Can anyone recommend an Arduino-based asynchronous scheduling library for controlling a small mobile robot?
I'm writing the control code for a small 2-wheeled Arduino-Uno based robot. It has a few bumper sensors, IR sensors, and ultrasonic sensors. I've written an initial pass from scratch, using
loop() to read sensors and set motor values appropriately and then wait for the motor to have effect, but I'm finding this cluggy. Some of the sensors, like the ultrasonic range finders, require a small delay to operate, and the motors require a delay to have an effect. Blocking
loop() is the simplest way to achieve this, but it wastes cycles, and can be difficult to time each action properly without throwing off other behaviors. Writing an asynchronous scheduler would be more efficient, but a lot more complicated, and I expect I would be reinventing the wheel.
I found this list, of existing scheduling libraries, but I'm not sure which, if any, would be appropriate.