I'm still here, just recovering from the Holidays. My plans to use an RTOS have proved to be too much work and not enough progress so I am going back to my interactive code. At this point my robot is still and R&D tool for me to test my code for a specific purpose so I don't actually need concurrent threads of behaviors.

My next little project is to code to control my 2-DOF gripper. What's that you say, you didn't see any posts about my updated gripper. I'll post some photos soon. The code shouldn't be difficult using the AVRLib library though.

Jay