This project is a template of C++ code for any implementation of control software for machines. Motivated by programming issues having arisen in industries, we have applied several design patterns in order to enhance maintainability of our codebase. Our target is to further employ refactoring and reuse techniques such that our project becomes as a framework of control software at last.
To show the benefit of our approach, we have demonstrated a realization of closed-loop control algorithm for an omni-directional mobile robot. Enforcing abstraction and hierarchy, the number of methods needed to implement is limited to a few.
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