Artificial Intelligence for Robotics

The robot control system – a control loop with soft real-time control

Now that we have exercised our programming muscles, we can apply this knowledge into the main control loop for our robot. The control loop has two primary functions:

• To respond to commands from the control station
• To interface to the robot's motors and sensors in the Arduino Mega

We will use a standard format for sending commands around the robot. All robot commands will have a three letter identifier, which is just a three letter code that identifies the command. We will use "DRV" for motor drive commands to the tracks, "ARM" for commands to the robot arm, and "TLn" for telemetry data (where "n" is a number or letter, allowing us to create various telemetry lists for ...