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To conceive a particularly optimized piece of software (as is often the case in the world of embedded systems) it is often necessary to know how to program in an assembly language. This book explains the basics of programming in an assembly language, while being based on the architecture of Cortex M3 in detail and developing many examples. The VEX ARM® Cortex®-based Microcontroller coordinates the flow of information and power on the robot. All other electronic system components must interface to the Microcontroller - it is the "brain" of a robot. STMicroelectronics ARM® Cortex® M3 user processor (8) Standard 3-wire Motor ports (2) 2-wire Motor ports (1) I2C "smart sensor" port