Regbot firmware
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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