Software Architecture - Hierarchy

The below software architecture illustrates the hierarchy of the two libraries that the Research Environment consists of. BurtSharp is a C# client program to communicate with the Mainboard firmware through a CoAP/UDP-based server to control the BURT robot, and BurtSharp.UnityInterface is an extension to BurtSharp that allows use with Unity. Researchers can use these two libraries to test the control and haptic capabilities and can develop their own research tools.