I just read the “Robot Locomotion” case study. Awesome stuff. I’m not making robots but am working on embedded systems that use control loops running in your range of speeds (e.g. a few hundred per second) and am exploring options for prototyping. Writing/compiling/testing with C on a microcontroller is the old standard, but requires specialized environment and is slow (development-wise); Arduinos or pyboards let you move a lot faster, but have memory and speed limits and moving data on/off them is somewhat clunky. Julia on a Raspberry Pi is really a tantalizing option. The RT kernel is interesting and I’m also curious about how much benefit (if any) one gets from controlling CPU affinities. Lot’s of playing to do. Thanks!