(last updated 4/21/2007)
The DSP software is written in C using Texas Instrument's Code Composer development environment .
Leanerd's software uses a simple "round-robin with interrupts" architecture. Interrupt service routines are used to handle urgent tasks like sampling sensors, updating the SCI transmit buffer and measuring the RC radio pulses. A timed interrupt is also used to set flags and schedule tasks to be completed in the main loop.
Most of the software is complete except for portions of the control laws. Completed and tested software features include the serial interface, LCD screen control, radio receiver input, motor encoder interface, complimentary filtering algorithm, and wheel speed control loops.
Please email comments to troy@troys-toys.net (please use this link or type Leanerd Comments in the comment section of your email).
