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I finally got around to actually coding something! This is going to be an OS for use on combat robots, complete with full support for sensors, hammers, flamethrowers, wedges, saws, and clamper robots. All weapon systems are fully customizable w/RC.
ROUAGE (Robot Utilities Assembly Generic Entities)
Provides a coherent set of C++ classes usefull for robotic purposes.
Servos, steppers, IR sensors, controllers, voice logic modules ...