...
- Controller → Base station
- Base station interfaces with the Xbox controller code
- Show log of wheel torques (derived from current sensor data)
- Base station → Pi Web Server
- Pi Web Server interprets the controller's commands and broadcasts it to the Python's wifi
- Pi Web Server → Control thread → Motors
- Python executes the commands to control the motors
...
- Controller → Base station
- Base station interfaces with the Xbox controller code
- Show log of joint torques (current logging)
- Base station → Arduino MEGA → Motors
- Arduino MEGA interprets the controller commands and executes them to run the motors