract:
An electronic device may include touch input components and associated haptic output components. The control circuitry may provide haptic output in response to touch input on the touch input components and may send wireless signals to the external electronic device based on the touch input. The haptic output components may provide local and global haptic output. Local haptic output may be used to guide a user to the location of the electronic device or to provide a button click sensation to the user in response to touch input. Global haptic output may be used to notify the user that the electronic device is aligned towards the external electronic device and is ready to receive user input to control or communicate with the external electronic device. Control circuitry may switch a haptic output component into an inactive mode to inform the user that a touch input component is inactive.

Claims:
What is claimed is: 
     
       1. An electronic device configured to interact with external electronic devices, the electronic device comprising:
 wireless communications circuitry configured to determine a pointing direction of the electronic device; 
 control circuitry configured to identify which of the external electronic devices is being selected based on the pointing direction; 
 an input device configured to receive user input; 
 a haptic output device configured to provide haptic output in response to the user input, wherein the haptic output is based on which of the external electronic devices is selected; and 
 a motion sensor, wherein the control circuitry is configured to identify which of the external electronic devices is being selected based on the pointing direction and information from the motion sensor. 
 
     
     
       2. The electronic device defined in  claim 1  wherein the wireless communications circuitry is configured to receive radio frequency signals from the external electronic devices and to determine an angle of arrival of the radio frequency signals. 
     
     
       3. The electronic device defined in  claim 2  wherein the wireless communications circuitry is configured to determine the pointing direction based on the angle of arrival. 
     
     
       4. The electronic device defined in  claim 3  wherein the wireless communications circuitry comprises ultra-wideband transceiver circuitry. 
     
     
       5. The electronic device defined in  claim 1  wherein the input device is selected from the group consisting of: a sidewall button and a touch sensor. 
     
     
       6. The electronic device defined in  claim 1  wherein the haptic output device provides no haptic output in response to the user input if the pointing direction is not aligned with any of the external electronic devices. 
     
     
       7. The electronic device defined in  claim 1  wherein the input device comprises first and second buttons and wherein the control circuitry assigns different user input functions to the first and second buttons based on which of the external electronic devices is being selected. 
     
     
       8. The electronic device defined in  claim 1  wherein the identified external electronic device is selected from the group consisting of: a speaker, a thermostat, a lamp, and an electronic door lock. 
     
     
       9. The electronic device defined in  claim 1  wherein the control circuitry is configured to send control signals to the identified external electronic device in response to the user input. 
     
     
       10. An electronic device configured to remotely control first and second external electronic devices, the electronic device comprising:
 wireless communications circuitry configured to determine a pointing direction of the electronic device based on an angle of arrival of radio frequency signals received by the electronic device; 
 control circuitry configured to determine whether the pointing direction is aligned with the first or second external electronic device; 
 an input device configured to receive user input, wherein the control circuitry is configured to send first control signals to the first external electronic device when the pointing direction is aligned with the first external electronic device and second control signals to the second external electronic device when the pointing direction is aligned with the second external electronic device; and 
 a haptic output device configured to provide first haptic output in response to the user input when the pointing direction is aligned with the first external electronic device and second haptic output in response to the user input when the pointing direction is aligned with the second external electronic device, wherein the first haptic output is different from the second haptic output. 
 
     
     
       11. The electronic device defined in  claim 10  wherein the first haptic output is global haptic output and the second haptic output is localized haptic output. 
     
     
       12. The electronic device defined in  claim 10  wherein the wireless communications circuitry comprises ultra-wideband transceiver circuitry. 
     
     
       13. The electronic device defined in  claim 10  wherein the input device is selected from the group consisting of: a mechanical button, a non-mechanical button, and a touch sensor. 
     
     
       14. The electronic device defined in  claim 10  wherein the haptic output device does not provide the first or second haptic output in response to the user input if the pointing direction is not aligned with the first or second external electronic device. 
     
     
       15. An electronic device configured to interact with external electronic devices, the electronic device comprising:
 wireless communications circuitry configured to determine a pointing direction of the electronic device, wherein the wireless communications circuitry comprises ultra-wideband transceiver circuitry configured to receive ultra-wideband signals from the external electronic devices and to determine the pointing direction of the electronic device based on an angle of arrival of the ultra-wideband signals; 
 control circuitry configured to identify which of the external electronic devices is being selected based on the pointing direction; 
 a haptic output device configured to provide haptic output in response to identifying the external electronic device being selected based on the pointing direction; and 
 an input device configured to receive user input for controlling the identified external electronic device. 
 
     
     
       16. The electronic device defined in  claim 15  wherein the haptic output device is configured to provide additional haptic output in response the user input, wherein the additional haptic output is different from the haptic output. 
     
     
       17. The electronic device defined in  claim 16  wherein the haptic output is global haptic output and the additional haptic output is localized haptic output. 
     
     
       18. The electronic device defined in  claim 17  wherein the input device is selected from the group consisting of: a mechanical button, a non-mechanical button, and a touch sensor.

Description:
This application is a continuation of patent application Ser. No. 17/467,035, filed Sep. 3, 2021, which is a continuation of patent application Ser. No. 16/396,479, filed Apr. 26, 2019, now U.S. Pat. No. 11,119,574, which claims the benefit of provisional patent application No. 62/663,793, filed Apr. 27, 2018, both of which are hereby incorporated by reference herein in their entireties. 
    
