1 files changed, 19 insertions, 0 deletions
diff --git a/robot/hypervisor.c b/robot/hypervisor.c
new file mode 100644
index 0000000..381d9af
--- /dev/null
+++ b/robot/hypervisor.c
@@ -0,0 +1,19 @@
+#include <pololu/orangutan.h>
+
+#include "consts.h"
+#include "errcatch.h"
+#include "hypervisor.h"
+#include "io.h"
+#include "modes.h"
+#include "sercomm.h"
+
+void w2_hypervisor_main() {
+	w2_sercomm_main();
+	w2_errcatch_main();
+	w2_io_main();
+
+	time_reset();
+	w2_modes_main();
+	unsigned long elapsed_ms = get_ms();
+	if (elapsed_ms > W2_MAX_MODULE_CYCLE_MS) w2_errcatch_throw(W2_ERR_CYCLE_EXPIRED);
+}