4 Motor Control, Finite-State Machines, and Waiting for Real-Time Computing

We have made significant progress toward solving the design problem presented in section 1.9. Of the four functional requirements R1-R4, we have solved R1 (user input) and R2 (user display) by writing C functions for the keypad and display user interface (UI) devices in chapters 1 to 3. Along the way, we have learned a great deal about real-time computing, algorithms, digital communication, and programming in C. Solving the remaining two functional requirements, R3 and R4, will be the focus of the rest of the book: R3. A user's commanded velocity of rotation of the mechanical load is achieved quickly and accurately. R4. A technical user's commanded angular position trajectory of the mechanical load is achieved quickly and accurately, and they can obtain the position measurements.