Minimalist Mobile Robotics

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4.

Vision

conceptual chunks: old-space and new-space. In new-space we

have the most recent line of data plus three 256 byte sections

worth of "scratch-pad" used for storing temporary results.

Similarly, in old-space we have the second most recent line and

its associated scratch-pad sections. When a new burst of data is

received, the current new-space is renamed old-space, and the

incoming data is written to new-space. After the incoming burst

finishes, the receiving LOVP generates its own burst and sends

all of the current old-space data to the next processor(s) in line.

This produces an auto-pipelined structure: if

the

processor does

nothin ...