The programming was done on TINAH boards that were given to the class. These TINAH boards were specially designed for this course and are based off of the WIRING board which is located underneath. The WIRING loader is also used to upload changed to the TINAH board.



Programming for the TINAH is done in C/C++, and uses special libraries to adapt the WIRING environment for the board. The code for our particular robot reached over 800 lines of code. The code was designed to be modular so that each function could be individually tested on its own. This was important, because when dealing with mechanical systems, different parts can have problems. In order to isolate these bugs, it is ideal to have modular functions that allow individual mechanical systems to be tested.