#define GAP_START_LIMITED_DISCOVERY_PROC_CP_SIZE 6 #define OCF_GAP_START_GENERAL_DISCOVERY_PROC 0x0097 } PACKED gap_start_general_discovery_proc_cp; #define GAP_START ...
The robot control logic is implemented as a Finite State Machine (FSM) to ensure deterministic, repeatable behavior while climbing and descending steps. The algorithm begins with a Calibration state, ...
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