    
     FIELD 
     This relates generally to electronic devices and, more particularly, to electronic devices that supply haptic output. 
     BACKGROUND 
     Electronic devices often include wireless communications circuitry. For example, cellular telephones, computers, and other devices often contain antennas and wireless transceivers for supporting wireless communications. 
     Electronic devices often communicate with other electronic devices. For example, a user may wirelessly share files with another nearby user over a short-range communications link such as Bluetooth® or WiFi®. A user may use his or her mobile device to wirelessly control a household electronic device such as a television. 
     Communicating with external electronic devices can be cumbersome for a user. The user may have to take several steps to control or otherwise communicate with an external device. The user may not know when the external device is sufficiently close to establish a short-range wireless communications link. There may be multiple devices within range, making it challenging to select the appropriate external device. Touch-sensitive displays may be used to help a user communicate with other electronic devices, but requiring a user to interact with the display may not always be intuitive for the user. 
     SUMMARY 
     An electronic device may be provided with wireless circuitry. The wireless circuitry may include one or more antennas. The antennas may include millimeter wave antenna arrays, ultra-wideband antennas, or other antennas. The antennas may also include wireless local area network antennas, satellite navigation system antennas, cellular telephone antennas, and other antennas. The wireless circuitry may be used to send signals to and/or receive signals from an external electronic device. The wireless circuitry may determine a location of the external electronic device relative to the electronic device based on a phase difference associated with the received antenna signals. 
     The electronic device may include input-output devices that allow a user to more intuitively control or otherwise communicate with an external electronic device. The input-output devices may include touch input components and associated haptic output components, which may be formed along the sidewalls or other areas of the electronic device. The control circuitry may provide haptic output in response to touch input on the touch input components and may also send wireless signals to the external electronic device based on the touch input. The haptic output components may provide local and global haptic output. Local haptic output may be used to guide a user to the location of the electronic device or to provide a button click sensation to the user in response to touch input. Global haptic output may be used to notify the user that the electronic device is aligned towards the external electronic device and is ready to receive user input to control or communicate with the external electronic device. 
     The touch input components may be configured to measure a force associated with touch input. Control circuitry may control the intensity of haptic output based on the force and/or may control the user input function associated with the touch input based on the force. 
     The control circuitry may gather information about the external electronic device and may control the input-output devices based on the information about the external electronic device. This may include assigning different user input functions to each touch sensor based on the capabilities of the external electronic device, activating some touch input components and inactivating other touch input components based on the capabilities of the external electronic device, and activating some haptic output components and inactivating other haptic output components based on the capabilities of the external electronic device. 
     Control circuitry may also activate or inactivate certain touch input components and haptic output components based on whether the electronic device is being pointed towards the external electronic device. If a user points the electronic device towards the external electronic device, some or all of the touch input components and haptic output components may be activated to allow the user to control or otherwise communicate with the external electronic device. If the user is not pointing the electronic device towards an external electronic device, some or all of the touch input components and haptic output components may be inactivated. Without the active haptic output components, the user may not feel a click sensation when he or she taps or presses the associated touch input component. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a perspective view of an illustrative electronic device in accordance with an embodiment. 
         FIG.  2    is a cross-sectional side view of the illustrative electronic device of  FIG.  1    in accordance with an embodiment. 
         FIG.  3    is a cross-sectional side view of an illustrative haptic output component with a central deflecting portion in accordance with an embodiment. 
         FIG.  4    is a cross-sectional side view of an illustrative deflecting beam haptic output component in accordance with an embodiment. 
         FIG.  5    is cross-sectional side view of an illustrative haptic output component based on a stack of haptic output structures in accordance with an embodiment. 
         FIG.  6    is a side view of an illustrative voice coil haptic output component in accordance with an embodiment. 
         FIG.  7    is a cross-sectional side view of an illustrative linear resonance actuator haptic output component in accordance with an embodiment. 
         FIG.  8    is a side view of an illustrative haptic output component with a portion that extends when actuated in accordance with an embodiment. 
         FIG.  9    is a schematic diagram of an illustrative system with an electronic device that communicates with an external electronic device in accordance with an embodiment. 
         FIG.  10    is a diagram of an illustrative transceiver circuit and antenna in accordance with an embodiment. 
         FIG.  11    is a diagram of an illustrative dipole antenna in accordance with an embodiment. 
         FIG.  12    is a perspective view of an illustrative patch antenna that may be used in an electronic device in accordance with an embodiment. 
         FIG.  13    is a perspective view of an illustrative array of millimeter wave antennas on a millimeter wave antenna array substrate in accordance with an embodiment. 
         FIG.  14    is a diagram of an illustrative network having nodes in accordance with an embodiment. 
         FIG.  15    is a diagram illustrating how a distance between an illustrative electronic device and a node in a network may be determined in accordance with an embodiment. 
         FIG.  16    is a diagram showing how a location and orientation of an illustrative electronic device relative to nodes in a network may be determined in accordance with an embodiment. 
         FIG.  17    is a diagram showing how angle of arrival antenna measurements may be used to determine the location of a node relative to an electronic device in accordance with an embodiment. 
         FIG.  18    is a diagram illustrating how input-output devices may be used to gather user input and provide haptic output to control an object such as a lamp in accordance with an embodiment. 
         FIG.  19    is a diagram illustrating how input-output devices may be used to gather user input and provide haptic output to control an object such as a television in accordance with an embodiment. 
         FIG.  20    is a diagram illustrating how input-output devices may be inactivated when an electronic device is not being used to control or communicate with external devices in accordance with embodiment. 
         FIG.  21    is a diagram illustrating how haptic output components on a right side of an electronic device may provide localized haptic output to guide a user to an object in accordance with an embodiment. 
         FIG.  22    is a diagram illustrating how haptic output components on a left side of an electronic device may provide localized haptic output to guide a user to an object in accordance with an embodiment. 
         FIG.  23    is a diagram illustrating how haptic output components may provide global haptic output to indicate a connection to an object in accordance with an embodiment. 
         FIG.  24    is a diagram illustrating how an electronic device may select which object or device to communicate with based on the force of user input in accordance with an embodiment. 
         FIG.  25    is a diagram illustrating how haptic output components may be selected when an electronic device is in an upright position in accordance with an embodiment. 
         FIG.  26    is a diagram illustrating how haptic output components may be selected when an electronic device is in an upside down position in accordance with an embodiment. 
         FIG.  27    is a diagram illustrating how a first type of haptic output may be provided as a user searches for an object in accordance with an embodiment. 
         FIG.  28    is a diagram illustrating how a second type of haptic output may be provided as a user finds an object in accordance with an embodiment. 
         FIG.  29    is a diagram illustrating how a third type of haptic output may be provided as a user establishes a connection with an object in accordance with an embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     A system may include one or more electronic devices. In some scenarios, a first electronic device may be used to control a second electronic device. For example, a first electronic device may serve as an input-output device for a second electronic device. In other scenarios, a first electronic device may send information to and/or receive information from a second electronic device. Haptic output components may be included in the electronic devices to provide a user with haptic output. 
     An electronic device may also include input-output devices such as sensors for receiving input from a user. The input-output devices may include touch input components such as touch sensors and force sensors for gathering input from a user&#39;s fingers and may include other circuitry such as motion sensors and antennas for determining whether a user is pointing the first electronic device at a second electronic device and receiving other motion input. These types of input-output devices may be used in combination with haptic output components to provide an intuitive way for a user to control or otherwise communicate with external electronic devices. 
       FIG.  1    is a perspective view of an illustrative electronic device. An electronic device such as electronic device  10  of  FIG.  1    may interact with nodes in a network. The term “node” may be used to refer to an electronic device, an object without electronics, and/or a particular location in a mapped environment. Electronic device  10  may have control circuitry that determines where other nodes are located relative to electronic device  10 . The control circuitry in device  10  may synthesize information from cameras, motion sensors, wireless circuitry such as antennas, and other input-output circuitry to determine how far a node is relative to device  10  and/or to determine the orientation of device  10  relative to that node. The control circuitry may use output components in device  10  to provide output (e.g., display output, audio output, haptic output, or other suitable output) to a user of device  10  based on the position of the node. 
     Antennas in device  10  may include cellular telephone antennas, wireless local area network antennas (e.g., WiFi® antennas at 2.4 GHz and 5 GHz and other suitable wireless local area network antennas), satellite navigation system signals, and near-field communications antennas. The antennas may also include antennas for handling ultra-wideband communications and/or millimeter wave communications. For example, the antennas may include one or more ultra-wideband and/or millimeter wave phased antenna arrays. Millimeter wave communications, which are sometimes referred to as extremely high frequency (EHF) communications, involve signals at 60 GHz or other frequencies between about 10 GHz and 400 GHz. 
     Wireless circuitry in device  10  may support communications using the IEEE 802.15.4 ultra-wideband protocol. In an IEEE 802.15.4 system, a pair of devices may exchange wireless time stamped messages. Time stamps in the messages may be analyzed to determine the time of flight of the messages and thereby determine the distance (range) between the devices. 
     Electronic device  10  may be a computing device such as a laptop computer, a computer monitor containing an embedded computer, a tablet computer, a cellular telephone, a media player, or other handheld or portable electronic device, a smaller device such as a wristwatch device, a pendant device, a headphone or earpiece device, a device embedded in eyeglasses or other equipment worn on a user&#39;s head, or other wearable or miniature device, a television, a computer display that does not contain an embedded computer, a gaming device, a navigation device, an embedded system such as a system in which electronic equipment with a display is mounted in a kiosk or automobile, equipment that implements the functionality of two or more of these devices, or other electronic equipment. In the illustrative configuration of  FIG.  1   , device  10  is a portable device such as a cellular telephone, media player, tablet computer, or other portable computing device. Other configurations may be used for device  10  if desired. The example of  FIG.  1    is merely illustrative. 
