The program design is based on bus time sharing and interruptservicing. It can renew the speeds and the directions of every motor at real time.
程序设计基于中断服务和总线分时复用方式,实时更新各个电机的速度和方向。
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In other words, an FIQ is just a higher priority interrupt request, that is prioritized by disabling IRQ and other FIQ handlers during request servicing.