Architecture Overview

Our code is based on the ideas of a lock-step game engine, where each 'frame' a number of computations are computed, and then the image, or in this case the motion of the robot, is rendered. Thus, our code consists of a high-speed task scheduler which plans the required computation along with modules that can provide a single API for other modules to use. The code is highly modular - containing the ability to hot-swap module components for easy compilation as well as being written so modules have a standard interface, and are usable across multiple version of the framework. We also build a large set of tools that can be used for debugging on the robot, which will allow teams to quickly deploy and test new code.