     As shown in  FIG.  1   , device  10  may include a display such as display  14 . Display  14  may be mounted in a housing such as housing  12 . For example, device  10  may have opposing front and rear faces and display  14  may be mounted in housing  12  so that display  14  covers the front face of device  10  as shown in  FIG.  1   . Housing  12 , which may sometimes be referred to as an enclosure or case, may be formed of plastic, glass, ceramics, fiber composites, metal (e.g., stainless steel, aluminum, etc.), other suitable materials, or a combination of any two or more of these materials. Housing  12  may be formed using a unibody configuration in which some or all of housing  12  is machined or molded as a single structure or may be formed using multiple structures (e.g., an internal frame structure, one or more structures that form exterior housing surfaces, etc.). If desired, different portions of housing  12  may be formed from different materials. For example, housing sidewalls may be formed from metal and some or all of the rear wall of housing  12  may be formed from a dielectric such as plastic, glass, ceramic, sapphire, etc. Dielectric rear housing wall materials such as these may, if desired, by laminated with metal plates and/or other metal structures to enhance the strength of the rear housing wall (as an example). 
     Display  14  may be a touch screen display that incorporates a layer of conductive capacitive touch sensor electrodes or other touch sensor components (e.g., resistive touch sensor components, acoustic touch sensor components, force-based touch sensor components, light-based touch sensor components, etc.) or may be a display that is not touch-sensitive. Capacitive touch screen electrodes may be formed from an array of indium tin oxide pads or other transparent conductive structures. 
     Display  14  may include an array of pixels formed from liquid crystal display (LCD) components, an array of electrophoretic pixels, an array of plasma pixels, an array of organic light-emitting diode pixels, an array of electrowetting pixels, or pixels based on other display technologies. 
     Display  14  may be protected using a display cover layer such as a layer of transparent glass, clear plastic, sapphire, or other transparent dielectric. Openings may be formed in the display cover layer. For example, an opening may be formed in the display cover layer to accommodate a port such as speaker port  18 . If desired, an opening may be formed in the display cover layer to accommodate a button (e.g., a mechanical or non-mechanical button). Buttons may also be formed from capacitive touch sensors, light-based touch sensors, or other structures that can operate through the display cover layer without forming an opening. 
     Openings may be formed in housing  12  to form communications ports (e.g., an audio jack port, a digital data port, etc.). Openings in housing  12  may also be formed for audio components such as a speaker and/or a microphone. Dielectric-filled openings  20  such as plastic-filled openings may be formed in metal portions of housing  12  such as in metal sidewall structures (e.g., to serve as antenna windows and/or to serve as gaps that separate portions of antennas from each other). 
     Antennas may be mounted in housing  12 . If desired, some of the antennas (e.g., antenna arrays that may implement beam steering, etc.) may be mounted under dielectric portions of device  10  (e.g., portions of the display cover layer, portions of a plastic antenna window in a metal housing sidewall portion of housing  12 , etc.). With one illustrative configuration, some or all of rear face of device  12  may be formed from a dielectric. For example, the rear wall of housing  12  may be formed from glass plastic, ceramic, other dielectric. In this type of arrangement, antennas may be mounted within the interior of device  10  in a location that allows the antennas to transmit and receive antenna signals through the rear wall of device  10  (and, if desired, through optional dielectric sidewall portions in housing  12 ). Antennas may also be formed from metal sidewall structures in housing  12  and may be located in peripheral portions of device  10 . 
     To avoid disrupting communications when an external object such as a human hand or other body part of a user blocks one or more antennas, antennas may be mounted at multiple locations in housing  12 . Sensor data such as proximity sensor data, real-time antenna impedance measurements, signal quality measurements such as received signal strength information, and other data may be used in determining when one or more antennas is being adversely affected due to the orientation of housing  12 , blockage by a user&#39;s hand or other external object, or other environmental factors. Device  10  can then switch one or more replacement antennas into use in place of the antennas that are being adversely affected. 
     Antennas may be mounted at the corners of housing, along the peripheral edges of housing  12 , on the rear of housing  12 , under the display cover layer that is used in covering and protecting display  14  on the front of device  10  (e.g., a glass cover layer, a sapphire cover layer, a plastic cover layer, other dielectric cover layer structures, etc.), under a dielectric window on a rear face of housing  12  or the edge of housing  12 , under a dielectric rear wall of housing  12 , or elsewhere in device  10 . As an example, antennas may be mounted at one or both ends  50  of device  10  (e.g., along the upper and lower edges of housing  12 , at the corners of housing  12 , etc.). 
     Device  10  may have opposing front and rear faces. Display  14  may be formed on the front face. A rear wall of housing  12  may be formed on the opposing rear face. Sidewalls  16  may extend between peripheral portions of display  14  on the front face and peripheral portions of the rear wall of housing  12  on the rear face. Sidewalls  16  may be formed from one or more structures that are separated from the rear wall structures of housing  12  and/or may have portions that are formed integrally with the rear wall of housing  12 . Sidewalls  16  may extend vertically and may form planar sidewall surfaces and/or sidewalls  16  may have portions with curve cross-sectional shapes (e.g., so that the outer surfaces of sidewalls  16  are curved). Display  14  may have any suitable footprint (outline when viewed from above) such as rectangular footprint, an oval or circular shape, etc. In the example of  FIG.  1   , display  14  and device  10  have a rectangular outline and housing sidewalls  16  run along each of the four edges of display  14  and device  10 . Other arrangements may be used for device  10 , if desired. 
     Input-output components may be formed on sidewalls  16  (e.g., in the portion of housing  12  in regions  28  of sidewalls  16  and/or other portions of housing  12 ). When a user grips device  10 , the user&#39;s fingers or other portions of a user&#39;s body may overlap regions  28  of sidewalls  16  and/or other portions of sidewalls  16  that have been provided with input-output components. The input-output components may include touch sensors, force sensors, mechanical buttons, non-mechanical buttons, and/or other input sensors for determining where a user has touched device  10 . The input-output components may also include haptic output devices. For example, device  10  may include strips of capacitive touch sensor electrodes in regions  28  that are overlapped by haptic output components in regions  28 . Using this arrangement, user input can be sensed using a touch sensor formed from the touch sensor electrodes while haptic output may be supplied to the user by the associated haptic output components. 
     Haptic output devices in regions  28  (e.g., regions  28  on the left and right edges of device  10  in the example of  FIG.  1    and/or other sidewall regions) and haptic output devices on other surfaces or regions of device  10  (e.g., rear wall surfaces, portions of display  14 , the interior of housing  12 , etc.) may be used to apply forces perpendicular to the surface(s) being contacted by a user&#39;s finger(s) and/or may be used to apply forces tangential to the surface(s) being contacted by the user&#39;s finger(s). Perpendicular forces (sometimes referred to as normal forces) may displace the user&#39;s finger inwardly or outwardly. Tangential forces (sometimes referred to as shear forces) push and/or pull the user&#39;s finger parallel to the surfaces of device  10 . 
     A cross-sectional side view of electronic device  10  of  FIG.  1    taken along line  130  and viewed in direction  132  is shown in  FIG.  2   . As shown in  FIG.  2   , display  14  of device  10  may be formed from a display module such as display module  190  mounted under a cover layer such as display cover layer  88  (as an example). Display  14  (display module  190 ) may be a liquid crystal display, an organic light-emitting diode display, a display formed from a pixel array having an array of light-emitting diodes formed from respective crystalline semiconductor dies, an electrophoretic display, a display that is insensitive to touch, a touch sensitive display that incorporates and array of capacitive touch sensor electrodes or other touch sensor structures, or may be any other type of suitable display. Display cover layer  88  may be layer of clear glass, a transparent plastic member, a transparent crystalline member such as a sapphire layer, or other clear structure. Display layers such as the layers of display layers (module)  190  may be rigid and/or may be flexible (e.g., display  14  may be flexible). 
     Display  14  may be mounted to housing  12 . Device  10  may have inner housing structures that provide additional structural support to device  10  and/or that serve as mounting platforms for printed circuits and other structures. Structural internal housing members may sometimes be referred to as housing structures and may be considered to form part of housing  12 . 
     Electrical components  86  may be mounted within the interior of housing  12 . Components  86  may be mounted to printed circuits such as printed circuit  84 . Printed circuit  84  may be a rigid printed circuit board (e.g., a printed circuit board formed from fiberglass-filled epoxy or other rigid printed circuit board material) or may be a flexible printed circuit (e.g., printed circuit formed from a sheet of polyimide or other flexible polymer layer). Patterned conductive traces within printed circuit board  84  may be used to form signal paths between components  86 . 
     Haptic output components  60  may be mounted in regions  28 , may be mounted in the interior of housing  12 , and/or may be mounted in other suitable areas of device  10  and housing  12 . Touch input components  82  may, if desired, be mounted so as to overlap haptic output components  60  or may be mounted in other locations of device  10  (e.g., locations that do not overlap haptic output components  60 ). 
     Touch input components  82  may include touch sensors, force sensors, electrical switches, and/or other input devices that receive user input through proximity, contact, or force from a user&#39;s finger, hand, or other object. Touch input components  82  may be mechanical buttons or non-mechanical buttons. Mechanical buttons may include an electrical switch that is actuated by a button member when the button member is depressed or otherwise actuated by a user. The button member of a mechanical button in components  82  may move up and down (e.g., along dimension X of  FIG.  2   ), may move laterally (e.g., along the Y-Z plane of  FIG.  2   ), may rock back and forth, may pivot, or may otherwise move to actuate an electrical switch. 
     Non-mechanical buttons may be formed from solid state semiconductor materials and/or may include touch sensors such as capacitive touch sensor electrodes. Non-mechanical buttons do not rely on electrical switches and therefore can be operated without movement of a button member (e.g., touch input components  82  may be non-movable with respect to the surrounding portions of housing  12 ). This is, however, merely illustrative. If desired, non-mechanical buttons (e.g., buttons that receive input through a touch sensor rather than a mechanical switch) may be formed from touch sensors on or overlapping with a movable structure (e.g., a button member) and/or may be formed from touch sensors on a structure that appears to move without actually moving (e.g., by providing haptic output that mimics a button press). The button member of a non-mechanical button in components  82  may move up and down (e.g., along dimension X of  FIG.  2   ), may move laterally (e.g., along the Y-Z plane of  FIG.  2   ), may rock back and forth, may pivot, or may otherwise move. 
     In arrangements where touch input components  82  are non-mechanical buttons, haptic output components  60  may be used to provide haptic feedback to the user in response to touch input to components  82 . The haptic output may be local haptic output only felt in region  28  or may be global haptic output that spans across device  10 . The haptic output may mimic a button click sensation when a user presses touch input components  82 . This gives the user the impression that touch input components  82  move (e.g., depress in the X direction) like a button even though touch input components  82  may not actually be moving (or may only be moving laterally in the Y-Z plane rather than up and down in the X direction). 
