Quote:
Originally Posted by meatmanek
Our team uses an 'abstraction layer' which consists of a bunch of global variables...
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We do much the same thing, but our abstraction layer is only two global variables. One is a structure full of commands like desired position or turn rate, and the other is a structure full of feedback like manipulator position or current heading. Keeping things together like that helps keep the code more understandable, I think.