People Publications Introduction Inspiration Software Hardware See the nodes in Action!
HARDWARE SYSTEM
The node firmware can be seen as being formed from three entities:
1) Data Structures that hold state information, behavior information, and map information
2) Background processes that handle actions implemented in hardware or through the use of hardware peripherals such as the wireless communication and the sensor readings
3) The main firmware code that executes the node's activity. The flowchart below illustrates the basic operations if the node is in the idle state. The node can also be in the attached and the sensing state, respectively.