     In other arrangements, non-mechanical buttons may include a movable button member, and the movement of the button member may provide haptic feedback for the user. In other words, movable button members associated with non-mechanical buttons in components  82  may form part of haptic output components  60 . If desired, the movement of the button member in the non-mechanical buttons may be controlled by an electrical signal. For example, control circuitry in device  10  may prevent or allow movement of a button member associated with a non-mechanical button in touch input components  82 . When active, the user may be able to move the button member. When inactive, the user may be unable to move the button member. This type of haptic feedback lets the user know when his or her touch input to components  82  is actively being processed to result in a user input function being executed. 
     In some arrangements, touch input components  82  may be formed on a surface of housing  12  that is indistinguishable (e.g., indistinguishable visually and/or by feel) from the surrounding portions of housing  12 . For example, housing  12  may have a smooth continuous surface across regions  28  and other portions of housing  12  (e.g., regions that do not receive user input). 
     In other arrangements, touch input components  82  may be formed on separate structures that are either visually distinguishable from housing  12  and/or distinguishable from housing  12  by feel. For example, housing  12  may have one or more openings along sidewall  16  and touch input components  82  may be located in the openings. The touch input components  82  may be flush with (e.g., coplanar) with the surrounding portions of housing  12 , may protrude above the surrounding portions of housing  12 , or may be recessed with respect to the surrounding portions of housing  12 . 
     Haptic output components  60  and/or touch input components  82  may be mounted on exterior surfaces of housing  12 , in the interior of housing  12  adjacent to the walls of housing  12  (e.g., so that haptic output devices  60  may provide haptic output through the walls of housing  12 ), and/or may be embedded within housing walls of housing  12 . Configurations in which haptic output components  60  and input components such as touch input components  82  are mounted on exterior surfaces of housing  12  may sometimes be described herein as an example. This is merely illustrative. Haptic output devices such as components  60  of  FIG.  2    may be mounted on or in any suitable portions of housing  12  that allow haptic output to be provided to a user of device  10  and touch and force sensors may be mounted on any suitable portions of housing  12  that allow these sensors to gather user touch and force input. 
     Haptic output components  60  may provide localized haptic output on device  10  or may provide global haptic output on device  10 . Local haptic output may be felt by a user at a particular location on device  12 . The local haptic output may feel like a localized button click, a gentle nudge in a particular direction, or other haptic sensation that is felt locally at a particular region of device  10 . Global haptic output may span across device  10  rather than only a localized region of device  10 . If desired, all of haptic output components  60  may be configured to switch between global and local haptic output modes. In other arrangements, some haptic output components  60  may be dedicated localized haptic output components while others may be dedicated global haptic output components. 
     Haptic output component  60  need not be mounted directly over touch input component  82  in order to provide localized haptic output on touch input component  82 . A remote haptic output component, such as haptic output component  60  within the interior of housing  12  in  FIG.  2   , may be used to provide what feels like a localized haptic effect in a different region of device  10  (e.g., near touch input component  82  on sidewall  16 ). 
     Haptic output components  60  and touch input components  82  may be operable in active mode and inactive mode. When touch input components  82  are in active mode, touch input components  82  actively detect touch that results in a user input function being executed by control circuitry  22 . When haptic output components  60  are in active mode, haptic output components  60  provide haptic output in response to touch input on components  82 . When touch input components  82  are in inactive mode, touches on touch input components  82  may not result in user input functions being executed. Similarly, when haptic output components  60  are in inactive mode, haptic output components  60  may not provide haptic output even when a user touches input components  82 . In arrangements where touch input components  82  are formed from non-mechanical buttons, the lack of haptic feedback from haptic output components  60  when components  60  are inactive feels like an inability to click or depress regions  28 . The nonresponsive surface in regions  28  may therefore let the user know that touch input components  82  in regions  28  are not actively processing the user&#39;s touch input. 
       FIGS.  3 ,  4 ,  5 ,  6 ,  7 , and  8    are diagrams of illustrative haptic output components  60 . 
     Illustrative haptic output component  60  of  FIG.  3    has a piezoelectric member such as member  90 . A biasing structure such as spring  92  is interposed between support structure  94  and the lower surface of member  90  and configured to push upwards on member  90 . During operation, control signals (e.g., control voltages) may be applied to member  90  using electrodes on the upper and lower surfaces of member  90 . The control signals may be adjusted to adjust the tension of member  90 . When member  90  is adjusted to exhibit a high tension, member  90  will compress spring  92  and will have a planar shape. When member  90  is adjusted to exhibit low tension, member  90  will relax and will be moved upwards to position  90 ′ by spring  92 . 
     Illustrative haptic output component  60  may have a deflectable beam such as beam  98  of  FIG.  4    that is attached to support structure  96 . Piezoelectric members  90 A and  90 B may be coupled to the upper and lower surfaces of beam  98 . Control signals may be supplied to electrodes in members  90 A and  90 B to cause these members to contract or expand. As shown in  FIG.  4   , for example, signals may be supplied to members  90 A and  90 B to cause member  90 A to contract inwardly in directions  108  while causing member  90 B to expand outwardly in directions  110 . This causes beam  98  to deflect in direction  106 . 
     Illustrative haptic output component  60  of  FIG.  5    is formed from electrode layers  116  and adjustable material layers  118 . During operation, control circuitry in device  10  may supply signals to electrode layers  116  that cause layers  118  to expand and contract. Multiple stacks of layers  116  and  118  may be included in component  60  to enhance the amount of displacement that is produced for a given applied signal. With one illustrative configuration, haptic output component  60  may be an electroactive polymer device (e.g., layers  118  may be formed from electroactive polymer). Arrangements of the type shown in  FIG.  5    may also be used with piezoelectric ceramic layers, etc. 
     If desired, haptic output component  60  may be formed using electromagnetic structures. With one illustrative arrangement, which is shown in  FIG.  6   , haptic output component  60  is a voice coil actuator formed from a coil such as coil  124  and a corresponding magnet such as magnet  122 . When current is supplied to terminals  120  of coil  124 , a magnetic field is generated by coil  124 . This magnetic field produces a force between magnet  122  and coil  124  and thereby causes magnet  122  and coil  124  to move relative to each other (e.g., vertically in the orientation of  FIG.  6   ). Component  60  may use a moving coil design in which coil  124  is moved when current is applied to terminals  120  or a moving magnetic design in which magnet  122  is moved when current is applied to terminals  120 . Haptic output components such as component  60  of  FIG.  6    may sometimes be referred to as electromagnetic actuators. Any suitable geometry may be used for an electromagnetic actuator (rotary, linear, etc.). The configuration of  FIG.  6    is merely illustrative. 
     As shown in  FIG.  7   , haptic output component  60  may be a linear resonant actuator. Component  60  of  FIG.  7    has a support structure such as support structure  234 . Moving mass  126  is coupled to support structure  234  by spring  142 . Coil  140  may receive a drive current and may interact electromagnetically with magnet  128 . Coil  140  may be coupled to moving mass  126  and magnet  128  may be coupled to support structure  234  or vice versa, so that application of drive signals to coil  140  will cause moving magnet  128  to oscillate along axis LA. 
     As shown in  FIG.  8   , haptic output component  60  may have portion such as portion  236  that can be displaced (e.g., to a position such as displaced position  236 ′ in the  FIG.  8    example). Fluid such as pressurized air, rheological fluid that changes in viscosity under applied magnetic fields from an electromagnet in component  60 , pressurized water, and/or other fluid may be introduced into a chamber in support structure  138  with controllable properties (pressure, viscosity, etc.), thereby adjusting the displacement of portion  236 . Portion  236  may be an expandable diaphragm, may be a movable pin, or may be other suitable movable structure. If desired, an electromagnetic actuator (e.g., a servomotor or other motor, solenoid, etc.) can be used to adjust the displacement of portion  236 . 
     The configurations for haptic output component  60  that are shown in  FIGS.  3 ,  4 ,  5 ,  6 ,  7   , and  8  are merely illustrative. In general, any suitable haptic output devices may be used in providing a user of an electronic device with haptic output. 
       FIG.  9    is a diagram of a system containing electronic devices of the type that may use haptic output components  60  to provide a user with haptic output. Electronic systems such as illustrative system  8  of  FIG.  9    may include electronic devices such as electronic device  10  and nodes such as node  78 . Node  78  may be an electronic device or other object. Device  10  may be used in supplying a user with haptic output. In some configurations, node  78  can be omitted and device  10  can be used to provide visual and/or audio output to a user of device  10  in conjunction with the haptic output. The haptic output may, as an example, be provided as feedback while a user is supplying touch input, force input, motion input, or other input to device  10 . 
     In some scenarios, supplemental devices in system  8  such as device  78  (and, if desired, an additional electronic device coupled to device  78 ) may be used in providing visual, audio, and/or haptic output to a user while device  10  serves as a control device for device  78  (and any additional device coupled to device  78 ). Device  10  may, as an example, have touch sensors, motion sensors, and/or other sensors that gather user input. In some arrangements, this user input may be used in manipulating device  78  (e.g., controlling visual objects displayed by a display in device  78 , illuminating a logo in device  78 , powering device  78  on and off, controlling the brightness of light emitted from device  78 , controlling the volume of audio output produced by device  78 , etc.). In other scenarios, user input to device  10  may be used to send information to and/or receive information from device  78  (e.g., to send or receive a picture file, a video file, an audio file, contact information, or other electronic data). Haptic output components  60  may be included in device  10  and may be used to provide a user with haptic output associated with the user input. If desired, haptic output components  60  may be included in device  78  (e.g., a laptop computer, a tablet computer, a television, a head-mounted with a display and speakers, a head-mounted display with a display and speakers that is coupled to a computer, a set-top box, or other host, etc.), so that haptic output may be provided both by device  10  and by device  78 . 
     As illustrated by communications link  58 , device  10  may communicate with one or more additional electronic devices such as electronic device  78 . Links such as link  58  in system  8  may be wired or wireless communication links. Devices in system  8  such as device  78  may include communications circuitry such as communications circuitry  36  of device  10  for supporting communications over links such as link  58 . 
     As shown in  FIG.  9   , device  10  may include storage and processing circuitry such as control circuitry  22 . Control circuitry  22  may include storage such as hard disk drive storage, nonvolatile memory (e.g., flash memory or other electrically-programmable-read-only memory configured to form a solid state drive), volatile memory (e.g., static or dynamic random-access-memory), etc. Processing circuitry in control circuitry  22  may be used to control the operation of device  10 . This processing circuitry may be based on one or more microprocessors, microcontrollers, digital signal processors, baseband processor integrated circuits, application specific integrated circuits, etc. 
