This article presents a modular software interface architecture for the motor controller in the GARP robotics platform. The design separates the system into three cooperating components—Communication Controller (CC), Speed Controller (SC), and Motor Controller (MC)—each with clear boundaries and responsibilities. These boundaries are defined to support modularity and accelerate future development. The design aims to […]
A CMake Strategy for the Pico C/C++ SDK
This article explores the challenges and strategies for adding support for CMake’s find_package() mechanism to packages that depend on the Raspberry Pi Pico C/C++ SDK. While the Pico SDK is designed for direct inclusion and does not export its library targets thereby barring directly adding find_package support, I want to support modular, reusable components that […]