Why do the PWM values I display with printf seem to have a delay?
**Your printed message may be too long, or you may be calling printf too frequently.
The serial output (using printf) is a relatively slow form of communication compared to the speed at which the robot controller is running. If you only print short messages to the screen once every slow loop (in the Process_Data_From_Master_uP routine, for example) you should see a fairly reasonable update rate. If you print very long messages, however, or print at a very fast rate (in the fast loop) the PC’s serial buffer may fill up and there will be some delay between the change on the Robot Controller and the change on the PC screen. The printf function is primarily a debug tool, so keep the messages printed short, and try to put some delays between printfs if you see some lag.**