Implementation of Firmware Based on Real-time Operating System for Small Size League Robot

Implementation of Firmware Based on Real-time Operating System for Small Size League Robot | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Implementation of Firmware Based on Real-time Operating System for Small Size League Robot Andrei Freiberger, Marcos R. O. A. Maximo, Denis Loubach This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7755589/v1 This work is licensed under a CC BY 4.0 License Status: Under Revision Version 1 posted 7 You are reading this latest preprint version Abstract This article presents the implementation of a real-time operating system (RTOS) on ITAndroids Small Size League (SSL) category robots, a significant advancement for the team's participation in the Robocup SSL. The transition to using the STM32H753BI microcontroller and FreeRTOS on the second-generation Mainboard enhances temporal predictability and determinism, crucial for real-time systems. This development allows more efficient task management, including motor control, kicker charging, telemetry transmission, and fault handling, leading to improved robot performance and reliability during matches. The work contributes by proposing a real-time operating system for a robot designed to participate in the RoboCup Small Size League (SSL). The detailed system description and task implementation showcase how the Mainboard efficiently handles various functions such as motor control with deterministic timing, responsive kicking mechanisms, and real-time telemetry collection and transmission. Despite the implementation being dependent on our team's design decisions, the concepts presented here can be adapted by other teams. Real-Time Operating Systems FreeRTOS Small Size League Implementation Requirements Engineering Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Revision Version 1 posted Editorial decision: Revision requested 19 May, 2026 Reviews received at journal 23 Nov, 2025 Reviewers agreed at journal 05 Nov, 2025 Reviewers invited by journal 21 Oct, 2025 Editor assigned by journal 07 Oct, 2025 Submission checks completed at journal 07 Oct, 2025 First submitted to journal 30 Sep, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7755589","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":535354111,"identity":"baaff8b5-361d-488d-81c0-71d6cd64e1d1","order_by":0,"name":"Andrei Freiberger","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA3UlEQVRIiWNgGAWjYHACAxDiZ2BvPgDkSMgQrUWygedYAkgLD5FaGIBaJHzADMJa+Gc3b/vwoYBBwnwGz+dXN2oseBjYDx/dgE+LxJ1jxTNnGAD9cLt3m3XOMaDDeNLSbuC15kaOMTOPAUOdhMzZbcY5bEAtEjxmeLXIg7T8AdoiIZHzzDjnHxFaDEBaGCBamB/nthGhxfBGWjFjjwFQB88xM+bcPgkeNkJ+kbuRvJnhxx8bCQn25sefc77VyfGzHz6G3/sQIAEi2CAkEcrhgPkDKapHwSgYBaNg5AAAQKE/zeCvrkgAAAAASUVORK5CYII=","orcid":"","institution":"Aeronautics Institute of Technology","correspondingAuthor":true,"prefix":"","firstName":"Andrei","middleName":"","lastName":"Freiberger","suffix":""},{"id":535354116,"identity":"015b7a08-ff48-4104-8337-4f7859dbc07f","order_by":1,"name":"Marcos R. 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