Architecture design of low level control omni directional robot with RTOS-RTX arm cortex-M4

On this research, control of omni directional mobile robot is divided by two controls, high level control which covers positioning and path tracking, and low level control which covers omnidirectional kinematic, speed control, heading lock and communication. This research focuses on low level control, implementing Real Time Operating System - Real Time Exclusive (RTOS-RTX) for testing and analyzing system performance. It also covers thread management, priority fixation, an stack memory fixation. The program is divided into several main threads, i.e. IMU thread, speed controller thread, communication thread, and motion thread (kinematic). As for stack memory of each thread configuration, IMU thread with 1024 bytes stack memory, 512 bytes speed control thread, 512 bytes motion thread, and 128 bytes communication thread. IMU thread execution time elapses 5.6 uS, speed control thread elapses 19.7 uS, whereas motion thread elapses 11 uS and communication thread elapses 1.2 mS.