Regbot firmware

From Rsewiki

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