     Control circuitry  22  may be used to run software on device  10 , such as internet browsing applications, voice-over-internet-protocol (VOIP) telephone call applications, email applications, media playback applications, operating system functions, etc. To support interactions with external equipment, control circuitry  22  may be used in implementing communications protocols. Communications protocols that may be implemented using control circuitry  22  include internet protocols, wireless local area network protocols (e.g., IEEE 802.11 protocols—sometimes referred to as WiFi®), protocols for other short-range wireless communications links such as the Bluetooth® protocol, cellular telephone protocols, MIMO protocols, antenna diversity protocols, satellite navigation system protocols, millimeter wave communications protocols, IEEE 802.15.4 ultra-wideband communications protocols, etc. 
     Device  10  may include input-output circuitry  24 . Input-output circuitry  24  may include input-output devices  26 . Input-output devices  26  may be used to allow data to be supplied to device  10  and to allow data to be provided from device  10  to external devices. Input-output devices  26  may include user interface devices, data port devices, and other input-output components. For example, input-output devices  26  may include one or more image sensors  30 , motion sensors  32 , touch input components  82 , displays  14  (e.g., touch screens or displays without touch sensor capabilities), speakers  34 , and haptic output components  60 . 
     Input-output devices  26  may also include buttons, joysticks, scrolling wheels, touch pads, key pads, keyboards, microphones, haptic elements such as vibrators and actuators, status indicators, light sources, audio jacks and other audio port components, digital data port devices, light sensors, capacitance sensors, proximity sensors (e.g., a capacitive proximity sensor and/or an infrared proximity sensor), magnetic sensors, and other sensors and input-output components. 
     Image sensors  30  may include one or more visible digital image sensors (visible-light cameras) and/or one or more infrared digital image sensors (infrared-light cameras). Image sensors  30  may, if desired, be used to measure distances. For example, an infrared time-of-flight image sensor may be used to measure the time that it takes for an infrared light pulse to reflect back from objects in the vicinity of device  10 , which may in turn be used to determine the distance to those objects. Visible imaging systems such as a front and/or rear facing camera in device  10  may also be used to determine the position of objects in the environment. For example, control circuitry  22  may use image sensors  30  to perform simultaneous localization and mapping (SLAM). SLAM refers to the process of using images to determine the position of objections in the environment while also constructing a representation of the imaged environment. Visual SLAM techniques include detecting and tracking certain features in images such as edges, textures, room corners, window corners, door corners, faces, sidewalk edges, street edges, building edges, tree trunks, and other prominent features. Control circuitry  22  may rely entirely upon image sensors  30  to perform simultaneous localization and mapping, or control circuitry  22  may synthesize image data with range data from one or more distance sensors (e.g., light-based proximity sensors). If desired, control circuitry  22  may use display  14  to display a visual representation of the mapped environment. 
     Motion sensors  32  may include accelerometers, gyroscopes, magnetic sensors (e.g., compasses), and other sensor structures. Sensors  32  of  FIG.  9    may, for example, include one or more microelectromechanical systems (MEMS) sensors (e.g., accelerometers, gyroscopes, microphones, force sensors, pressure sensors, capacitive sensors, or any other suitable type of sensor formed using microelectromechanical systems technology). 
     Motion sensors  32  may include circuitry for detecting movement and orientation of device  10 . Motion sensors that may be used in sensors  32  include accelerometers (e.g., accelerometers that measure acceleration along one, two, or three axes), gyroscopes, compasses, pressure sensors, other suitable types of motion sensors, etc. Storage and processing circuitry  22  may be used to store and process motion sensor data. If desired, motion sensors, processing circuitry, and storage that form motion sensor circuitry may form part of a system-on-chip integrated circuit (as an example). 
     Touch input components  82  may include force sensors and/or touch sensors. Touch input components  82  may include conductive capacitive touch sensor electrodes or other touch sensor components (e.g., resistive touch sensor components, acoustic touch sensor components, force-based touch sensor components, light-based touch sensor components, strain gauge components, etc.). Capacitive touch sensor electrodes may be formed from an array of indium tin oxide pads or other transparent conductive structures. Touch input components  82  may be configured to detect the location of touch input on device  10  and, if desired, to measure the amount of force associated with touch input on device  10 . Touch input components  82  may include touch sensors and force sensors that work independently of one another (e.g., capacitive electrodes that detect touch and one or more strain gauges that detect force) and/or may include touch sensors that are integrated with force sensors (e.g., a single sensor may be used to detect touch and force). 
     Touch input components  82  may include mechanical buttons and/or non-mechanical buttons. Mechanical buttons may include a mechanical switch that is actuated by a button member when the button member is depressed by a user. Non-mechanical buttons may be formed from solid state semiconductor materials and/or may include touch sensors such as capacitive touch sensor electrodes. Non-mechanical buttons do not rely on mechanical switches and therefore can be operated without movement. This is, however, merely illustrative. If desired, non-mechanical buttons may be formed from touch sensors on a movable structure (e.g., a structure that moves relative to housing  12  just as a mechanical button would move) and/or may be formed from touch sensors on a structure that appears to move without actually moving (e.g., by providing haptic output that mimics a button press). 
     Other sensors that may be included in input-output devices  26  include ambient light sensors for gathering information on ambient light levels, proximity sensor components (e.g., light-based proximity sensors, capacitive proximity sensors, and/or proximity sensors based on other structures), depth sensors (e.g., structured light depth sensors that emit beams of light in a grid, a random dot array, or other pattern, and that have image sensors that generate depth maps based on the resulting spots of light produced on target objects), sensors that gather three-dimensional depth information using a pair of stereoscopic image sensors, lidar (light detection and ranging) sensors, radar sensors, and other suitable sensors. 
     Haptic output components  60  in input-output devices  26  may be used to provide haptic output to a user (e.g., based on sensed movement, wirelessly received information, etc.). In some configurations (e.g., when a haptic output component  60  has a piezoelectric material), components can serve both as haptic output components  60  and as touch input components  82 . For example, a piezoelectric material may be driven with a signal to supply haptic output and, when not driven, may produce an output signal indicative of applied force. Using appropriate drive signals from control circuitry  22 , haptic output components  60  may be used to supply a user&#39;s finger or other body part with a sensation of applied force in a given direction relative to the surface of sidewalls  16  or other housing surface of device  10 . This type of haptic output, which may sometimes be referred to as directional haptic output, may be used to provide a user with sensations of increased or decreased weight, applied lateral force (e.g., force to the left or right in a horizontal plane), a sensation of device  10  slipping out of a user&#39;s grasp, a sensation of friction as a finger or other body part slides across a housing surface, etc. 
     If desired, haptic output from haptic output components  60  may be coordinated with user input from sensors such as touch input components  82 . For example, control circuitry  22  may adjust the intensity, location, and/or pattern of haptic output from components  60  based on the location and/or force of touch input to touch input components  82  or based on the type of motion input to motion sensors  32 . A hard press by a user&#39;s finger in regions  28  ( FIG.  1   ) may result in a localized “click” feeling from haptic output components  60  in region  28 . A lighter touch in region  28  may result in a lighter localized vibration of region  28  than a hard press in region  28 . A user&#39;s intentional pointing of device  10  towards another device (e.g., node  78 ) may result in a global vibration of device  10  to indicate that a connection with node  78  has been established (so that the user can control node  78 , send information to node  78 , and/or receive information from node  78 ). This is, however, merely illustrative. If desired, global haptic output may be provided in response to touch input in regions  28  and/or local haptic output may be used to indicate a connection with node  78 . Haptic output from components  60  may also be provided independently of user input. For example, localized haptic output may be used to guide a user to an object such as node  78 . The use of localized and global haptic output from components  60  may help a user interact more intuitively with surrounding objects and devices by reducing the need for the user to look at device  10  at all times. 
     Input-output circuitry  24  may include wireless communications circuitry  36  for communicating wirelessly with external equipment. Wireless communications circuitry  36  may include radio-frequency (RF) transceiver circuitry formed from one or more integrated circuits, power amplifier circuitry, low-noise input amplifiers, passive radio-frequency components, one or more antennas  48 , transmission lines, and other circuitry for handling radio-frequency wireless signals. Wireless signals can also be sent using light (e.g., using infrared communications). 
     Wireless communications circuitry  36  may include radio-frequency transceiver circuitry for handling various radio-frequency communications bands. For example, circuitry  36  may include transceiver circuitry  40 ,  42 ,  44 , and  46 . 
     Transceiver circuitry  40  may be wireless local area network transceiver circuitry. Transceiver circuitry  40  may handle 2.4 GHz and 5 GHz bands for WiFi® (IEEE 802.11) communications and may handle the 2.4 GHz Bluetooth® communications band. 
     Circuitry  36  may use cellular telephone transceiver circuitry  42  for handling wireless communications in frequency ranges such as a communications band from 700 to 960 MHz, a band from 1710 to 2170 MHz, a band from 2300 to 2700 MHz, other bands between 700 and 2700 MHz, higher bands such as LTE bands  42  and  43  (3.4-3.6 GHz), or other cellular telephone communications bands. Circuitry  42  may handle voice data and non-voice data. 
     Millimeter wave transceiver circuitry  44  (sometimes referred to as extremely high frequency transceiver circuitry) may support communications at extremely high frequencies (e.g., millimeter wave frequencies such as extremely high frequencies of 10 GHz to 400 GHz or other millimeter wave frequencies). For example, circuitry  44  may support IEEE 802.11ad communications at 60 GHz. Circuitry  44  may be formed from one or more integrated circuits (e.g., multiple integrated circuits mounted on a common printed circuit in a system-in-package device, one or more integrated circuits mounted on different substrates, etc.). 
     Ultra-wideband transceiver circuitry  46  may support communications using the IEEE 802.15.4 protocol and/or other wireless communications protocols. Ultra-wideband wireless signals may be characterized by bandwidths greater than 500 MHz or bandwidths exceeding 20% of the center frequency of radiation. The presence of lower frequencies in the baseband may allow ultra-wideband signals to penetrate through objects such as walls. Transceiver circuitry  46  may operate in a 2.4 GHz frequency band and/or at other suitable frequencies. 
     Wireless communications circuitry  36  may include satellite navigation system circuitry such as Global Positioning System (GPS) receiver circuitry  38  for receiving GPS signals at 1575 MHz or for handling other satellite positioning data (e.g., GLONASS signals at 1609 MHz). Satellite navigation system signals for receiver  38  are received from a constellation of satellites orbiting the earth. 
     In satellite navigation system links, cellular telephone links, and other long-range links, wireless signals are typically used to convey data over thousands of feet or miles. In WiFi® and Bluetooth® links at 2.4 and 5 GHz and other short-range wireless links, wireless signals are typically used to convey data over tens or hundreds of feet. Extremely high frequency (EHF) wireless transceiver circuitry  44  may convey signals over these short distances that travel between transmitter and receiver over a line-of-sight path. To enhance signal reception for millimeter wave communications, phased antenna arrays and beam steering techniques may be used (e.g., schemes in which antenna signal phase and/or magnitude for each antenna in an array is adjusted to perform beam steering). Antenna diversity schemes may also be used to ensure that the antennas that have become blocked or that are otherwise degraded due to the operating environment of device  10  can be switched out of use and higher-performing antennas used in their place. 
