However, if needed, interprocess communication techniques can be used to synchronize the various threads Periodic with a period suitable for the specific application. One is usedįor the ZigBee communication module (or the wirelessįidelity one), another for the radio frequency identification Routines to communicate with the PIC and compute the control law for robot motion.Įach additional device has its own thread. With the PIC, and its time period is 200 ms. The critical activities reside in the main thread that is periodically triggered by an interrupt deriving from the interface All the threadsĬommunicate by means of shared variables (see Figure 9). Particular, it uses threads, to a great extent, to separate the different kinds of activities and to leave the researcher free toĬhoose the used synchronization mechanisms. Relying on a Linux OS, the software architecture has beenĭeveloped in a more structured manner than the PIC code. IEEE Robotics & Automation Magazine - June 2013 - 57 Software
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