Following the excellent description of a hardware subsumption architecture and the general concepts by Chris Schur I have been really excited about the possibilities for such a scheme for my robot.
Below is an early draft of the software architecture I want to pursue.
So I have developed a prototype windows application (in Borland C++ builder v1) to explore this interaction. Below is a screenshot, and the exe and source are here. (Rightclick and save as...)
I was hoping that I could get all this working purely using interrupts, but it hasn't worked out that way.
And don't forget that my robot blog is on: