Embedded Motion Control/Additional information
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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
Makefileis present, i.e./brickos-0.9.0/marslander. - 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), usewhile(!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.