# Finalizing a lustre + real-time application

This example implements a more sophisticated controller for the BatCar:
- basically, the BatCar follows a black line, by sampling
  the line-light sensors (left+right, Boolean), and sending
  commands to the motors (left+right, integers)
- Moreover, it samples the distance to a possible obstacle using the ultra-sonic sensor.
  If the distance is less than a certain amount (~15cm), the BatCat performs a U-turn,
  and follows the line again in reverse direction
- the controller functionality is written in Lustre and given

# Folder contents
- control.lus (given): implements the expected functionality
- control_loop.cpp (to be completed): the setup and loop implementation
- control_ext.h (given): the C definition of lustre basic types, suitable for arduino
- Makefile (given): extended to handle the compilation of lustre code

# Completing the control_loop
- As it is, the project compiles (try 'make') but the resulting program does nothing:
  * all the 'glue' code between lustre and arduino/BatCar is missing
- Complete the 'control_loop.cpp' in order to get a functionnal application
- Hints:
  * there are 'TODO' marks in the code, at places where additional code is required
  * there is no reference manual for BatCar API, but the file 'code/BatCar.h' is self-explaining.
  * Arduino reference is available online (https://www.arduino.cc/reference/en/), but
    you can focus on few functions : 'delay()', and 'millis()' 

# To go further
- play with the functionality by modifying the lustre code
- add some code to  check the WCET (Worst Case Execution Time) of the loop