ARM-Cortex M3-Based Two-Wheel Robot for Assessing Grid Cell Model of Medial Entorhinal Cortex: Progress towards Building Robots with Biologically Inspired Navigation-Cognitive Maps

Listing 1

Round-Robin scheduling pseudocode to manage navigation.

(1)  

(2)    while  (true)

(3)        if  (right wheel rotates)

(4)          number of encoder pulses increases;

(5)      

(6)        if  (left wheel rotates)

(7)          number of encoder pulses increases;

(8)      

(9)        if  (sensor interruption flag indicates collision)

(10)      execute collision solver, call RoutineAlert();

(11)    

(12)    if  (there is not collision)

(13)      robot walking continues, call RoutineAlert();

(14)      execute new (x,y) position estimation;

(15)      (x,y) to second microcontroller to update GCs states;

(16)