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Develop parallel programs. Try various thread configs. GUI front-end.
...The birds in the flock are loosely coupled & cooperate to accomplish your goal.
ConcX offers many built-in info resources, such as by-thread logging, real-time display of individual thread activity, post mortem diagnostic information, saving of flock setups, parallel database access and more.
C# Framework that implements the iRobot Roomba SCI spec. Also included is a diagnostic application named Roomba-Term that uses the framework. I invite you to use the Roomba-Term software as a tool & an example on how to program with the C# SCI