Key Engineering Takeaways
- •Encapsulate pin definitions, calibration parameters, and internal state within dedicated C++ classes.
- •Use interfaces and dependency injection so you can swap physical drivers for simulation mock objects.
- •Avoid dynamic heap memory allocation (`new`/`delete`) in runtime loops to prevent memory fragmentation.
Prerequisites
- • Basic C++ syntax
Why Modular OOP in Embedded Systems?
Many beginner robotics codes end up as 1500-line monolithic files filled with global variables like `motor1_pwm_pin`, `motor2_dir_pin`, `last_error_left`, etc.
Object-Oriented Programming (OOP) allows you to instantiate clean `DCMotor` and `PIDController` instances per joint, drastically simplifying 4WD rovers and multi-axis robot arms.
Tags:#C++#OOP#Arduino#Architecture#Hardware Abstraction