At the base for every mote lies an arduino Microcontroller along with a RF transceiver (NRF24L01P). The microcontroller performs all the decision making where required and emulates the embedded hardware as present on an actual wireless control terminals.
Plant
The Plant is emulated by a double integrator circuit which is periodically sampled by the underlying microcontroller and the state parameters being relayed through the nework after required scaling and conditioning of the parameters as shown in the figure below.
Controller
The controller continuously receives state information of the Plant through the network and pushes out actuation data to the plant
Intermediate Node
The nodes sport the same physical hardware as controllers but are made functionally different by programming them to act as mere forwarders of data packets during the operation of control loop
