Embedded Motion Control/Additional information

Tips and tricks

When experimenting with the additional mars-rovers, the RCX from the experimental kit can be used to fulfil the role of the earth computer.
First make a sketch of the software architecture on paper before writing the actual code.
Make a clear distinction between the sample rates of the different software parts and thoroughly consider on which RCX they are implemented.
If operations fail, printing error code to the LCD can help to debug the program.
In order to compile the written C-programs into .lx-files, all C-code should be put into the directory where the Makefile is present, i.e. ~/emc/demo.
To prevent the system from crashing it is necessary to insert a stop thread in the program in which all other threads are killed.
Avoid the use of while(1), use while(!shutdown_requested()) instead.
Make sure that variables do not overflow, for example keep an integer smaller than 32767 (see [1, page 187])
The lake may not be visible when standing right in front of it.
To get wireless internet at the TU/e go here
Dropbox is a nice application/service to share the code.

The API can be downloaded here

The building plan can be downloaded here