Tyler Gamvrelis comments

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                                            Tyler Gamvrelis

Velocity control

Update: can start working on this after Dec 3, 2018

Automating code styling

Update: seems like [clang-format](https://clang.llvm.org/docs/ClangFormatStyleOptions.html) is another popular choice

Update IMU driver code to use mockable interfaces

Will build on top of #110 and #85

Update IMU driver code to use mockable interfaces

Update: the core logic for this is now more or less done. The tasks remaining are unit tests and runtime tests

Dynamixel: Motor communication uses full-duplex UARTs while half-duplex should be viable due to 1-wire communication on motor side

This is high priority because it impacts how the electrical team will proceed with the redesign of the circuit

Dynamixel: Motor communication uses full-duplex UARTs while half-duplex should be viable due to 1-wire communication on motor side

Upon first investigation, it appears that we cannot initiate DMA receptions with half-duplex UART. Will need to check the datasheet for the MCU though.

PC Communication Protocol Structure

A new idea to reduce bandwidth: The MCU receives goal angles from the PC and sends back current positions (between 0 and 300 degrees). Right now, these are sent as...

Communication: Ideas for PC<->MCU interface improvements

I like the idea of a client-server-like model, and I think that could be a very nice and robust approach. One thing I really like about it is that it...

Communication: Ideas for PC<->MCU interface improvements

Here are key points from the discussion Robert and I had at yesterday's meeting. First of all, we addressed the areas we'd like to improve. ### Robustness - **Minor communication...

Communication: Ideas for PC<->MCU interface improvements

I made some diagrams to try to help visualize the new flow. I did not focus much on data structures, so that could be improved. **Edit:** Added a bit more...