With modernization, a new control system was introduced to the RAM(Robotics and Mechatronics) group for controlling robotic setups. This setup consists of a Raspberry Pi with an FPGA on a HAT(hardware on top) which is called the Ico-board. The control system is used as a real-time system in both RAM courses and for rapid prototyping in the RAM lab. Still, the performance and flexibility of the system fall short of the desired standards.
The goals of this project can be split into two. The first goal is to reduce the latency between the communication of the Raspberry Pi and FPGA in a real-time setup to leave more time for more essential tasks. The second goal is to make the system more modular to get an easy way to change the configuration of the FPGA when changing peripherals.