Introduction to the overall structure of controller, also including discussions on scheme, technique requirements and interfaces of controller.

介绍了水火弯板机器人控制器的总体结构、方案的讨论、加工技术要求和控制器接口等部分。

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Describe the systematic physics structure and overall scheme of software structure, present the key questions that the real-time online data collection and billing system realizes.

描述了系统的物理结构和软件结构总体方案，并给出了提及联机采集系统实现的关键问题。

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Then the overall software structure of this system is discussed thoroughly, the corresponding design scheme is brought forward, and the subprograms' designs of several main tasks are provided.

而后，对系统总体软件结构进行深入剖析，提出了相应的设计方案，并给出了几个主要任务子程序的设计。

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