Arduino based I/O-system for rapid prototyping of robotic systems

This paper presents a possible solution for the difficult balancing act between abstraction and controllability developers face when designing a complex autonomous system. The problem can be tackled by creating dedicated microcontroller based I/O-systems for achieving controllability of sensors and actors. Abstraction is provided by the use of a C++ software framework which hides the communication with the microcontroller based I/O-systems and the concrete implementation from the developer. Verification is achieved for the complete system using unit testing methods known from standard software development.