ASGARD
The control system is composed of two different units:
The low level module: it consists in a on-board card equipped with a microcrontroller, this module is encharged to set the reference positions for the servomotors and to acquire sensors data.
The high level module: it consists in a Pc equipped with Matlab; on this module the high level alghoritms run in real time and send the proper commands directly to the low level module.
The two modules comunicate through a RS232 connection.