This paper designs and completes the embedded controller of the water swing based on atmega16 microprocessor and AVRX embedded real-time operating system. It provides an experimental platform capable of running multiple tasks for the realization of advanced control strategies and nonlinear control theory research. Through transplantation and tailoring, the embedded real-time operating system provides a software platform for the design of application programs. Compared with traditional single-chip microcomputer control, it solves the problems of difficulty in realizing multiple tasks, complex control algorithms and real-time performance of the system. Keywords: embedded 1 real-time operating system
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