Regbot firmware

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