Under the Hood

Theory of Operation for SR04 - by David P. Anderson
SR04 Robot Operating System and Software

I. System Timer
Fundamental to most real-time robot operations, this mechanism is at the heart of sensor sampling and response. It also forms the basis for multi-tasking and scheduling.

II. Timing Utilities
Source code examples and explanations of various utilities used to work with system timers plus a nice example of the SR04 AFSM (Augmented Finite State Machine.)