1 \section{Robot architecture
}
2 \subsection{Mapping of the sensors and actuators
}
3 The actuators are all plugged into the master brick to achieve the maximum
4 safety in case the
\emph{Bluetooth
} connection fails between the master and the
5 slave and one of the actuators is moving. All the safety-critical sensors for
6 movement are placed on the master brick too. All other sensors are placed on
7 the slave brick. Any increased latency on those sensors will not danger the
8 safety. The final mapping is described in
\autoref{tab:mapping
}.
14 & Master Brick & Slave Brick\\
16 \multirow{2}{*
}{Actuators
} & Left motor\\
20 \multirow{4}{*
}{Sensors
} & Left light sensor & Color sensor\\
21 & Right light sensor & Front ultrasone sensor\\
22 & Back ultrasone sensor & Left touch sensor\\
23 & Gyro sensor & Right touch sensor\\
26 \caption{Proposed mapping of the sensors and actuators
}\label{tab:mapping
}
29 \subsection{Design patterns
}