From ARVP
[edit] Overview
Serial communication on the micro-controller is for communicating with the various hardware devices such as the IMU, and the three Roboteq motor controllers. This is done through the 16 TPU ports on the micro-controller.
Currently, reading data from the ports is non-blocking and handled by IRQ interrupts. Although writing data to the ports is blocking. This is not a problem however due to most communication being read from the sensors instead of writing data.
