Robot State Agent: Difference between revisions
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Latest revision as of 2017-02-22T13:53:22
The Robot State Agent (RSA) is a controller chip that acts as an intermediary between the robot hardware ( sensors and actuators) and the task controller. It communicates with the task controller via SPI, and with the robot hardware either via I2C, SPI or direct analog connection.
I currently use Arduino-compatible microcontroller boards with ATmega or ARM Cortex-M processors as RSA units.