     Wireless communications circuitry  36  can include circuitry for other short-range and long-range wireless links if desired. For example, wireless communications circuitry  36  may include circuitry for receiving television and radio signals, paging system transceivers, near field communications (NFC) circuitry, etc. 
     Antennas  48  in wireless communications circuitry  36  may be formed using any suitable antenna types. For example, antennas  48  may include antennas with resonating elements that are formed from loop antenna structures, patch antenna structures, inverted-F antenna structures, slot antenna structures, planar inverted-F antenna structures, monopoles, dipoles, helical antenna structures, Yagi (Yagi-Uda) antenna structures, hybrids of these designs, etc. If desired, one or more of antennas  48  may be cavity-backed antennas. Different types of antennas may be used for different bands and combinations of bands. For example, one type of antenna may be used in forming a local wireless link antenna and another type of antenna may be used in forming a remote wireless link antenna. Dedicated antennas may be used for receiving satellite navigation system signals or, if desired, antennas  48  can be configured to receive both satellite navigation system signals and signals for other communications bands (e.g., wireless local area network signals and/or cellular telephone signals). Antennas  48  can include phased antenna arrays for handling millimeter wave communications. 
     In configurations for device  10  in which housing  12  has portions formed from metal, openings may be formed in the metal portions to accommodate antennas  48 . For example, openings in a metal housing wall may be used in forming splits (gaps) between resonating element structures and ground structures in cellular telephone antennas. These openings may be filled with a dielectric such as plastic. As shown in  FIG.  1   , for example, a portion of plastic-filled opening  20  may run up one or more of sidewalls  16  of housing  12 . 
     A schematic diagram of a millimeter wave antenna or other antenna  48  coupled to transceiver circuitry  76  (e.g., wireless local area network transceiver circuitry  40 , cellular telephone transceiver circuitry  42 , millimeter wave transceiver circuitry  44 , ultra-wideband transceiver circuitry  46 , and/or other transceiver circuitry in wireless circuitry  36 ) is shown in  FIG.  10   . As shown in  FIG.  10   , radio-frequency transceiver circuitry  76  may be coupled to antenna feed  80  of antenna  48  using transmission line  70 . Antenna feed  80  may include a positive antenna feed terminal such as positive antenna feed terminal  68  and may have a ground antenna feed terminal such as ground antenna feed terminal  66 . Transmission line  70  may be formed from metal traces on a printed circuit or other conductive structures and may have a positive transmission line signal path such as path  74  that is coupled to terminal  68  and a ground transmission line signal path such as path  72  that is coupled to terminal  66 . Transmission line paths such as path  70  may be used to route antenna signals within device  10 . For example, transmission line paths may be used to couple antenna structures such as one or more antennas in an array of antennas to transceiver circuitry  76 . Transmission lines in device  10  may include coaxial cable paths, microstrip transmission lines, stripline transmission lines, edge-coupled microstrip transmission lines, edge-coupled stripline transmission lines, transmission lines formed from combinations of transmission lines of these types, etc. Filter circuitry, switching circuitry, impedance matching circuitry, and other circuitry may be interposed within transmission line  70  and/or circuits such as these may be incorporated into antenna  48  (e.g., to support antenna tuning, to support operation in desired frequency bands, etc.). 
     If desired, signals for millimeter wave antennas may be distributed within device  10  using intermediate frequencies (e.g., frequencies of about 5-15 GHz rather than 60 Hz). The intermediate frequency signals may, for example, be distributed from a baseband processor or other wireless communications circuit located near the middle of device  10  to one or more arrays of millimeter wave antennas at the corners of device  10 . At each corner, upconverter and downconverter circuitry may be coupled to the intermediate frequency path. The upconverter circuitry may convert received intermediate frequency signals from the baseband processor to millimeter wave signals (e.g., signals at 60 GHz) for transmission by a millimeter wave antenna array. The downconverter circuitry may downconvert millimeter wave antenna signals from the millimeter wave antenna array to intermediate frequency signals that are then conveyed to the baseband processor over the intermediate frequency path. 
     Device  10  may contain multiple antennas  48 . The antennas may be used together or one of the antennas may be switched into use while other antenna(s) are switched out of use. If desired, control circuitry  22  may be used to select an optimum antenna to use in device  10  in real time and/or to select an optimum setting for adjustable wireless circuitry associated with one or more of antennas  48 . Antenna adjustments may be made to tune antennas to perform in desired frequency ranges, to perform beam steering with a phased antenna array, and to otherwise optimize antenna performance. Sensors may be incorporated into antennas  48  to gather sensor data in real time that is used in adjusting antennas  48 . 
     In some configurations, antennas  48  may include antenna arrays (e.g., phased antenna arrays to implement beam steering functions). For example, the antennas that are used in handling millimeter wave signals for extremely high frequency wireless transceiver circuits  44  may be implemented as phased antenna arrays. The radiating elements in a phased antenna array for supporting millimeter wave communications may be patch antennas, dipole antennas, dipole antennas with directors and reflectors in addition to dipole antenna resonating elements (sometimes referred to as Yagi antennas or beam antennas), or other suitable antenna elements. Transceiver circuitry can be integrated with the phased antenna arrays to form integrated phased antenna array and transceiver circuit modules. 
     An illustrative dipole antenna is shown in  FIG.  11   . As shown in  FIG.  11   , dipole antenna  48  may have first and second arms such as arms  48 - 1  and  48 - 2  and may be fed at antenna feed  80 . If desired, a dipole antenna such as dipole antenna  48  of  FIG.  11    may be incorporated into a Yagi antenna (e.g., by incorporating a reflector and directors into dipole antenna  48  of  FIG.  11   ). 
     An illustrative patch antenna is shown in  FIG.  12   . As shown in  FIG.  12   , patch antenna  48  may have a patch antenna resonating element  48 P that is separated from and parallel to a ground plane such as antenna ground plane  48 G. Arm  48 A may be coupled between patch antenna resonating element  48 P and positive antenna feed terminal  68  of antenna feed  80 . Ground antenna feed terminal  66  of feed  80  may be coupled to ground plane  48 G. 
     Antennas of the types shown in  FIGS.  11  and  12    and/or other antennas  48  may be used in forming millimeter wave antennas. The examples of  FIGS.  11  and  12    are merely illustrative. 
       FIG.  13    is a perspective view of an illustrative millimeter wave antenna array  48 R formed from antenna resonating elements on millimeter wave antenna array substrate  134 . Array  48 R may include an array of millimeter wave antennas such as patch antennas  48  formed from patch antenna resonating elements  48 P and dipole antennas  48  formed from arms  48 - 1  and  48 - 2 . With one illustrative configuration, dipole antennas  48  may be formed around the periphery of substrate  134  and patch antennas  48  may form an array on the central surface of substrate  134 . There may be any suitable number of millimeter wave antennas  48  in array  48 R. For example, there may be 10-40, 32, more than 5, more than 10, more than 20, more than 30, fewer than 50, or other suitable number of millimeter wave antennas (patch antennas and/or dipole antennas, etc.). Substrate  134  may be formed from one or more layers of dielectric (polymer, ceramic, etc.) and may include patterned metal traces for forming millimeter wave antennas and signal paths. The signals paths may couple the millimeter wave antennas to circuitry such as one or more electrical devices  136  mounted on substrate  134 . Device(s)  136  may include one or more integrated circuits, discrete components, upconverter circuitry, downconverter circuitry, (e.g., upconverter and downconverter circuitry that forms part of a transceiver), circuitry for adjusting signal amplitude and/or phase to perform beam steering, and/or other circuitry for operating antenna array  48 R. 
       FIG.  14    is a diagram of an illustrative network of objects that electronic device  10  may recognize and/or communicate wirelessly with. Network  100  may include nodes  78 . Nodes  78  in network  100  may be electronic devices, may be objects without electronics, or may be particular locations in a mapped environment. Nodes  78  may be passive or active. Active nodes in network  100  may include devices that are capable of receiving and/or transmitting wireless signals such as signals  58 . Active nodes in network  100  may include tagged items such as tagged item  54 , electronic equipment such as electronic equipment  52 , and other electronic devices such as electronic devices  10 ′ (e.g., devices of the type described in connection with  FIG.  9   , including some or all of the same wireless communications capabilities as device  10 ). Tagged item  54  may be any suitable object that has been provided with a wireless receiver and/or a wireless transmitter. For example, tagged item  54  may be a key fob, a cellular telephone, a wallet, a laptop, a book, a pen, or other object that has been provided with a low-power transmitter (e.g., an RFID transmitter or other transmitter). Device  10  may have a corresponding receiver that detects the transmitted signals  58  from item  54  and determines the location of device  54  based on the received signals. In some arrangements, tagged item  54  may not include an internal power source and may instead be powered by electromagnetic energy from device  10  or other device. In other arrangements, tagged item  54  may include an internal power source. 
     Electronic equipment  52  may be an infrastructure-related device such as a thermostat, a smoke detector, a Bluetooth® Low Energy (Bluetooth LE) beacon, a WiFi® wireless access point, a server, a heating, ventilation, and air conditioning (HVAC) system (sometimes referred to as a temperature-control system), a light source such as a light-emitting diode (LED) bulb, a light switch, a power outlet, an occupancy detector (e.g., an active or passive infrared light detector, a microwave detector, etc.), a door sensor, a moisture sensor, an electronic door lock, a security camera, or other device. 
     Device  10  may communicate with nodes  54 ,  52 , and  10 ′ using communications signals  58 . Communications signals  58  may include Bluetooth® signals, near-field communications signals, wireless local area signals such as IEEE 802.11 signals, millimeter wave communication signals such as signals at 60 GHz, ultra-wideband radio frequency signals, other radio-frequency wireless signals, infrared signals, etc. Wireless signals  58  may be used to convey information such as location and orientation information. For example, control circuitry  22  in device  10  may determine the location of active nodes  54 ,  52 , and  10 ′ relative to device  10  using wireless signals  58 . Control circuitry  22  may also use image data from image sensors  30 , motion sensor data from motion sensors  32 , and other sensor data (e.g., proximity data from a proximity sensor, etc.) to determine the location of active nodes  54 ,  52 , and  10 ′. 
     Passive nodes in network  100  such as passive item  56  may include objects that do not emit or receive radio-frequency signals such as furniture, buildings, doors, windows, walls, people, pets, and other items. Item  56  may be an item that device  10  recognizes through feature tracking (e.g., using image sensor  30 ) or item  56  may be a particular location having an associated set of coordinates in a mapped environment. For example, control circuitry  22  may construct a virtual three-dimensional map of an environment (or may receive and store a previously-constructed three-dimensional map of an environment) and may assign objects or locations in the environment a set of coordinates (e.g., geographical coordinates, Cartesian coordinates, horizontal coordinates, spherical coordinates, or other suitable coordinates) in the three-dimensional map. In some arrangements, the virtual three-dimensional map may be anchored by one or more items with a known location (e.g., may be anchored by one or more tagged items  54  having a known location, electronic equipment  52  having a known location, or other items with a known location). Device  10  may then assign coordinates to passive items such as item  56  based on where passive item  56  is located relative to the anchored items in network  100 . Device  10  may store the coordinates of passive item  56  and may take certain actions when device  10  is in a certain location or orientation relative to item  56 . For example, if a user points device  10  in direction  62 , control circuitry  22  may recognize that device  10  is being pointed at item  56  and may take certain actions (e.g., may display information associated with item  56  on display  14 , may provide audio output via speakers  34 , may provide haptic output via a vibrator or haptic actuator in device  10 , and/or may take other suitable action). Because passive item  56  does not send or receive communication signals, circuitry  22  may use image data from image sensors  30 , motion sensor data from motion sensors  32 , and other sensor data (e.g., proximity data from a proximity sensor, etc.) to determine the location of passive item  56  and/or to determine the orientation of device  10  relative to item  56  (e.g., to determine when device  10  is being pointed at item  56 ). 
