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This work explored the possibility of using Linux-based systems to control a Real-Time application. We decided to use Ubuntu Linux and to patch the kernel using the PREEMPT-RT patch to measure its impact on scheduling latency. A small framework to develop multi-threaded realtime applications using Pthreads and the EDF scheduler was also developed. Due to COVID restrictions, I couldn’t physically access our laboratory for a couple months, so I had to simulate the (STM32-based) Robot using an ESP8266. Later on, I managed to test my code on the real platform and had to adjust it.
The software was eventually reused for the Coderbot platform that we use for teaching the Embedded Systems and Robotics courses.