The librobotcontrol package sets up two systemd services which the user can enable/disable at will. The BeagleBoard 2018-06-17 image has these services installed but disabled by default. Enable manually like any systemd service or with sudo dpkg-reconfigure librobotcontrol.

rc_battery_monitor service

This service runs in the background and illuminates the 4 battery monitor LEDs on the Robotics Cape and BeagleBone Blue based on the state of a 2-cell lithium battery connected to the white balance connector, or a 3 or 4 cell pack connected to the DC input jack.

If you wish to control those LEDs manually (probably through the <rc/led.h> interface) then please disable this service first to avoid conflicts.

robotcontrol service

This service does some preliminary startup checks on boot to ensure the hardware is configured correctly. A short log file of this process is written to /var/log/robotcontrol/startup_log.txt on boot.

After completing the startup checks, this service will then start any program the user as elected to run automatically on boot. If the user's startup program has a problem, closes, or doesn't exist then the librobotcontrol service will show up as failed when calling systemctl status robotcontrol. This allows the user to treat their own robot control program like a systemd service, starting and stopping it with systemctl. See the run on boot page for how to configure this startup program.