       FIG.  15    shows how device  10  may determine a distance D between device  10  and node  78 . In arrangements where node  78  is capable of sending or receiving communications signals (e.g., tagged item  54 , electronic equipment  52 , or other electronic devices  10 ′ of  FIG.  14   ), control circuitry  22  may determine distance D using communication signals (e.g., signals  58  of  FIG.  14   ). Control circuitry  22  may determine distance D using signal strength measurement schemes (e.g., measuring the signal strength of radio signals from node  78 ) or using time based measurement schemes such as time of flight measurement techniques, time difference of arrival measurement techniques, angle of arrival measurement techniques, triangulation methods, time-of-flight methods, using a crowdsourced location database, and other suitable measurement techniques. This is merely illustrative, however. If desired, control circuitry  22  may determine distance D using Global Positioning System receiver circuitry  38 , using proximity sensors (e.g., infrared proximity sensors or other proximity sensors), using image data from camera  30 , motion sensor data from motion sensors  32 , and/or using other circuitry in device  10 . 
     Control circuitry  22  may also determine distance D using sensors such as infrared proximity sensors, depth sensors (e.g., structured light depth sensors that emit beams of light in a grid, a random dot array, or other pattern, and that have image sensors that generate depth maps based on the resulting spots of light produced on target objects), sensors that gather three-dimensional depth information using a pair of stereoscopic image sensors, lidar (light detection and ranging) sensors, radar sensors, image sensors such as camera  30 , and/or using other circuitry in device  10 . In some arrangements, device  10  may store a set of coordinates for node  78 , indicating where node  78  is located relative to other items in network  100 . By knowing the location of node  78  relative to anchored nodes in network  100  and knowing the location of the anchored nodes relative to device  10 , device  10  can determine the distance D between device  10  and node  78 . These types of methods may be useful in scenarios where node  78  is a passive item that does not send or receive wireless communications signals. However, control circuitry  22  may also employ these techniques in scenarios where node  78  is capable of wireless communications. 
     In addition to determining the distance between device  10  and nodes  78  in network  100 , control circuitry  22  may be configured to determine the orientation of device  10  relative to nodes  78 .  FIG.  16    is a diagram showing how control circuitry  22  may use a horizontal coordinate system to define the position and orientation of device  10  relative to nearby nodes such as first node  78 - 1  and second node  78 - 2  may be determined. In this type of coordinate system, control circuitry  22  may determine an azimuth angle θ and elevation angle φ to describe the position of nearby nodes  78  relative to device  10 . Control circuitry  22  may define a reference plane such as local horizon  162  and a reference vector such as reference vector  164 . Local horizon  162  may be a plane that intersects device  10  and that is defined relative to a surface of device  10 . For example, local horizon  162  may be a plane that is parallel to or coplanar with display  14  of device  10 . Reference vector  164  (sometimes referred to as the “north” direction) may be a vector in local horizon  162 . If desired, reference vector  164  may be aligned with longitudinal axis  102  of device  10  (e.g., an axis running lengthwise down the center of device  10 ). When reference vector  164  is aligned with longitudinal axis  102  of device  10 , reference vector  164  may correspond to the direction in which device  10  is being pointed. 
     Azimuth angle θ and elevation angle φ may be measured relative to local horizon  162  and reference vector  164 . As shown in  FIG.  16   , the elevation angle φ (sometimes referred to as altitude) of node  78 - 2  is the angle between node  78 - 2  and device  10 &#39;s local horizon  162  (e.g., the angle between vector  166  extending between device  10  and node  78 - 2  and a coplanar vector  168  extending between device  10  and horizon  162 ). The azimuth angle θ of node  78 - 2  is the angle of node  78 - 2  around local horizon  162  (e.g., the angle between reference vector  164  and vector  168 ). 
     In the example of  FIG.  16   , the azimuth angle and elevation angle of node  78 - 1  are both 0° because node  78 - 1  is located in the line of sight of device  10  (e.g., node  78 - 1  intersects with reference vector  164  and horizontal plane  162 ). The azimuth angle θ and elevation angle φ of node  78 - 2 , on the other hand, is greater than 0°. Control circuitry  22  may use a threshold azimuth angle and/or a threshold elevation angle to determine whether a nearby node is sufficiently close to the line of sight of device  10  to trigger appropriate action. As described below in connection with  FIG.  17   , control circuitry  22  may combine angle of arrival antenna measurements with motion sensor data to determine the azimuth angle θ and elevation angle φ of nearby nodes such as nodes  78 - 1  and  78 - 2 . 
     Control circuitry  22  may also determine the proximity of nearby nodes  78  relative to device  10 . As shown in  FIG.  16   , for example, control circuitry  22  may determine that node  78 - 1  is a distance D1 from device  10  and that node  78 - 2  is a distance D2 from device  10 . Control circuitry  22  may determine proximity information using methods of the type described in connection with  FIG.  15   . For example, control circuitry  22  may determine proximity using wireless communications signals (e.g., signals  58  of  FIG.  14   ), using distance sensors (e.g., infrared proximity sensors, structured light depth sensors, stereoscopic sensors, or other distance sensors), using motion sensor data from motion sensors  32  (e.g., data from an accelerometer, a gyroscope, a compass, or other suitable motion sensor), using image data from camera  30 , and/or using other circuitry in device  10 . Control circuitry  22  may use a threshold distance to If desired, other axes besides longitudinal axis  102  may be used as reference vector  164 . For example, control circuitry  22  may use a horizontal axis that is perpendicular to longitudinal axis  102  as reference vector  164 . This may be useful in determining when nodes  78  are located next to a side portion of device  10  (e.g., when device  10  is oriented side-to-side with one of nodes  78 ). 
     After determining the orientation of device  10  relative to nodes  78 - 1  and  78 - 2 , control circuitry  22  may take suitable action. For example, in response to determining that node  78 - 1  is in the line of sight of device  10  and/or within a given range of device  10 , control circuitry  22  may send information to node  78 - 1 , may request and/or receive information from  78 - 1 , may use display  14  to display a visual indication of wireless pairing with node  78 - 1 , may use speakers  34  to generate an audio indication of wireless pairing with node  78 - 1 , may use a vibrator, a haptic actuator, or other mechanical element to generate haptic output indicating wireless pairing with node  78 - 1 , and/or may take other suitable action. 
     In response to determining that node  78 - 2  is located at azimuth angle θ, elevation angle φ, and distance D2, relative to device  10 , control circuitry  22  may use display  14  to display a visual indication of the location of node  78 - 2  relative to device  10 , may use speakers  34  to generate an audio indication of the location of node  78 - 2 , may use haptic components  60  to generate haptic output indicating the location of node  78 - 2 , and/or may take other suitable action. 
       FIG.  17    is a schematic diagram showing how angle of arrival measurement techniques may be used to determine the orientation of device  10  relative to nodes  78 . As shown in  FIG.  17   , electronic device  10  may include multiple antennas (e.g., a first antenna  48 - 1  and a second antenna  48 - 2 ) coupled to transceiver circuitry  76  by respective transmission lines  70  (e.g., a first transmission line  70 - 1  and a second transmission line  70 - 2 ). Antennas  48 - 1  and  48 - 2  may each receive a wireless signal  58  from node  78 . Antennas  48 - 1  and  48 - 2  may be laterally separated by a distance d1, where antenna  48 - 1  is farther away from node  78  than  48 - 2  (in the example of  FIG.  17   ). Therefore, wireless communications signal  58  travels a greater distance to reach antenna  48 - 1  than  48 - 2 . The additional distance between node  78  and antenna  48 - 1  is shown in  FIG.  17    as distance d2.  FIG.  17    also shows angles x and y (where x+y=90°). 
     Distance d2 may be determined as a function of angle y or angle x (e.g., d2=d1 sin(x) or d2=d1 cos(y)). Distance d2 may also be determined as a function of the phase difference between the signal received by antenna  48 - 1  and the signal received by antenna  48 - 2  (e.g., d2=(Δϕλ)/(2π), where Δϕ is the phase difference between the signal received by antenna  48 - 1  and the signal received by antenna  48 - 2  and λ is the wavelength of the received signal  58 ). Electronic device  10  may have phase measurement circuitry coupled to each antenna to measure the phase of the received signals and identify a difference in the phases (Δϕ). The two equations for d2 may be set equal to each other (e.g., d1 sin(x)=(Δϕλ)/(2π)) and rearranged to solve for angle x (e.g., x=sin −1 ((Δϕλ)/(2πd1)) or may be rearranged to solve for angle y. As such, the angle of arrival may be determined (e.g., by control circuitry  22 ) based on the known (predetermined) distance between antennas  48 - 1  and  48 - 2 , the detected (measured) phase difference between the signal received by antenna  48 - 1  and the signal received by antenna  48 - 2 , and the known wavelength or frequency of the received signals  58 . 
     Distance d1 may be selected to ease the calculation for phase difference between the signal received by antenna  48 - 1  and the signal received by antenna  48 - 2 . For example, d1 may be less than or equal to one half of the wavelength (e.g., effective wavelength) of the received signal  58  (e.g., to avoid multiple phase difference solutions). 
     Control circuitry  22  may control input-output devices such as touch input components  82  and haptic output components  60  of  FIG.  2    based on the location of node  78  relative to device  10 . For example, in response to determining that device  10  is being pointed at an object such as node  78 , control circuitry  22  may activate some touch input components  82  and haptic components  60  (e.g., may place some touch input components  82  and haptic output components  60  in active mode in which components  82  and  60  are responsive to touch input) while inactivating other touch input components  82  and haptic components  60  (e.g., placing other touch input components  82  and haptic components  60  in inactive mode in which components  82  and  60  are nonresponsive to touch input). When haptic output component  60  is inactive, the user may not feel a click sensation when he or she taps or presses touch input component  82 . This lets the user know that touch input component  82  is not actively processing touch input (e.g., such that touch input to component  82  does not result in signals being sent to node  78 ). When haptic output component  60  is active, the user feels haptic feedback when he or she provides touch input to components  82 , thus letting the user know that the touch input is being processed and that corresponding signals are being sent to node  78 . Control circuitry  22  may also control the function associated with touch input components  82  based on what object device  10  is controlling or communicating with. 
       FIG.  18    shows an illustrative example in which device  10  is pointed towards an object such as node  78 . In the example of  FIG.  18   , node  78  is a lamp and device  10  is used to control the brightness of light emitted from lamp  78 . This is, however, merely illustrative. Node  78  may be any suitable device or object (e.g., television, a set-top box, a speaker, a tablet, cellular telephone, or other electronic equipment, a refrigerator, fan, a security system, or other household device, etc.) and device  10  may be used to control any suitable characteristic of node  78  (e.g., volume, display brightness, operating mode, audio track selection, scrolling through or otherwise manipulating an on-screen menu, etc.). 
