firmware/main/control

Adding New Modules

Adding Actuators

1. Append the actuator you want to add to the enum in the RobotModule flatbuffer definition

• Propagate this change to this repository in the flatbuffer component, and the Control library.

2. Update any of the entries in the Constants module that depend on the module type (for instance, MODULE_TO_NUM_CHANNELS_MAP).
3. Create a header file for the module, implementing IActuator.
4. Implement the actuator

• Deserialize the control message with Flatbuffers to match the message sent by the control library.
• Do not block for too long in the actuate function, as this will block the main control loop.

4. Add the actuator to the ActuatorFactory.