Real-time firmware

Real-time firmwareEmbedded & hardwareplanned in 4

Arduino Sessions 7 and 9, then Mimic Stages 0 and 1. Interrupts and what volatile is for, fixed-rate loops, and proving a loop rate rather than asserting it.

Where it is planned

Work that has not happened yet. Nothing here is evidence of anything, and it moves up into the list above when the stage behind it is finished.

Arduino JourneyStill ahead in the syllabus.
Mimic · Stage 0: The Single JointOne motor holding a commanded angle against a disturbance.
Mimic · Stage 1: The Smart JointTwo joints on a CAN bus running identical firmware.
Mimic · Stage 5: ImpedanceAn arm that is compliant rather than stiff.