     Device  10  may have different input-output regions such as regions  28 A and  28 B. Region  28 A on the left side of device  10  may include input-output devices such as left touch input components  82 A and left haptic output components  60 A. Region  28 B on the right side of device  10  may include input-output devices such as right touch input component  82 B and right haptic output component  60 B. Left haptic output components  60 A may provide haptic output that is localized to the left side of device  10  and right haptic output components  60 B may provide haptic output that is localized to the right side of device  10 . Other haptic components such as haptic component  60 C may be used to provide global haptic output (e.g., haptic output that is felt all over device  10 ). If desired, there may be two or more touch input components  82 A on the left and/or right side of device  10  and control circuitry  22  may assign a different function to each touch-sensitive area (e.g., depending on what node  78  is being controlled or communicated with). In the example of  FIG.  18   , there are two separate touch input components  82 A on the left side of device  10  and one touch input component  82 B on the right side of device  10 . This is merely illustrative, however. In general, there may be any suitable number of touch-sensitive areas and local haptic output areas on sidewalls  16  of device  10  and/or other areas of device  10 . 
     The arrangement of  FIG.  18    in which haptic output components  60 A and  60 B overlap touch input components  82 A and  82 B is merely illustrative. If desired, local haptic feedback may be provided in regions  82 A and  82 B from a haptic output component in a remote location such as haptic output component  60 C. Arrangements in which local haptic feedback is provided by haptic output components  60 A and  60 B that overlap touch input components  82 A and  82 B are sometimes described herein as an illustrative example. 
     Control circuitry  22  may gather information about node  78  (e.g., based on received signals  58  from node  78 , based on information about node  78  that is stored in device  10 , based on the location of node  78 , etc.). This may include information about what type of device node  78  is, what its communications capabilities are, and what functions it performs. When control circuitry  22  determines that device  10  is being pointed at node  78  and also determines what node  78  is, control circuitry  22  may activate certain input-output devices that may be used to interact with node  78  while inactivating other input-output devices that are not used to interact with node  78 . For example, regions  28 A may be active and region  28 B may be inactive. When haptic components  60 B are inactive, the user may not feel a “click” when his or her finger presses on region  28 B of housing  12 . This informs the user that right touch input component  82 B is not the appropriate place to provide touch input to control lamp  78 . In active region  28 A, however, haptic components  60 A may output a localized click when a user presses on one of touch input components  82 A. Control circuitry  22  may assign user input functions to each touch input component  82  based on the information gathered about node  78 . In the example of  FIG.  18   , control circuitry  22  assigns a brightness control function to touch input components  82 A for controlling the brightness of lamp  78 . One left touch input component  82 A may be used to increase the brightness of lamp  78  and the other left touch input component  82 A may be used to decrease the brightness of lamp  78 . This example is merely illustrative. If desired, both left region  28 A and right region  28 B may be active for controlling device  78 . For example, left touch input components  82 A may be used to control the brightness of lamp  78  and right touch input components  82 B may be used to power lamp  78  on and off. 
       FIG.  19    illustrates an example in which device  10  is being pointed towards a node such as a television. Television  78  may have various characteristics that can be controlled using device  10 . Upon determining that device  10  is pointed towards television  78 , control circuitry  22  may assign certain functions to touch input components  82 A and  82 B. For example, left touch input components  82 A may be used to navigate an on-screen menu or to control the volume, channel, brightness, or other characteristic of television  78 , and right touch input components  82 B may be used to power television  78  on and off. 
       FIG.  20    illustrates an example in which device  10  is not pointed towards an object that can be controlled or communicated with. This may be because various nodes  78  (e.g., a lamp, television, or other node) are within range but device  10  is not being pointed towards any one node  78 , or because there are no nodes  78  within range of device  10 . In this type of scenario, device  10  may inactivate both left region  28 A and right region  28 B. When inactive, touch input components  82 A and  82 B and haptic output components  60 A and  60 B are not responsive to touch input. The lack of haptic output in regions  28 A and  28 B and apparent inability to “click” regions  28 A and  28 B lets the user know that nothing is being controlled with touch input components  82 A and  82 B. 
       FIGS.  21 ,  22 , and  23    illustrate an example in which haptic output components  60  are used to guide a user to a node. Control circuitry  22  may use one or more haptic output components  60  to suggest to a user that device  10  should be moved to the right, left, up, down, or other direction to connect with node  78 . The haptic output may be a simple vibration on a particular side of device  10  or the haptic output may give the user a sensation of a gentle push or pull towards the appropriate direction. 
     In  FIG.  21   , device  10  is pointed in direction  148 , which is too far to the left of node  78  to establish a connection. Control circuitry  22  may provide haptic output with right haptic component  60 B to indicate that device  10  should be moved to the right in direction  146 . 
     In  FIG.  22   , device  10  is pointed in direction  150 , which is too far to the right of node  78  to establish a connection. Control circuitry  22  may provide haptic output with left haptic component  60 A to indicate that device  10  should be moved to the left in direction  152 . 
     In  FIG.  23   , device  10  is pointed in direction  154 , which is sufficiently close to node  78  to establish a connection. Upon determining that device  10  is properly pointed at node  78 , control circuitry  22  may provide output via one or more input-output devices to let the user know that node  78  is within range. For example, control circuitry  22  may provide global haptic output (e.g., using global haptic output component  60 C and/or using a combination of left and right haptic output components  60 A and  60 B). 
     In addition to assigning different functions to different touch-sensitive regions  28 , control circuitry  22  may also assign different functions to different force levels applied at each touch-sensitive region  28 . A light force (e.g., a finger tap) on touch input components  82  may result in a small haptic vibration from haptic component  60  and a first control function for node  78  (e.g., volume control or other control function), whereas a harder force (e.g., a finger press) on touch input components  82  may result in a substantial haptic click sensation and a second control function for node  78  (e.g., power on or off or other control function). 
       FIG.  24    illustrates an example in which control circuitry  22  selects which node  78  to connect to based on the force of touch input on touch input component  82 . This may be useful in situations where device  10  is pointed towards two nodes (e.g., where angle of arrival is insufficient on its own to determine which node  78  is the intended target). As shown in  FIG.  24   , one node  78  may be located a distance D1 from device  10  and another node  78  may be located a distance D2 from device  10 , with D2 being greater than D1. A light force on touch input component  82  may indicate that the user wishes to connect with the closer node  78  at distance D1, whereas a harder force on touch input component  82  may indicate that the user wishes to connect to the farther node  78  at distance D2. If desired, the haptic output from component  60  may also be adjusted based on the force of touch input on touch input component  82  so that the user knows when device  10  registers a harder finger press versus a light finger tap. 
       FIGS.  25  and  26    illustrate how control circuitry may take the orientation of device  10  into account when determining which touch input components  82  perform which functions and which haptic output devices  60  are selected to provide haptic output. 
     In the example of  FIG.  25   , device  10  is in an upright position where the top edge of device  10  is pointed in the positive Z direction. In this arrangement, left haptic output components  60 A may be activated to guide a user to node  78  to the left of device  10 . In the example of  FIG.  26   , device  10  is in an upside down configuration. Thus, to guide a user to node  78  to the left of device  10 , control circuitry may use right haptic output components  60 B. 
       FIGS.  27 ,  28 , and  29    illustrate how drive signals that are applied to haptic output components  60  may be varied to inform the user of different events and/or to provide different types of information to the user. Curve  160  represents the drive signal I applied to haptic output component  60 A, curve  162  represents the drive signal I applied to haptic output component  60 B, and curve  164  represents the drive signal I applied to haptic output component  60 C. 
     In  FIG.  27   , device  10  is in search mode in which device  10  is searching for nodes  78 . When node  78  is to the left of device  10 , control circuitry  22  applies a drive signal with magnitude L1 (curve  160 ) to left haptic component  60 A to guide a user in direction  158 . When node  78  is to the right of device  10 , control circuitry  22  applies a drive signal with magnitude L1 (curve  162 ) to right haptic component  60 B. 
     In  FIG.  28   , device  10  has been pointed towards node  78  and control circuitry  22  may use haptic output components  60  to notify the user that node  78  has been “found.” This may include, for example, a global vibration of device  10  using haptic output component  60 C. Control circuitry  22  may apply a drive signal with magnitude L2 (curve  164 ) to haptic component  60 C. L2 may be the same as L1, may be greater than L1, or may be less than L1. 
     In  FIG.  29   , control circuitry  22  may use haptic output components  60 A,  60 B, and/or  60 C to provide haptic output associated with a selection of node  78 . For example, upon “finding” device  10  ( FIG.  28   ), a user may provide input (touch input, motion input, voice input, or other input) indicating that he or she wishes to control node  78 , send information to node  78 , or receive information from node  78 . In other scenarios, simply pointing device  10  at node  78  for a predetermined period of time may indicate a desire to control or communicate with node  78 . In response, control circuitry  22  may provide haptic output that lets the user know node  78  has been selected. By effectively “latching on” to node  78 , the user can proceed to control or communicate with node  78  without needing to keep device  10  directly pointed at node  78 . In the example of  FIG.  29   , control circuitry  22  applies a drive signal of magnitude L3 to haptic components  60 A,  60 B, and  60 C. L3 may be the same as L1 or L2, may be greater than L1 or L2, or may be less than L1 or L2. This is merely illustrative, however. If desired, haptic output component  60 C may be used on its own to provide global haptic output indicating a selection of (or latching on to) node  78 . Small bursts or pulses of haptic output from components  60 A and/or  60 B may be used to let the user know which touch input components  82  may be used to control or communicate with node  78 . 
     The foregoing is merely illustrative and various modifications can be made to the described embodiments. The foregoing embodiments may be implemented individually or in any combination.

Metadata:
Filing Date: 20230210
Publication Date: 20240827
Grant Date: 20240827
Priority Date: 20180427
Inventors: MOUSSETTE, Camille
FOSTER, JAMES H.
KERR, DUNCAN
MEYER, ADAM S.
PERSSON, PER HAAKAN LINUS
TSOI, Peter C.
WOOD, STUART J.
Assignee: APPLE INC
CPC Classifications: [{"code": "G06F1/1643", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/044", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/0412", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F2203/04105", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/044", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F1/1698", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F1/1643", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/044", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/0412", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F1/1643", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}]
Family ID: 77665860