T-Top uses two microcontrollers (MCU). This folder contains the firmwares for those.
- THe common folder contains common libraries.
- The dynamixel_control folder contains the firmware of the MCU that controls the motors.
- The dynamixel_setupfolder contains the firmware to setup the motors.
- The psu_control folder contains the firmware of the MCU that controls and monitors the battery, audio amplifier, fans and LEDs.
- The ego_noise_opencr_firmware folder contains the firmware to get the ego noise data.
The class TrustRegionReflectiveSolver in the opencr_firmware folder is heavily inspired
by scipy.optimize.least_squares
.