Level 6 — Embedded Logic
Deterministic behavior on microcontrollers
Embedded logic defines how a robot thinks and reacts in real time. Unlike desktop software, embedded systems must respond predictably under strict timing and resource constraints.
This level focuses on architectural principles rather than specific platforms. The goal is reliable, deterministic behavior.
Microcontroller role
A microcontroller executes control logic, processes sensor data, and commands actuators within fixed time constraints.
- limited CPU and memory
- real-time response requirements
- direct hardware interaction
Program structure
Embedded programs must be structured for clarity and timing predictability.
- main loop — continuous execution
- state machines — explicit behavior definition
- task separation — sensing, control, communication
Timing and scheduling
Time is a resource. Every task must execute within defined limits.
- fixed update rates improve stability
- blocking delays break control loops
- periodic execution ensures consistency
Interrupts
Interrupts handle time-critical events such as encoder pulses or timers. They must be short and deterministic.
- use interrupts only when necessary
- avoid heavy processing inside ISRs
- share data safely between contexts
Determinism
Deterministic systems behave the same way every time under the same conditions. This is essential for debugging and safety.
- avoid unpredictable delays
- limit dynamic memory usage
- explicit control flow over abstraction
Common logic failures
- timing jitter breaking control loops
- blocking communication calls
- race conditions between tasks
- hidden dependencies between modules
What you should know after Level 6
- how to structure embedded logic
- why timing consistency matters
- how interrupts should be used safely
- why determinism is critical in robotics
Next: Level 7 — Navigation (Non-AI)