Regbot firmware: Difference between revisions
From Rsewiki
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This function holds the main loop: | This function holds the main loop: | ||
* listen for incoming commands (from USB) and service data subscriptions. | * listen for incoming commands (from USB) and service data subscriptions. | ||
* At regular intervals (1ms) | * At regular intervals (1ms): | ||
** Read sensors, | ** Read sensors, | ||
** Run control | ** Run control | ||
** Implement on actuators | ** Implement on actuators | ||
** Do data logging | ** Do data logging | ||
Revision as of 10:02, 11 March 2025
Back to Regbot
Main structure
The main (Arduino) file is regbot.ino
Arduino starts by calling a setup() function. This function sets up all modules and used libraries.
Arduino then calls loop(). This function holds the main loop:
- listen for incoming commands (from USB) and service data subscriptions.
- At regular intervals (1ms):
- Read sensors,
- Run control
- Implement on actuators
- Do data logging
