The Chip has been programmed to first start a continuous A/D conversion which keeps updating the result registers as and when the data is ready. It then establishes a communication with the workstation. Now the chip reads the voltages to be sent to the motors, then transmits the sensor values from the A/D result register to the workstation, and sends the voltage values to the DACs and goes back to getting the new voltage value from the workstation. The chip does not wait for an A/D conversion to complete, but gets the last updated value. The A/D conversion takes place rapidly in the back ground at 2 MHz clock rate. The chip has been programmed to go in step with the program running on the workstation. It reads 3 values (voltages to the motors) from the workstation, sends back 3 sensor values, then sends the voltages to the DACs, and goes back to reading new voltage values from the workstation. Appendix C Shows the assembly program used in the controller.