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The main while loop checks and resets the timers.
A button push sets a flag in the main while loop that turns off calibration completely.
Other flag handling abilities in the main while loop will be discussed briefly with their respective functions.
The main while loop has several roles, one is maintaining the system time at an accurate rate.
xbee.c polls the accelerometer for data at a rate of 1kHz using SPI in the main while loop.
The LED would blink much slower than it should have, indicating that our main while loop was not running up to speed.
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Rate 0 executes every time throught the loop, rate 1 every other time, 2 every four times, rate 3 every 8 times, and rate 4 every 16 times through the main while-loop.
The approach taken is to allow some threads to execute every time through the main while-loop, but allow others to only execute at 1/2, 1/4, 1/8, or 1/16 of the times through the main loop.
The algorithm then enters the main do-while loop, which consists of three parts: fuzzing, clustering, and relocation.
There are only two major components that are present in our while loop in main.
As one of our debugging techniques, we would blink the on-board LED at the start of our infinite while loop in main.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com