| 3 | 12 | BurtSharp is a client program to communicate with the Mainboard firmware through a CoAP/UDP-based server to control the BURT robot. BurtSharp provides the ability to monitor and respond to robot state information (position, configuration, fault states, etc.), basic control functions to specify robot behavior, and an interface to provide this functionality to Unity games. The BurtSharp control library is not real-time as it is built on top of Linux, which is not inherently real-time. BurtSharp uses similar communication protocol like ROS. Even though is fast, it is inherently best-effort in many cases and does not provide guarantees about the timing of control operations. ROS utilizes TCP/IP communication which is not reliable to achieve real-time communication over Ethernet. However, BurtSharp uses the Constrained Application Protocol (CoAP) which was developed for devices constrained in terms of processing capabilities and power. |
