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

Application Programming Interface

The API can be downloaded here

Building plan

The building plan can be downloaded here

Lecture slides

EMC_Workshop_Sense_And_Act.pdf
EMC_Workshop_Lets_Talk.pdf
EMC_Course_Multitasking_Synchronisation.pdf