> For the complete documentation index, see [llms.txt](https://panav.gitbook.io/robotics-handbook/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://panav.gitbook.io/robotics-handbook/embedded-systems-for-robotics/embedded-systems.md).

# Embedded Systems

Embedded systems for robotics - microcontrollers, real-time scheduling, sensor interfaces, and low-level robot control.

Most robots are driven by embedded systems: STM32, RP2040, ESP32, ARM Cortex-M. This section covers the hardware and low-level control.

### In this section

<table data-view="cards"><thead><tr><th></th><th data-type="content-ref"></th><th data-hidden data-card-cover data-type="files"></th></tr></thead><tbody><tr><td>Microcontrollers</td><td><a href="/robotics-handbook/embedded-systems-for-robotics/microcontrollers.md">Microcontrollers</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2FBIaDpqPLjPhkmpJArxHl%2Fblink_led.webp?alt=media&amp;token=f21fdcff-ecad-4240-ab15-d52870dc31c1">blink_led.webp</a></td></tr><tr><td>RTOS (FreeRTOS, Zephyr)</td><td><a href="/robotics-handbook/embedded-systems-for-robotics/rtos.md">RTOS</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2F6RvQ8azkkLFSgwDL3d8u%2Ftimer%20interrupts%20on%20the%20Arduino%20Due%20board.gif?alt=media&amp;token=d2ce6ab3-3f2a-487f-9e5f-60b071e5d551">timer interrupts on the Arduino Due board.gif</a></td></tr><tr><td>Sensors for Robotics</td><td><a href="/robotics-handbook/embedded-systems-for-robotics/sensors-and-actuators/sensors-for-robotics.md">Sensors for Robotics</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2F4vN8JrrIkzEf7CsuEime%2F65f854814fd223fc3678f1ac_LVDT-Inductive-device-1.gif?alt=media&amp;token=b2b55430-997b-403f-b208-90ba75dfe3a3">65f854814fd223fc3678f1ac_LVDT-Inductive-device-1.gif</a></td></tr><tr><td>Actuators for Robotics</td><td><a href="/robotics-handbook/embedded-systems-for-robotics/sensors-and-actuators/actuators-for-robotics.md">Actuators for Robotics</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2FpzT0HTogjpDlT6I5JUKJ%2FElectric-Actuator_Stepper_motor_1.gif?alt=media&amp;token=9947a8da-92ff-4a29-bf05-cc7083d46fac">Electric-Actuator_Stepper_motor_1.gif</a></td></tr><tr><td>Communication (Wireless &#x26; Protocols)</td><td><a href="/robotics-handbook/embedded-systems-for-robotics/communication.md">Communication</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2Fgit-blob-3d61ecd435ed715056904a9dc5d4f14c68e1fcc1%2Fcan-bus-signals.jpg?alt=media">can-bus-signals.jpg</a></td></tr><tr><td>Power Systems &#x26; Batteries</td><td><a href="/robotics-handbook/embedded-systems-for-robotics/power-systems.md">Power Systems</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2F4Haixmifzj4IShux2z2o%2Fdischarging-batteries-in-the-olden-days.gif?alt=media&amp;token=dbe3635c-1ffd-4bab-b642-7f565d2b916b">discharging-batteries-in-the-olden-days.gif</a></td></tr><tr><td>micro-ROS</td><td><a href="/robotics-handbook/ros-2/micro-ros.md">micro-ROS</a></td><td><a href="https://923066007-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FJR2yBCOFnSaxfostbWYx%2Fuploads%2FeeeV16VnkgFlTppqvuTZ%2FESP32-blink-gif.gif?alt=media&amp;token=ffa22d21-3f9b-4aff-8560-ad221faa9bf1">ESP32-blink-gif.gif</a></td></tr></tbody></table>